sl_oc::tools::StereoSgbmPar Class Reference

The StereoSgbmPar class is used to store/retrieve the stereo matching parameters. More...

#include <stereo.hpp>

Public Member Functions
	StereoSgbmPar ()
	Default constructor. More...
bool	load ()
	load stereo matching parameters More...
bool	save ()
	save stereo matching parameters More...
void	setDefaultValues ()
	set default stereo matching parameters More...
void	print ()
	print the current stereo matching parameters on standard output More...

Public Attributes
int	blockSize
	[default: 3] Matched block size. It must be an odd number >=1 . Normally, it should be somewhere in the 3..11 range. More...
int	minDisparity
	[default: 0] Minimum possible disparity value. Normally, it is zero but sometimes rectification algorithms can shift images, so this parameter needs to be adjusted accordingly. More...
int	numDisparities
	[default: 96] Maximum disparity minus minimum disparity. The value is always greater than zero. In the current implementation, this parameter must be divisible by 16. More...
int	mode
	Set it to StereoSGBM::MODE_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 cv::StereoSGBM::MODE_SGBM_3WAY. More...
int	P1
	[default: 24*blockSize*blockSize] The first parameter controlling the disparity smoothness. See below. More...
int	P2
	[default: 4*PI]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*blockSize*blockSize and 32*number_of_image_channels*blockSize*blockSize , respectively). More...
int	disp12MaxDiff
	[default: 96] Maximum allowed difference (in integer pixel units) in the left-right disparity check. Set it to a non-positive value to disable the check. More...
int	preFilterCap
	[default: 63] 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. More...
int	uniquenessRatio
	[default: 5] 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. More...
int	speckleWindowSize
	[default: 255] 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. More...
int	speckleRange
	[default: 1] 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. More...
double	minDepth_mm
	[default: 300] Minimum value of depth for the extracted depth map More...
double	maxDepth_mm
	[default: 10000] Maximum value of depth for the extracted depth map More...

Detailed Description

The StereoSgbmPar class is used to store/retrieve the stereo matching parameters.

Examples

zed_oc_depth_example.cpp, and zed_oc_tune_stereo_sgbm.cpp.

Definition at line 19 of file stereo.hpp.

Constructor & Destructor Documentation

StereoSgbmPar()

sl_oc::tools::StereoSgbmPar::StereoSgbmPar ( )

inline

Default constructor.

Definition at line 25 of file stereo.hpp.

    {
        setDefaultValues();
    } 

References setDefaultValues().

Member Function Documentation

load()

bool sl_oc::tools::StereoSgbmPar::load

(

)

load stereo matching parameters

Returns

true if a configuration file exists

Examples

zed_oc_depth_example.cpp, and zed_oc_tune_stereo_sgbm.cpp.

Definition at line 87 of file stereo.hpp.

{
    std::string path = getHiddenDir();
    std::string par_file = path + STEREO_PAR_FILENAME;
 
    cv::FileStorage fs;
    if(!fs.open(par_file, cv::FileStorage::READ))
    {
        std::cerr << "Error opening stereo parameters file. Using default values." << std::endl << std::endl;
        setDefaultValues();
        return false;
    }
 
    fs["blockSize"] >> blockSize;
    fs["minDisparity"] >> minDisparity;
    fs["numDisparities"] >> numDisparities;
    fs["mode"] >> mode;
    fs["disp12MaxDiff"] >> disp12MaxDiff;
    fs["preFilterCap"] >> preFilterCap;
    fs["uniquenessRatio"] >> uniquenessRatio;
    fs["speckleWindowSize"] >> speckleWindowSize;
    fs["speckleRange"] >> speckleRange;
    P1 = 24*blockSize*blockSize;
    P2 = 96*blockSize*blockSize;
 
    fs["minDepth_mm"] >> minDepth_mm;
    fs["maxDepth_mm"] >> maxDepth_mm;
 
    std::cout << "Stereo parameters load done: " << par_file << std::endl << std::endl;
 
    return true;
}

References blockSize, disp12MaxDiff, maxDepth_mm, minDepth_mm, minDisparity, mode, numDisparities, P1, P2, preFilterCap, setDefaultValues(), speckleRange, speckleWindowSize, sl_oc::tools::STEREO_PAR_FILENAME, and uniquenessRatio.

Referenced by main().

print()

void sl_oc::tools::StereoSgbmPar::print

(

)

print the current stereo matching parameters on standard output

Examples

zed_oc_depth_example.cpp, and zed_oc_tune_stereo_sgbm.cpp.

Definition at line 150 of file stereo.hpp.

