@spec clear(t()) :: t() | {:error, String.t()}

Clears the algorithm state

Positional Arguments

• self: Evision.StereoSGBM.t()

Python prototype (for reference only):

clear() -> None

@spec compute(t(), Evision.Mat.maybe_mat_in(), Evision.Mat.maybe_mat_in()) ::
  Evision.Mat.t() | {:error, String.t()}

Computes disparity map for the specified stereo pair

Positional Arguments

• self: Evision.StereoSGBM.t()

• left: Evision.Mat.t().

  Left 8-bit single-channel image.

• right: Evision.Mat.t().

  Right image of the same size and the same type as the left one.

Return

• disparity: Evision.Mat.t().

  Output disparity map. It has the same size as the input images. Some algorithms, like StereoBM or StereoSGBM compute 16-bit fixed-point disparity map (where each disparity value has 4 fractional bits), whereas other algorithms output 32-bit floating-point disparity map.

Python prototype (for reference only):

compute(left, right[, disparity]) -> disparity

@spec compute(
  t(),
  Evision.Mat.maybe_mat_in(),
  Evision.Mat.maybe_mat_in(),
  [{atom(), term()}, ...] | nil
) :: Evision.Mat.t() | {:error, String.t()}

Computes disparity map for the specified stereo pair

Positional Arguments

• self: Evision.StereoSGBM.t()

• left: Evision.Mat.t().

  Left 8-bit single-channel image.

• right: Evision.Mat.t().

  Right image of the same size and the same type as the left one.

Return

• disparity: Evision.Mat.t().

  Output disparity map. It has the same size as the input images. Some algorithms, like StereoBM or StereoSGBM compute 16-bit fixed-point disparity map (where each disparity value has 4 fractional bits), whereas other algorithms output 32-bit floating-point disparity map.

Python prototype (for reference only):

compute(left, right[, disparity]) -> disparity

@spec create() :: t() | {:error, String.t()}

Creates StereoSGBM object

Keyword Arguments

• minDisparity: int.

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

• numDisparities: int.

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

• blockSize: int.

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

• p1: int.

  The first parameter controlling the disparity smoothness. See below.

• p2: int.

  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).

• disp12MaxDiff: int.

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

• preFilterCap: int.

  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.

• uniquenessRatio: int.

  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.

• speckleWindowSize: int.

  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.

• speckleRange: int.

  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: int.

  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 false .

Return

• retval: Evision.StereoSGBM.t()

The first constructor initializes StereoSGBM with all the default parameters. So, you only have to set StereoSGBM::numDisparities at minimum. The second constructor enables you to set each parameter to a custom value.

Python prototype (for reference only):

create([, minDisparity[, numDisparities[, blockSize[, P1[, P2[, disp12MaxDiff[, preFilterCap[, uniquenessRatio[, speckleWindowSize[, speckleRange[, mode]]]]]]]]]]]) -> retval

@spec create([{atom(), term()}, ...] | nil) :: t() | {:error, String.t()}

Creates StereoSGBM object

Keyword Arguments

• minDisparity: int.

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

• numDisparities: int.

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

• blockSize: int.

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

• p1: int.

  The first parameter controlling the disparity smoothness. See below.

• p2: int.

  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).

• disp12MaxDiff: int.

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

• preFilterCap: int.

  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.

• uniquenessRatio: int.

  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.

• speckleWindowSize: int.

  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.

• speckleRange: int.

  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: int.

  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 false .

Return

• retval: Evision.StereoSGBM.t()

The first constructor initializes StereoSGBM with all the default parameters. So, you only have to set StereoSGBM::numDisparities at minimum. The second constructor enables you to set each parameter to a custom value.

