Class StereoSGBM

Namespace

Emgu.CV

Assembly

Emgu.CV.dll

This is a variation of "Stereo Processing by Semiglobal Matching and Mutual Information" by Heiko Hirschmuller. We match blocks rather than individual pixels, thus the algorithm is called SGBM (Semi-global block matching)

public class StereoSGBM : SharedPtrObject, IDisposable, IStereoMatcher

Inheritance

object

DisposableObject

UnmanagedObject

SharedPtrObject

StereoSGBM

Implements

IDisposable

IStereoMatcher

Inherited Members

SharedPtrObject._sharedPtr

SharedPtrObject.SharedPtr

UnmanagedObject._ptr

UnmanagedObject.Ptr

DisposableObject.Dispose()

DisposableObject.ReleaseManagedResources()

object.GetType()

object.MemberwiseClone()

object.ToString()

object.Equals(object)

object.Equals(object, object)

object.ReferenceEquals(object, object)

object.GetHashCode()

Extension Methods

CvInvoke.Compute(IStereoMatcher, IInputArray, IInputArray, IOutputArray)

Constructors

StereoSGBM(int, int, int, int, int, int, int, int, int, int, Mode)

Create a stereo disparity solver using StereoSGBM algorithm (combination of H. Hirschmuller + K. Konolige approaches)

public StereoSGBM(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, StereoSGBM.Mode mode = Mode.SGBM)

Parameters

minDisparity int

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

numDisparities int

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

blockSize int

Matched block size. It must be an odd number >=1 . Normally, it should be somewhere in the 3..11 range. Use 0 for default.

p1 int

The first parameter controlling the disparity smoothness. It is the penalty on the disparity change by plus or minus 1 between neighbor pixels. Reasonably good value is 8number_of_image_channelsSADWindowSize*SADWindowSize. Use 0 for default

p2 int

The second parameter controlling the disparity smoothness. It is the penalty on the disparity change by more than 1 between neighbor pixels. The algorithm requires p2 > p1. Reasonably good value is 32number_of_image_channelsSADWindowSize*SADWindowSize. Use 0 for default

disp12MaxDiff int

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 int

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 int

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 int

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 int

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 StereoSGBM.Mode

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

Properties

StereoMatcherPtr

Pointer to the StereoMatcher

public nint StereoMatcherPtr { get; }

Property Value

nint

Methods

DisposeObject()

Release the unmanaged memory associated with this stereo solver

protected override void DisposeObject()