{
    std::cout << "Stereo SGBM parameters:" << std::endl;
    std::cout << "------------------------------------------" << std::endl;
    std::cout << "blockSize:\t\t" << blockSize << std::endl;
    std::cout << "minDisparity:\t" << minDisparity << std::endl;
    std::cout << "numDisparities:\t" << numDisparities << std::endl;
    std::cout << "mode:\t\t" << mode << std::endl;
    std::cout << "disp12MaxDiff:\t" << disp12MaxDiff << std::endl;
    std::cout << "preFilterCap:\t" << preFilterCap << std::endl;
    std::cout << "uniquenessRatio:\t" << uniquenessRatio << std::endl;
    std::cout << "speckleWindowSize:\t" << speckleWindowSize << std::endl;
    std::cout << "speckleRange:\t" << speckleRange << std::endl;
    std::cout << "P1:\t\t" << P1 << " [Calculated]" << std::endl;
    std::cout << "P2:\t\t" << P2 << " [Calculated]" << std::endl;
 
    std::cout << "minDepth_mm:\t" << minDepth_mm << std::endl;
    std::cout << "maxDepth_mm:\t" << maxDepth_mm << std::endl;
    std::cout << "------------------------------------------" << std::endl << std::endl;
}

References blockSize, disp12MaxDiff, maxDepth_mm, minDepth_mm, minDisparity, mode, numDisparities, P1, P2, preFilterCap, speckleRange, speckleWindowSize, and uniquenessRatio.

Referenced by main().

save()

bool sl_oc::tools::StereoSgbmPar::save

(

)

save stereo matching parameters

Returns

true if a configuration file has been correctly created

Examples

zed_oc_depth_example.cpp, and zed_oc_tune_stereo_sgbm.cpp.

Definition at line 120 of file stereo.hpp.

{
    std::string path = getHiddenDir();
    std::string par_file = path + STEREO_PAR_FILENAME;
 
    cv::FileStorage fs;
    if(!fs.open(par_file, cv::FileStorage::WRITE))
    {
        std::cerr << "Error saving stereo parameters. Cannot open file for writing: " << par_file << std::endl << std::endl;
        return false;
    }
 
    fs << "blockSize" << blockSize;
    fs << "minDisparity" << minDisparity;
    fs << "numDisparities" << numDisparities;
    fs << "mode" << mode;
    fs << "disp12MaxDiff" << disp12MaxDiff;
    fs << "preFilterCap" << preFilterCap;
    fs << "uniquenessRatio" << uniquenessRatio;
    fs << "speckleWindowSize" << speckleWindowSize;
    fs << "speckleRange" << speckleRange;
 
    fs << "minDepth_mm" << minDepth_mm;
    fs << "maxDepth_mm" << maxDepth_mm;
 
    std::cout << "Stereo parameters write done: " << par_file << std::endl << std::endl;
 
    return true;
}

References blockSize, disp12MaxDiff, maxDepth_mm, minDepth_mm, minDisparity, mode, numDisparities, preFilterCap, speckleRange, speckleWindowSize, sl_oc::tools::STEREO_PAR_FILENAME, and uniquenessRatio.

Referenced by main().

setDefaultValues()

void sl_oc::tools::StereoSgbmPar::setDefaultValues

(

)

set default stereo matching parameters

Examples

zed_oc_tune_stereo_sgbm.cpp.

Definition at line 69 of file stereo.hpp.

{
    blockSize = 3;
    minDisparity = 0;
    numDisparities = 96;
    mode = cv::StereoSGBM::MODE_SGBM_3WAY; // MODE_SGBM = 0, MODE_HH   = 1, MODE_SGBM_3WAY = 2, MODE_HH4  = 3
    P1 = 24*blockSize*blockSize;
    P2 = 4*P1;
    disp12MaxDiff = 96;
    preFilterCap = 63;
    uniquenessRatio = 5;
    speckleWindowSize = 255;
    speckleRange = 1;
 
    minDepth_mm = 300.;
    maxDepth_mm = 10000.;
}

References blockSize, disp12MaxDiff, maxDepth_mm, minDepth_mm, minDisparity, mode, numDisparities, P1, P2, preFilterCap, speckleRange, speckleWindowSize, and uniquenessRatio.

Referenced by load(), main(), and StereoSgbmPar().

Member Data Documentation

blockSize

int sl_oc::tools::StereoSgbmPar::blockSize

[default: 3] Matched block size. It must be an odd number >=1 . Normally, it should be somewhere in the 3..11 range.

Examples

zed_oc_depth_example.cpp, and zed_oc_tune_stereo_sgbm.cpp.

Definition at line 53 of file stereo.hpp.

Referenced by applyStereoMatching(), load(), main(), on_trackbar_block_size(), print(), save(), and setDefaultValues().

disp12MaxDiff

int sl_oc::tools::StereoSgbmPar::disp12MaxDiff

[default: 96] Maximum allowed difference (in integer pixel units) in the left-right disparity check. Set it to a non-positive value to disable the check.

Examples

zed_oc_depth_example.cpp, and zed_oc_tune_stereo_sgbm.cpp.

