Class for computing stereo correspondence using the block matching algorithm, introduced and contributed to OpenCV by K. Konolige. More...

Public Member Functions
int	getPreFilterCap ()
	Gets the current truncation value for prefiltered pixels.

int	getPreFilterSize ()
	Gets the current size of the pre-filter kernel.

int	getPreFilterType ()
	Gets the type of pre-filtering currently used in the algorithm.

Rect	getROI1 ()
	Gets the current Region of Interest (ROI) for the left image.

int int int int height	getROI1AsValueTuple ()

Vec4i	getROI1AsVec4i ()
	Gets the current Region of Interest (ROI) for the left image.

Rect	getROI2 ()
	Gets the current Region of Interest (ROI) for the right image.

int int int int height	getROI2AsValueTuple ()

Vec4i	getROI2AsVec4i ()
	Gets the current Region of Interest (ROI) for the right image.

int	getSmallerBlockSize ()
	Gets the current size of the smaller block used for texture check.

int	getTextureThreshold ()
	Gets the current texture threshold value.

int	getUniquenessRatio ()
	Gets the current uniqueness ratio value.

void	setPreFilterCap (int preFilterCap)
	Sets the truncation value for prefiltered pixels.

void	setPreFilterSize (int preFilterSize)
	Sets the size of the pre-filter kernel.

void	setPreFilterType (int preFilterType)
	Sets the type of pre-filtering used in the algorithm.

void	setROI1 (in Vec4i roi1)
	Sets the Region of Interest (ROI) for the left image.

void	setROI1 (in(int x, int y, int width, int height) roi1)
	Sets the Region of Interest (ROI) for the left image.

void	setROI1 (Rect roi1)
	Sets the Region of Interest (ROI) for the left image.

void	setROI2 (in Vec4i roi2)
	Sets the Region of Interest (ROI) for the right image.

void	setROI2 (in(int x, int y, int width, int height) roi2)
	Sets the Region of Interest (ROI) for the right image.

void	setROI2 (Rect roi2)
	Sets the Region of Interest (ROI) for the right image.

void	setSmallerBlockSize (int blockSize)
	Sets the size of the smaller block used for texture check.

void	setTextureThreshold (int textureThreshold)
	Sets the threshold for filtering low-texture regions.

void	setUniquenessRatio (int uniquenessRatio)
	Sets the uniqueness ratio for filtering ambiguous matches.

Public Member Functions inherited from OpenCVForUnity.Calib3dModule.StereoMatcher
void	compute (Mat left, Mat right, Mat disparity)
	Computes disparity map for the specified stereo pair.

int	getBlockSize ()

int	getDisp12MaxDiff ()

int	getMinDisparity ()

int	getNumDisparities ()

int	getSpeckleRange ()

int	getSpeckleWindowSize ()

void	setBlockSize (int blockSize)

void	setDisp12MaxDiff (int disp12MaxDiff)

void	setMinDisparity (int minDisparity)

void	setNumDisparities (int numDisparities)

void	setSpeckleRange (int speckleRange)

void	setSpeckleWindowSize (int speckleWindowSize)

Public Member Functions inherited from OpenCVForUnity.CoreModule.Algorithm
virtual void	clear ()
	Clears the algorithm state.

virtual bool	empty ()
	Returns true if the Algorithm is empty (e.g. in the very beginning or after unsuccessful read.

virtual string	getDefaultName ()

IntPtr	getNativeObjAddr ()

void	save (string filename)

Public Member Functions inherited from OpenCVForUnity.DisposableObject
void	Dispose ()

void	ThrowIfDisposed ()

Static Public Member Functions
static new StereoBM	__fromPtr__ (IntPtr addr)

static StereoBM	create ()
	Creates StereoBM object.

static StereoBM	create (int numDisparities)
	Creates StereoBM object.

static StereoBM	create (int numDisparities, int blockSize)
	Creates StereoBM object.

Static Public Member Functions inherited from OpenCVForUnity.Calib3dModule.StereoMatcher
static new StereoMatcher	__fromPtr__ (IntPtr addr)

Static Public Member Functions inherited from OpenCVForUnity.CoreModule.Algorithm
static Algorithm	__fromPtr__ (IntPtr addr)

Static Public Member Functions inherited from OpenCVForUnity.DisposableObject
static IntPtr	ThrowIfNullIntPtr (IntPtr ptr)

Public Attributes
int int int	width

int	x
	Gets the current Region of Interest (ROI) for the left image.

int int	y

Static Public Attributes
const int	PREFILTER_NORMALIZED_RESPONSE = 0
	C++: enum <unnamed>

const int	PREFILTER_XSOBEL = 1
	C++: enum <unnamed>

Static Public Attributes inherited from OpenCVForUnity.Calib3dModule.StereoMatcher
const int	DISP_SCALE = (1 << DISP_SHIFT)
	C++: enum <unnamed>

const int	DISP_SHIFT = 4
	C++: enum <unnamed>

Protected Member Functions
override void	Dispose (bool disposing)

