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.
- 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
P2. default 0 (which uses 2).
- P2 The second parameter controlling the disparity
smoothness. The larger the values are, the smoother the
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.
P2 values are like
respectively). default 0 (which uses
- 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
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.
- 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'.