Definition at line 59 of file stereo.hpp.

Referenced by applyStereoMatching(), load(), main(), on_trackbar_disp12MaxDiff(), print(), save(), and setDefaultValues().

maxDepth_mm

double sl_oc::tools::StereoSgbmPar::maxDepth_mm

[default: 10000] Maximum value of depth for the extracted depth map

Examples

zed_oc_depth_example.cpp.

Definition at line 66 of file stereo.hpp.

Referenced by load(), main(), print(), save(), and setDefaultValues().

minDepth_mm

double sl_oc::tools::StereoSgbmPar::minDepth_mm

[default: 300] Minimum value of depth for the extracted depth map

Examples

zed_oc_depth_example.cpp.

Definition at line 65 of file stereo.hpp.

Referenced by load(), main(), print(), save(), and setDefaultValues().

minDisparity

int sl_oc::tools::StereoSgbmPar::minDisparity

[default: 0] Minimum possible disparity value. Normally, it is zero but sometimes rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.

Examples

zed_oc_depth_example.cpp, and zed_oc_tune_stereo_sgbm.cpp.

Definition at line 54 of file stereo.hpp.

Referenced by applyStereoMatching(), load(), main(), on_trackbar_min_disparities(), on_trackbar_num_disparities(), print(), save(), and setDefaultValues().

mode

int sl_oc::tools::StereoSgbmPar::mode

Set it to StereoSGBM::MODE_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 cv::StereoSGBM::MODE_SGBM_3WAY.

Examples

zed_oc_depth_example.cpp, and zed_oc_tune_stereo_sgbm.cpp.

Definition at line 56 of file stereo.hpp.

Referenced by applyStereoMatching(), load(), main(), on_trackbar_mode(), print(), save(), and setDefaultValues().

numDisparities

int sl_oc::tools::StereoSgbmPar::numDisparities

[default: 96] Maximum disparity minus minimum disparity. The value is always greater than zero. In the current implementation, this parameter must be divisible by 16.

Examples

zed_oc_depth_example.cpp, and zed_oc_tune_stereo_sgbm.cpp.

Definition at line 55 of file stereo.hpp.

Referenced by applyStereoMatching(), load(), main(), on_trackbar_min_disparities(), on_trackbar_num_disparities(), print(), save(), and setDefaultValues().

P1

int sl_oc::tools::StereoSgbmPar::P1

[default: 24*blockSize*blockSize] The first parameter controlling the disparity smoothness. See below.

Examples

zed_oc_depth_example.cpp, and zed_oc_tune_stereo_sgbm.cpp.

Definition at line 57 of file stereo.hpp.

Referenced by applyStereoMatching(), load(), main(), on_trackbar_block_size(), print(), and setDefaultValues().

P2

int sl_oc::tools::StereoSgbmPar::P2

[default: 4*PI]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*blockSize*blockSize and 32*number_of_image_channels*blockSize*blockSize , respectively).

Examples

zed_oc_depth_example.cpp, and zed_oc_tune_stereo_sgbm.cpp.

Definition at line 58 of file stereo.hpp.

Referenced by applyStereoMatching(), load(), main(), print(), and setDefaultValues().

preFilterCap

int sl_oc::tools::StereoSgbmPar::preFilterCap

[default: 63] 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.

Examples

zed_oc_depth_example.cpp, and zed_oc_tune_stereo_sgbm.cpp.

Definition at line 60 of file stereo.hpp.

Referenced by applyStereoMatching(), load(), main(), on_trackbar_preFilterCap(), print(), save(), and setDefaultValues().

speckleRange

int sl_oc::tools::StereoSgbmPar::speckleRange

[default: 1] 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.

Examples

zed_oc_depth_example.cpp, and zed_oc_tune_stereo_sgbm.cpp.

Definition at line 63 of file stereo.hpp.

Referenced by applyStereoMatching(), load(), main(), on_trackbar_speckleRange(), print(), save(), and setDefaultValues().

speckleWindowSize

int sl_oc::tools::StereoSgbmPar::speckleWindowSize

[default: 255] 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.

Examples

zed_oc_depth_example.cpp, and zed_oc_tune_stereo_sgbm.cpp.

Definition at line 62 of file stereo.hpp.

Referenced by applyStereoMatching(), load(), main(), on_trackbar_speckleWindowSize(), print(), save(), and setDefaultValues().

uniquenessRatio

int sl_oc::tools::StereoSgbmPar::uniquenessRatio

[default: 5] 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.

Examples

zed_oc_depth_example.cpp, and zed_oc_tune_stereo_sgbm.cpp.

Definition at line 61 of file stereo.hpp.

Referenced by applyStereoMatching(), load(), main(), on_trackbar_uniquenessRatio(), print(), save(), and setDefaultValues().

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The documentation for this class was generated from the following file:

• stereo.hpp