Protected Member Functions inherited from OpenCVForUnity.Calib3dModule.StereoMatcher
override void	Dispose (bool disposing)

Protected Member Functions inherited from OpenCVForUnity.CoreModule.Algorithm
Protected Member Functions inherited from OpenCVForUnity.DisposableOpenCVObject
	DisposableOpenCVObject ()

	DisposableOpenCVObject (bool isEnabledDispose)

	DisposableOpenCVObject (IntPtr ptr)

	DisposableOpenCVObject (IntPtr ptr, bool isEnabledDispose)

Protected Member Functions inherited from OpenCVForUnity.DisposableObject
	DisposableObject ()

	DisposableObject (bool isEnabledDispose)

Additional Inherited Members
Package Functions inherited from OpenCVForUnity.Calib3dModule.StereoMatcher
Package Functions inherited from OpenCVForUnity.CoreModule.Algorithm
Package Attributes inherited from OpenCVForUnity.DisposableOpenCVObject
Properties inherited from OpenCVForUnity.DisposableObject
bool	IsDisposed `[get, protected set]`

bool	IsEnabledDispose `[get, set]`

Detailed Description

Class for computing stereo correspondence using the block matching algorithm, introduced and contributed to OpenCV by K. Konolige.

This class implements a block matching algorithm for stereo correspondence, which is used to compute disparity maps from stereo image pairs. It provides methods to fine-tune parameters such as pre-filtering, texture thresholds, uniqueness ratios, and regions of interest (ROIs) to optimize performance and accuracy.

Member Function Documentation

◆ fromPtr()

static new StereoBM OpenCVForUnity.Calib3dModule.StereoBM.__fromPtr__ ( IntPtr addr )

static

◆ create() [1/3]

static StereoBM OpenCVForUnity.Calib3dModule.StereoBM.create ( )

static

Creates StereoBM object.

Parameters

numDisparities	The disparity search range. For each pixel, the algorithm will find the best disparity from 0 (default minimum disparity) to numDisparities. The search range can be shifted by changing the minimum disparity.
blockSize	The linear size of the blocks compared by the algorithm. The size should be odd (as the block is centered at the current pixel). Larger block size implies smoother, though less accurate disparity map. Smaller block size gives more detailed disparity map, but there is a higher chance for the algorithm to find a wrong correspondence.

Returns

A pointer to the created StereoBM object.

The function creates a StereoBM object. You can then call StereoBM.compute() to compute disparity for a specific stereo pair.

◆ create() [2/3]

static StereoBM OpenCVForUnity.Calib3dModule.StereoBM.create ( int numDisparities )

static

Creates StereoBM object.

Parameters

numDisparities	The disparity search range. For each pixel, the algorithm will find the best disparity from 0 (default minimum disparity) to numDisparities. The search range can be shifted by changing the minimum disparity.
blockSize	The linear size of the blocks compared by the algorithm. The size should be odd (as the block is centered at the current pixel). Larger block size implies smoother, though less accurate disparity map. Smaller block size gives more detailed disparity map, but there is a higher chance for the algorithm to find a wrong correspondence.

Returns

A pointer to the created StereoBM object.

The function creates a StereoBM object. You can then call StereoBM.compute() to compute disparity for a specific stereo pair.

◆ create() [3/3]

static StereoBM OpenCVForUnity.Calib3dModule.StereoBM.create	(	int	numDisparities,
		int	blockSize )

static

Creates StereoBM object.

Parameters

numDisparities	The disparity search range. For each pixel, the algorithm will find the best disparity from 0 (default minimum disparity) to numDisparities. The search range can be shifted by changing the minimum disparity.
blockSize	The linear size of the blocks compared by the algorithm. The size should be odd (as the block is centered at the current pixel). Larger block size implies smoother, though less accurate disparity map. Smaller block size gives more detailed disparity map, but there is a higher chance for the algorithm to find a wrong correspondence.

Returns

A pointer to the created StereoBM object.

The function creates a StereoBM object. You can then call StereoBM.compute() to compute disparity for a specific stereo pair.

◆ Dispose()

override void OpenCVForUnity.Calib3dModule.StereoBM.Dispose ( bool disposing )

protectedvirtual

Reimplemented from OpenCVForUnity.CoreModule.Algorithm.

◆ getPreFilterCap()

int OpenCVForUnity.Calib3dModule.StereoBM.getPreFilterCap ( )

Gets the current truncation value for prefiltered pixels.

Returns: The current pre-filter cap value.

◆ getPreFilterSize()

int OpenCVForUnity.Calib3dModule.StereoBM.getPreFilterSize ( )

Gets the current size of the pre-filter kernel.

