StereoSGBM (Pattern OpenCV 2.4.9-4 API)

java.lang.Object
- org.opencv.calib3d.StereoSGBM

```
public class StereoSGBM
extends Object
```
Class for computing stereo correspondence using the semi-global block matching algorithm.

class StereoSGBM
// C++ code: StereoSGBM(); StereoSGBM(int minDisparity, int numDisparities, int SADWindowSize, int P1=0, int P2=0, int disp12MaxDiff=0, int preFilterCap=0, int uniquenessRatio=0, int speckleWindowSize=0, int speckleRange=0, bool fullDP=false); virtual ~StereoSGBM(); virtual void operator()(InputArray left, InputArray right, OutputArray disp); int minDisparity; int numberOfDisparities; int SADWindowSize; int preFilterCap; int uniquenessRatio; int P1, P2; int speckleWindowSize; int speckleRange; int disp12MaxDiff; bool fullDP;... };
The class implements the modified H. Hirschmuller algorithm [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 fullDP=true 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 SADWindowSize=1 reduces the blocks to single pixels.
- Mutual information cost function is not implemented. Instead, a simpler Birchfield-Tomasi sub-pixel metric from [BT98] is used. Though, the color images are supported as well.
- Some pre- and post- processing steps from K. Konolige algorithm :ocv:funcx:"StereoBM.operator()" are included, for example: pre-filtering (CV_STEREO_BM_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/python2/stereo_match.py
See Also:

org.opencv.calib3d.StereoSGBM

Field Summary

Fields
Modifier and Type Field and Description

static int DISP_SCALE

static int DISP_SHIFT

protected long nativeObj

Fields
Modifier and Type	Field and Description
`static int`	`DISP_SCALE`
`static int`	`DISP_SHIFT`
`protected long`	`nativeObj`

Constructor Summary

Constructors
Modifier	Constructor and Description
	`StereoSGBM()` Initializes `StereoSGBM` and sets parameters to custom values.??
	`StereoSGBM(int minDisparity, int numDisparities, int SADWindowSize)` Initializes `StereoSGBM` and sets parameters to custom values.??
	`StereoSGBM(int minDisparity, int numDisparities, int SADWindowSize, int P1, int P2, int disp12MaxDiff, int preFilterCap, int uniquenessRatio, int speckleWindowSize, int speckleRange, boolean fullDP)` Initializes `StereoSGBM` and sets parameters to custom values.??
`protected`	`StereoSGBM(long addr)`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`compute(Mat left, Mat right, Mat disp)`
`protected void`	`finalize()`
`int`	`get_disp12MaxDiff()`
`boolean`	`get_fullDP()`
`int`	`get_minDisparity()`
`int`	`get_numberOfDisparities()`
`int`	`get_P1()`
`int`	`get_P2()`
`int`	`get_preFilterCap()`
`int`	`get_SADWindowSize()`
`int`	`get_speckleRange()`
`int`	`get_speckleWindowSize()`
`int`	`get_uniquenessRatio()`
`void`	`set_disp12MaxDiff(int disp12MaxDiff)`
`void`	`set_fullDP(boolean fullDP)`
`void`	`set_minDisparity(int minDisparity)`
`void`	`set_numberOfDisparities(int numberOfDisparities)`
`void`	`set_P1(int P1)`
`void`	`set_P2(int P2)`
`void`	`set_preFilterCap(int preFilterCap)`
`void`	`set_SADWindowSize(int SADWindowSize)`
`void`	`set_speckleRange(int speckleRange)`
`void`	`set_speckleWindowSize(int speckleWindowSize)`
`void`	`set_uniquenessRatio(int uniquenessRatio)`

Methods inherited from class java.lang.Object
clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - nativeObj
```
protected final long nativeObj
```
  - DISP_SHIFT
```
public static final int DISP_SHIFT
```
    See Also:
    
    Constant Field Values
  - DISP_SCALE
```
public static final int DISP_SCALE
```
    See Also:
    
    Constant Field Values
- Constructor Detail
  - StereoSGBM
```
protected StereoSGBM(long addr)
```
  - StereoSGBM
```
public StereoSGBM()
```
    Initializes StereoSGBM and sets parameters to custom values.??
    
