Creates StereoSGBM object

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

Options

• 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'.