Class StereoSGBM

Semi-Global Stereo Matching

Inheritance
System.Object
DisposableObject
DisposableCvObject
Algorithm
StereoMatcher
StereoSGBM
Implements
Inherited Members
Namespace: OpenCvSharp
Assembly: OpenCvSharp.dll
Syntax
public class StereoSGBM : StereoMatcher, ICvPtrHolder

Constructors

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StereoSGBM(IntPtr)

constructor

Declaration
protected StereoSGBM(IntPtr ptr)
Parameters
Type Name Description
IntPtr ptr

Properties

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Mode

Set it to StereoSGBM::MODE_HH to run the full-scale two-pass dynamic programming algorithm. It will consume O(W*H*numDisparities) bytes, which is large for 640x480 stereo and huge for HD-size pictures. By default, it is set to false .

Declaration
public StereoSGBMMode Mode { get; set; }
Property Value
Type Description
StereoSGBMMode
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P1

The first parameter controlling the disparity smoothness. See P2 description.

Declaration
public int P1 { get; set; }
Property Value
Type Description
System.Int32
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P2

The second parameter controlling the disparity smoothness. The larger the values are, the smoother the disparity is. P1 is the penalty on the disparity change by plus or minus 1 between neighbor pixels. P2 is the penalty on the disparity change by more than 1 between neighbor pixels. The algorithm requires P2 > P1 . See stereo_match.cpp sample where some reasonably good P1 and P2 values are shown (like 8*number_of_image_channels*SADWindowSize*SADWindowSize and 32*number_of_image_channels*SADWindowSize*SADWindowSize , respectively).

Declaration
public int P2 { get; set; }
Property Value
Type Description
System.Int32
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PreFilterCap

Truncation value for the prefiltered image pixels. The algorithm first computes x-derivative at each pixel and clips its value by [-preFilterCap, preFilterCap] interval. The result values are passed to the Birchfield-Tomasi pixel cost function.

Declaration
public int PreFilterCap { get; set; }
Property Value
Type Description
System.Int32
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UniquenessRatio

Margin in percentage by which the best (minimum) computed cost function value should "win" the second best value to consider the found match correct. Normally, a value within the 5-15 range is good enough.

Declaration
public int UniquenessRatio { get; set; }
Property Value
Type Description
System.Int32

Methods

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Create(Int32, Int32, Int32, Int32, Int32, Int32, Int32, Int32, Int32, Int32, StereoSGBMMode)

Declaration
public static StereoSGBM Create(int minDisparity, int numDisparities, int blockSize, int p1 = 0, int p2 = 0, int disp12MaxDiff = 0, int preFilterCap = 0, int uniquenessRatio = 0, int speckleWindowSize = 0, int speckleRange = 0, StereoSGBMMode mode = StereoSGBMMode.SGBM)
Parameters
Type Name Description
System.Int32 minDisparity
System.Int32 numDisparities
System.Int32 blockSize
System.Int32 p1
System.Int32 p2
System.Int32 disp12MaxDiff
System.Int32 preFilterCap
System.Int32 uniquenessRatio
System.Int32 speckleWindowSize
System.Int32 speckleRange
StereoSGBMMode mode
Returns
Type Description
StereoSGBM
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DisposeManaged()

Releases managed resources

Declaration
protected override void DisposeManaged()
Overrides

Implements