MATLAB File Help: cv.StereoSGBM/StereoSGBM | Index |

cv.StereoSGBM/StereoSGBM

Creates StereoSGBM object

```
bm = cv.StereoSGBM()
bm = cv.StereoSGBM('OptionName', optionValue, ...)
```

**MinDisparity**Minimum possible disparity value. Normally, it is zero but sometimes rectification algorithms can shift images, so this parameter needs to be adjusted accordingly. default 0**NumDisparities**Maximum disparity minus minimum disparity. The value is always greater than zero. In the current implementation, this parameter must be divisible by 16. default 64**BlockSize**Matched block size. It must be an odd number

```
>=1. Normally, it should be somewhere in the 3..11 range.
default 7
```

**P1**The first parameter controlling the disparity smoothness. See`P2`

. default 0 (which uses 2).**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`

. (Reasonably good`P1`

and`P2`

values are like`8*number_of_image_channels*BlockSize*BlockSize`

and`32*number_of_image_channels*BlockSize*BlockSize`

respectively). default 0 (which uses`max(5,P1+1)`

).**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. default 0**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. default 0**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. A negative value uses 10. default 0**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. default 0**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. default 0**Mode**Set it to '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 'SGBM'.