    The first constructor initializes StereoSGBM with all the default parameters. So, you only have to set StereoSGBM.numberOfDisparities at minimum. The second constructor enables you to set each parameter to a custom value.
    
    See Also:
    
    org.opencv.calib3d.StereoSGBM.StereoSGBM
  - StereoSGBM
```
public StereoSGBM(int minDisparity,
                  int numDisparities,
                  int SADWindowSize,
                  int P1,
                  int P2,
                  int disp12MaxDiff,
                  int preFilterCap,
                  int uniquenessRatio,
                  int speckleWindowSize,
                  int speckleRange,
                  boolean fullDP)
```
    Initializes StereoSGBM and sets parameters to custom values.??
    
    The first constructor initializes StereoSGBM with all the default parameters. So, you only have to set StereoSGBM.numberOfDisparities at minimum. The second constructor enables you to set each parameter to a custom value.
    
    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.
    
    SADWindowSize - 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.
    
    fullDP - Set it to true 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.
    
    See Also:
    
    org.opencv.calib3d.StereoSGBM.StereoSGBM
  - StereoSGBM
```
public StereoSGBM(int minDisparity,
                  int numDisparities,
                  int SADWindowSize)
```
    Initializes StereoSGBM and sets parameters to custom values.??
    
    The first constructor initializes StereoSGBM with all the default parameters. So, you only have to set StereoSGBM.numberOfDisparities at minimum. The second constructor enables you to set each parameter to a custom value.
    
    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.
    
    SADWindowSize - Matched block size. It must be an odd number >=1. Normally, it should be somewhere in the 3..11 range.
    
    See Also:
    
    org.opencv.calib3d.StereoSGBM.StereoSGBM
- Method Detail
  - compute
```
public void compute(Mat left,
                    Mat right,
                    Mat disp)
```
  - get_minDisparity
```
public int get_minDisparity()
```
  - set_minDisparity
```
public void set_minDisparity(int minDisparity)
```
  - get_numberOfDisparities
```
public int get_numberOfDisparities()
```
  - set_numberOfDisparities
```
public void set_numberOfDisparities(int numberOfDisparities)
```
  - get_SADWindowSize
```
public int get_SADWindowSize()
```
  - set_SADWindowSize
```
public void set_SADWindowSize(int SADWindowSize)
```
  - get_preFilterCap
```
public int get_preFilterCap()
```
  - set_preFilterCap
```
public void set_preFilterCap(int preFilterCap)
```
  - get_uniquenessRatio
```
public int get_uniquenessRatio()
```
  - set_uniquenessRatio
```
public void set_uniquenessRatio(int uniquenessRatio)
```
  - get_P1
```
public int get_P1()
```
  - set_P1
```
public void set_P1(int P1)
```
  - get_P2
```
public int get_P2()
```
  - set_P2
```
public void set_P2(int P2)
```
  - get_speckleWindowSize
```
public int get_speckleWindowSize()
```
  - set_speckleWindowSize
```
public void set_speckleWindowSize(int speckleWindowSize)
```
  - get_speckleRange
```
public int get_speckleRange()
```
  - set_speckleRange
```
public void set_speckleRange(int speckleRange)
```
  - get_disp12MaxDiff
```
public int get_disp12MaxDiff()
```
  - set_disp12MaxDiff
```
public void set_disp12MaxDiff(int disp12MaxDiff)
```
  - get_fullDP
```
public boolean get_fullDP()
```
  - set_fullDP
```
public void set_fullDP(boolean fullDP)
```
  - finalize
```
protected void finalize()
                 throws Throwable
```
    Overrides:
    
    finalize in class Object
    
    Throws:
    
    Throwable

Class StereoSGBM

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

nativeObj

DISP_SHIFT

DISP_SCALE

Constructor Detail

StereoSGBM

StereoSGBM

StereoSGBM

StereoSGBM

Method Detail

compute

get_minDisparity

set_minDisparity

get_numberOfDisparities

set_numberOfDisparities

get_SADWindowSize

set_SADWindowSize

get_preFilterCap

set_preFilterCap

get_uniquenessRatio

set_uniquenessRatio

get_P1

set_P1

get_P2

set_P2

get_speckleWindowSize

set_speckleWindowSize

get_speckleRange

set_speckleRange

get_disp12MaxDiff

set_disp12MaxDiff

get_fullDP

set_fullDP

finalize