Class StereoBM

Represents the block matching algorithm for computing stereo correspondence.

Inheritance

StereoBM

Namespace: OpenCV.Net

Assembly: OpenCV.Net.dll

Syntax

public class StereoBM : SafeHandleZeroOrMinusOneIsInvalid

Constructors

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StereoBM(StereoBMPreset, Int32)

Initializes a new instance of the StereoBM class with the specified parameter preset and numberOfDisparities.

Declaration

public StereoBM(StereoBMPreset preset = default(StereoBMPreset), int numberOfDisparities = 0)

Parameters

Type	Name	Description
StereoBMPreset	preset	Specifies the whole set of algorithm parameters.
Int32	numberOfDisparities	The disparity search range. For each pixel algorithm will find the best disparity from 0 (default minimum disparity) to `numberOfDisparities`. The search range can then be shifted by changing the minimum disparity.

Properties

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Disparity12MaxDiff

Gets or sets the maximum allowed difference between the explicitly computed left-to-right disparity map and the implicitly computed right-to-left disparity. If for some pixel the difference is larger than the specified threshold, the disparity at the pixel is invalidated. By default this parameter is set to (-1), which means that the left-right check is not performed.

Declaration

public int Disparity12MaxDiff { get; set; }

Property Value

Type	Description
Int32

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MinDisparity

Gets or sets the minimum disparity (can be negative).

Declaration

public int MinDisparity { get; set; }

Property Value

Type	Description
Int32

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NumberOfDisparities

Gets or sets the difference between the maximum disparity and minimum disparity.

Declaration

public int NumberOfDisparities { get; set; }

Property Value

Type	Description
Int32

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PreFilterCap

Gets or sets the cap for pre-filtering. The output is clipped to be within [-PreFilterCap,PreFilterCap].

Declaration

public int PreFilterCap { get; set; }

Property Value

Type	Description
Int32

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PreFilterSize

Gets or sets the pre-filter averaging window size. Must be odd.

Declaration

public int PreFilterSize { get; set; }

Property Value

Type	Description
Int32

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PreFilterType

Gets or sets the block matching pre-filter type.

Declaration

public StereoBMPreFilterType PreFilterType { get; set; }

Property Value

Type	Description
StereoBMPreFilterType

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Roi1

Gets or sets the clipping ROI for the left image.

Declaration

public Rect Roi1 { get; set; }

Property Value

Type	Description
Rect

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Roi2

Gets or sets the clipping ROI for the right image.

Declaration

public Rect Roi2 { get; set; }

Property Value

Type	Description
Rect

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SadWindowSize

Gets or sets the Sum of Absolute Differences window size. Must be odd.

Declaration

public int SadWindowSize { get; set; }

Property Value

Type	Description
Int32

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SpeckleRange

Gets or sets the acceptable range of variation in window.

Declaration

public int SpeckleRange { get; set; }

Property Value

Type	Description
Int32

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SpeckleWindowSize

Gets or sets the size of the disparity variation window.

Declaration

public int SpeckleWindowSize { get; set; }

Property Value

Type	Description
Int32

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TextureThreshold

Gets or sets the texture threshold. The disparity is only computed for pixels with textured enough neighborhood.

Declaration

public int TextureThreshold { get; set; }

Property Value

Type	Description
Int32

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TrySmallerWindows

Gets or sets a value indicating whether to use smaller windows. The results may be more accurate, at the expense of slower processing.

Declaration

public bool TrySmallerWindows { get; set; }

Property Value

Type	Description
Boolean

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UniquenessRatio

Gets or sets the uniqueness ratio. The computed computed disparity d* should only be accepted if SAD(d) >= SAD(d*)(1 + uniquenessRatio/100) for any d != d+/-1 within the search range.

Declaration

public int UniquenessRatio { get; set; }

Property Value

Type	Description
Int32

Methods

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FindStereoCorrespondence(Arr, Arr, Arr)

Computes the disparity map using block matching algorithm.

Declaration

public void FindStereoCorrespondence(Arr left, Arr right, Arr disparity)

Parameters

Type	Name	Description
Arr	left	The left single-channel, 8-bit image.
Arr	right	The right image of the same size and the same type.
Arr	disparity	The output single-channel 16-bit signed, or 32-bit floating-point disparity map of the same size as input images. In the first case the computed disparities are represented as fixed-point numbers with 4 fractional bits (i.e. the computed disparity values are multiplied by 16 and rounded to integers).

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ReleaseHandle()

Executes the code required to free the native StereoBM handle.

Declaration

protected override bool ReleaseHandle()

Returns

Type	Description
Boolean	true if the handle is released successfully; otherwise, in the event of a catastrophic failure, false.