org.bytedeco.javacpp

Class opencv_calib3d.StereoSGBM

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.javacpp.opencv_core.Algorithm

org.bytedeco.javacpp.opencv_calib3d.StereoMatcher

org.bytedeco.javacpp.opencv_calib3d.StereoSGBM

All Implemented Interfaces:

AutoCloseable

Enclosing class:

opencv_calib3d

@Namespace(value="cv")
public static class opencv_calib3d.StereoSGBM
extends opencv_calib3d.StereoMatcher

\brief The class implements the modified H. Hirschmuller algorithm \cite HH08 that differs from the original one as follows:

- By default, the algorithm is single-pass, which means that you consider only 5 directions instead of 8. Set mode=StereoSGBM::MODE_HH in createStereoSGBM to run the full variant of the algorithm but beware that it may consume a lot of memory. - The algorithm matches blocks, not individual pixels. Though, setting blockSize=1 reduces the blocks to single pixels. - Mutual information cost function is not implemented. Instead, a simpler Birchfield-Tomasi sub-pixel metric from \cite BT98 is used. Though, the color images are supported as well. - Some pre- and post- processing steps from K. Konolige algorithm StereoBM are included, for example: pre-filtering (StereoBM::PREFILTER_XSOBEL type) and post-filtering (uniqueness check, quadratic interpolation and speckle filtering).

\note - (Python) An example illustrating the use of the StereoSGBM matching algorithm can be found at opencv_source_code/samples/python/stereo_match.py

Nested Class Summary

Nested classes/interfaces inherited from class org.bytedeco.javacpp.Pointer

Pointer.CustomDeallocator, Pointer.Deallocator, Pointer.NativeDeallocator

Field Summary

Fields

Modifier and Type	Field and Description
static int	MODE_HH enum cv::StereoSGBM::
static int	MODE_SGBM enum cv::StereoSGBM::
static int	MODE_SGBM_3WAY enum cv::StereoSGBM::

Fields inherited from class org.bytedeco.javacpp.opencv_calib3d.StereoMatcher

DISP_SCALE, DISP_SHIFT

Fields inherited from class org.bytedeco.javacpp.Pointer

address, capacity, limit, position

Constructor Summary

Constructors

Constructor and Description
opencv_calib3d.StereoSGBM(Pointer p) Pointer cast constructor.

Method Summary

Methods

Modifier and Type	Method and Description
static opencv_calib3d.StereoSGBM	create(int minDisparity, int numDisparities, int blockSize)
static opencv_calib3d.StereoSGBM	create(int minDisparity, int numDisparities, int blockSize, int P1, int P2, int disp12MaxDiff, int preFilterCap, int uniquenessRatio, int speckleWindowSize, int speckleRange, int mode) \brief Creates StereoSGBM object
int	getMode()
int	getP1()
int	getP2()
int	getPreFilterCap()
int	getUniquenessRatio()
void	setMode(int mode)
void	setP1(int P1)
void	setP2(int P2)
void	setPreFilterCap(int preFilterCap)
void	setUniquenessRatio(int uniquenessRatio)

Methods inherited from class org.bytedeco.javacpp.opencv_calib3d.StereoMatcher

compute, getBlockSize, getDisp12MaxDiff, getMinDisparity, getNumDisparities, getSpeckleRange, getSpeckleWindowSize, setBlockSize, setDisp12MaxDiff, setMinDisparity, setNumDisparities, setSpeckleRange, setSpeckleWindowSize

Methods inherited from class org.bytedeco.javacpp.opencv_core.Algorithm

clear, empty, getDefaultName, position, read, save, save, write

Methods inherited from class org.bytedeco.javacpp.Pointer

address, asBuffer, asByteBuffer, capacity, capacity, close, deallocate, deallocate, deallocateReferences, deallocator, deallocator, equals, fill, hashCode, isNull, limit, limit, maxBytes, memchr, memcmp, memcpy, memmove, memset, offsetof, position, put, setNull, sizeof, toString, totalBytes, withDeallocator, zero

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Field Detail

MODE_SGBM

public static final int MODE_SGBM

enum cv::StereoSGBM::

See Also:

Constant Field Values

MODE_HH

public static final int MODE_HH

enum cv::StereoSGBM::

See Also:

Constant Field Values

MODE_SGBM_3WAY

public static final int MODE_SGBM_3WAY

enum cv::StereoSGBM::

See Also:

Constant Field Values

Constructor Detail

opencv_calib3d.StereoSGBM

public opencv_calib3d.StereoSGBM(Pointer p)

Pointer cast constructor. Invokes Pointer.Pointer(Pointer).

Method Detail

getPreFilterCap

public int getPreFilterCap()

setPreFilterCap

public void setPreFilterCap(int preFilterCap)

getUniquenessRatio

public int getUniquenessRatio()

setUniquenessRatio

public void setUniquenessRatio(int uniquenessRatio)

getP1

public int getP1()

setP1

public void setP1(int P1)

getP2

public int getP2()

setP2

public void setP2(int P2)

getMode

public int getMode()

setMode

public void setMode(int mode)

create

@opencv_core.Ptr
public static opencv_calib3d.StereoSGBM create(int minDisparity,
                                               int numDisparities,
                                               int blockSize,
                                               int P1,
                                               int P2,
                                               int disp12MaxDiff,
                                               int preFilterCap,
                                               int uniquenessRatio,
                                               int speckleWindowSize,
                                               int speckleRange,
                                               int mode)

\brief Creates StereoSGBM object

Parameters:

minDisparity - Minimum possible disparity value. Normally, it is zero but sometimes rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.

numDisparities - Maximum disparity minus minimum disparity. The value is always greater than zero. In the current implementation, this parameter must be divisible by 16.

blockSize - Matched block size. It must be an odd number \>=1 . Normally, it should be somewhere in the 3..11 range.

P1 - The first parameter controlling the disparity smoothness. See below.

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).

disp12MaxDiff - Maximum allowed difference (in integer pixel units) in the left-right disparity check. Set it to a non-positive value to disable the check.

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.

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.

speckleWindowSize - Maximum size of smooth disparity regions to consider their noise speckles and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the 50-200 range.

speckleRange - Maximum disparity variation within each connected component. If you do speckle filtering, set the parameter to a positive value, it will be implicitly multiplied by 16. Normally, 1 or 2 is good enough.

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 .

The first constructor initializes StereoSGBM with all the default parameters. So, you only have to set StereoSGBM::numDisparities at minimum. The second constructor enables you to set each parameter to a custom value.

create

@opencv_core.Ptr
public static opencv_calib3d.StereoSGBM create(int minDisparity,
                                               int numDisparities,
                                               int blockSize)