Returns: The current pre-filter size.

◆ getPreFilterType()

int OpenCVForUnity.Calib3dModule.StereoBM.getPreFilterType ( )

Gets the type of pre-filtering currently used in the algorithm.

Returns: The current pre-filter type: 0 for PREFILTER_NORMALIZED_RESPONSE or 1 for PREFILTER_XSOBEL.

◆ getROI1()

Rect OpenCVForUnity.Calib3dModule.StereoBM.getROI1 ( )

Gets the current Region of Interest (ROI) for the left image.

Returns: The current ROI for the left image.

◆ getROI1AsValueTuple()

int int int int height OpenCVForUnity.Calib3dModule.StereoBM.getROI1AsValueTuple ( )

◆ getROI1AsVec4i()

Vec4i OpenCVForUnity.Calib3dModule.StereoBM.getROI1AsVec4i ( )

Gets the current Region of Interest (ROI) for the left image.

Returns: The current ROI for the left image.

◆ getROI2()

Rect OpenCVForUnity.Calib3dModule.StereoBM.getROI2 ( )

Gets the current Region of Interest (ROI) for the right image.

Returns: The current ROI for the right image.

◆ getROI2AsValueTuple()

int int int int height OpenCVForUnity.Calib3dModule.StereoBM.getROI2AsValueTuple ( )

◆ getROI2AsVec4i()

Vec4i OpenCVForUnity.Calib3dModule.StereoBM.getROI2AsVec4i ( )

Gets the current Region of Interest (ROI) for the right image.

Returns: The current ROI for the right image.

◆ getSmallerBlockSize()

int OpenCVForUnity.Calib3dModule.StereoBM.getSmallerBlockSize ( )

Gets the current size of the smaller block used for texture check.

Returns: The current smaller block size.

◆ getTextureThreshold()

int OpenCVForUnity.Calib3dModule.StereoBM.getTextureThreshold ( )

Gets the current texture threshold value.

Returns: The current texture threshold.

◆ getUniquenessRatio()

int OpenCVForUnity.Calib3dModule.StereoBM.getUniquenessRatio ( )

Gets the current uniqueness ratio value.

Returns: The current uniqueness ratio.

◆ setPreFilterCap()

void OpenCVForUnity.Calib3dModule.StereoBM.setPreFilterCap ( int preFilterCap )

Sets the truncation value for prefiltered pixels.

Parameters

preFilterCap The truncation value. Typically in the range [1, 63].

This value caps the output of the pre-filter to [-preFilterCap, preFilterCap], helping to reduce the impact of noise and outliers in the pre-filtered image.

◆ setPreFilterSize()

void OpenCVForUnity.Calib3dModule.StereoBM.setPreFilterSize ( int preFilterSize )

Sets the size of the pre-filter kernel.

Parameters

preFilterSize The size of the pre-filter kernel. Must be an odd integer, typically between 5 and 255.

The pre-filter size determines the spatial extent of the pre-filtering operation, which prepares the images for disparity computation by normalizing brightness and enhancing texture. Larger sizes reduce noise but may blur details, while smaller sizes preserve details but are more susceptible to noise.

◆ setPreFilterType()

void OpenCVForUnity.Calib3dModule.StereoBM.setPreFilterType ( int preFilterType )

Sets the type of pre-filtering used in the algorithm.

Parameters

preFilterType

The type of pre-filter to use. Possible values are:

PREFILTER_NORMALIZED_RESPONSE (0): Uses normalized response for pre-filtering.
PREFILTER_XSOBEL (1): Uses the X-Sobel operator for pre-filtering.

The pre-filter type affects how the images are prepared before computing the disparity map. Different pre-filtering methods can enhance specific image features or reduce noise, influencing the quality of the disparity map.

◆ setROI1() [1/3]

void OpenCVForUnity.Calib3dModule.StereoBM.setROI1 ( in Vec4i roi1 )

Sets the Region of Interest (ROI) for the left image.

Parameters

roi1	The ROI rectangle for the left image.

By setting the ROI, the stereo matching computation is limited to the specified region, improving performance and potentially accuracy by focusing on relevant parts of the image.

◆ setROI1() [2/3]

void OpenCVForUnity.Calib3dModule.StereoBM.setROI1 ( in(int x, int y, int width, int height) roi1 )

Sets the Region of Interest (ROI) for the left image.

Parameters

roi1	The ROI rectangle for the left image.

By setting the ROI, the stereo matching computation is limited to the specified region, improving performance and potentially accuracy by focusing on relevant parts of the image.

◆ setROI1() [3/3]

void OpenCVForUnity.Calib3dModule.StereoBM.setROI1 ( Rect roi1 )

Sets the Region of Interest (ROI) for the left image.

Parameters

roi1	The ROI rectangle for the left image.

By setting the ROI, the stereo matching computation is limited to the specified region, improving performance and potentially accuracy by focusing on relevant parts of the image.

◆ setROI2() [1/3]

void OpenCVForUnity.Calib3dModule.StereoBM.setROI2 ( in Vec4i roi2 )

Sets the Region of Interest (ROI) for the right image.

Parameters

roi2	The ROI rectangle for the right image.

Similar to setROI1, this limits the computation to the specified region in the right image.

◆ setROI2() [2/3]

void OpenCVForUnity.Calib3dModule.StereoBM.setROI2 ( in(int x, int y, int width, int height) roi2 )

Sets the Region of Interest (ROI) for the right image.

Parameters

roi2	The ROI rectangle for the right image.

Similar to setROI1, this limits the computation to the specified region in the right image.

◆ setROI2() [3/3]

void OpenCVForUnity.Calib3dModule.StereoBM.setROI2 ( Rect roi2 )

Sets the Region of Interest (ROI) for the right image.

Parameters

roi2	The ROI rectangle for the right image.

Similar to setROI1, this limits the computation to the specified region in the right image.

◆ setSmallerBlockSize()

void OpenCVForUnity.Calib3dModule.StereoBM.setSmallerBlockSize ( int blockSize )

Sets the size of the smaller block used for texture check.

Parameters

blockSize The size of the smaller block. Must be an odd integer between 5 and 255.

This parameter determines the size of the block used to compute texture variance. Smaller blocks capture finer details but are more sensitive to noise, while larger blocks are more robust but may miss fine details.

◆ setTextureThreshold()

void OpenCVForUnity.Calib3dModule.StereoBM.setTextureThreshold ( int textureThreshold )

Sets the threshold for filtering low-texture regions.

Parameters

textureThreshold The threshold value. Must be non-negative.

This parameter filters out regions with low texture, where establishing correspondences is difficult, thus reducing noise in the disparity map. Higher values filter more aggressively but may discard valid information.

◆ setUniquenessRatio()

void OpenCVForUnity.Calib3dModule.StereoBM.setUniquenessRatio ( int uniquenessRatio )

Sets the uniqueness ratio for filtering ambiguous matches.

Parameters

uniquenessRatio The uniqueness ratio value. Typically in the range [5, 15], but can be from 0 to 100.

This parameter ensures that the best match is sufficiently better than the next best match, reducing false positives. Higher values are stricter but may filter out valid matches in difficult regions.

Member Data Documentation

◆ PREFILTER_NORMALIZED_RESPONSE

const int OpenCVForUnity.Calib3dModule.StereoBM.PREFILTER_NORMALIZED_RESPONSE = 0

static

C++: enum <unnamed>

◆ PREFILTER_XSOBEL

const int OpenCVForUnity.Calib3dModule.StereoBM.PREFILTER_XSOBEL = 1

static

C++: enum <unnamed>

◆ width

int int int OpenCVForUnity.Calib3dModule.StereoBM.width

◆ x

int OpenCVForUnity.Calib3dModule.StereoBM.x

Gets the current Region of Interest (ROI) for the left image.

Gets the current Region of Interest (ROI) for the right image.

Returns: The current ROI for the left image.

Returns: The current ROI for the right image.

◆ y

int int OpenCVForUnity.Calib3dModule.StereoBM.y

The documentation for this class was generated from the following files:

OpenCVForUnity/Assets/OpenCVForUnity/org/opencv/calib3d/StereoBM.cs
OpenCVForUnity/Assets/OpenCVForUnity/org/opencv/calib3d/StereoBM_Struct.cs
OpenCVForUnity/Assets/OpenCVForUnity/org/opencv/calib3d/StereoBM_ValueTuple.cs

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ __fromPtr__()

◆ create() [1/3]

◆ create() [2/3]

◆ create() [3/3]

◆ Dispose()

◆ getPreFilterCap()

◆ getPreFilterSize()

◆ getPreFilterType()

◆ getROI1()

◆ getROI1AsValueTuple()

◆ getROI1AsVec4i()

◆ getROI2()

◆ getROI2AsValueTuple()

◆ getROI2AsVec4i()

◆ getSmallerBlockSize()

◆ getTextureThreshold()

◆ getUniquenessRatio()

◆ setPreFilterCap()

◆ setPreFilterSize()

◆ setPreFilterType()

◆ setROI1() [1/3]

◆ setROI1() [2/3]

◆ setROI1() [3/3]

◆ setROI2() [1/3]

◆ setROI2() [2/3]

◆ setROI2() [3/3]

◆ setSmallerBlockSize()

◆ setTextureThreshold()

◆ setUniquenessRatio()

Member Data Documentation

◆ PREFILTER_NORMALIZED_RESPONSE

◆ PREFILTER_XSOBEL

◆ width

◆ x

◆ y

◆ fromPtr()