Python prototype (for reference only):

create([, minDisparity[, numDisparities[, blockSize[, P1[, P2[, disp12MaxDiff[, preFilterCap[, uniquenessRatio[, speckleWindowSize[, speckleRange[, mode]]]]]]]]]]]) -> retval

@spec empty(t()) :: boolean() | {:error, String.t()}

Returns true if the Algorithm is empty (e.g. in the very beginning or after unsuccessful read

Positional Arguments

• self: Evision.StereoSGBM.t()

Return

• retval: bool

Python prototype (for reference only):

empty() -> retval

@spec getBlockSize(t()) :: integer() | {:error, String.t()}

getBlockSize

Positional Arguments

• self: Evision.StereoSGBM.t()

Return

• retval: int

Python prototype (for reference only):

getBlockSize() -> retval

@spec getDefaultName(t()) :: binary() | {:error, String.t()}

getDefaultName

Positional Arguments

• self: Evision.StereoSGBM.t()

Return

• retval: String

Returns the algorithm string identifier. This string is used as top level xml/yml node tag when the object is saved to a file or string.

Python prototype (for reference only):

getDefaultName() -> retval

@spec getDisp12MaxDiff(t()) :: integer() | {:error, String.t()}

getDisp12MaxDiff

Positional Arguments

• self: Evision.StereoSGBM.t()

Return

• retval: int

Python prototype (for reference only):

getDisp12MaxDiff() -> retval

@spec getMinDisparity(t()) :: integer() | {:error, String.t()}

getMinDisparity

Positional Arguments

• self: Evision.StereoSGBM.t()

Return

• retval: int

Python prototype (for reference only):

getMinDisparity() -> retval

@spec getMode(t()) :: integer() | {:error, String.t()}

getMode

Positional Arguments

• self: Evision.StereoSGBM.t()

Return

• retval: int

Python prototype (for reference only):

getMode() -> retval

@spec getNumDisparities(t()) :: integer() | {:error, String.t()}

getNumDisparities

Positional Arguments

• self: Evision.StereoSGBM.t()

Return

• retval: int

Python prototype (for reference only):

getNumDisparities() -> retval

@spec getP1(t()) :: integer() | {:error, String.t()}

getP1

Positional Arguments

• self: Evision.StereoSGBM.t()

Return

• retval: int

Python prototype (for reference only):

getP1() -> retval

@spec getP2(t()) :: integer() | {:error, String.t()}

getP2

Positional Arguments

• self: Evision.StereoSGBM.t()

Return

• retval: int

Python prototype (for reference only):

getP2() -> retval

@spec getPreFilterCap(t()) :: integer() | {:error, String.t()}

getPreFilterCap

Positional Arguments

• self: Evision.StereoSGBM.t()

Return

• retval: int

Python prototype (for reference only):

getPreFilterCap() -> retval

@spec getSpeckleRange(t()) :: integer() | {:error, String.t()}

getSpeckleRange

Positional Arguments

• self: Evision.StereoSGBM.t()

Return

• retval: int

Python prototype (for reference only):

getSpeckleRange() -> retval

@spec getSpeckleWindowSize(t()) :: integer() | {:error, String.t()}

getSpeckleWindowSize

Positional Arguments

• self: Evision.StereoSGBM.t()

Return

• retval: int

Python prototype (for reference only):

getSpeckleWindowSize() -> retval

@spec getUniquenessRatio(t()) :: integer() | {:error, String.t()}

getUniquenessRatio

Positional Arguments

• self: Evision.StereoSGBM.t()

Return

• retval: int

Python prototype (for reference only):

getUniquenessRatio() -> retval

@spec read(t(), Evision.FileNode.t()) :: t() | {:error, String.t()}

Reads algorithm parameters from a file storage

Positional Arguments

• self: Evision.StereoSGBM.t()
• fn_: Evision.FileNode.t()

Python prototype (for reference only):

read(fn_) -> None

@spec save(t(), binary()) :: t() | {:error, String.t()}

save

Positional Arguments

• self: Evision.StereoSGBM.t()
• filename: String

Saves the algorithm to a file. In order to make this method work, the derived class must implement Algorithm::write(FileStorage& fs).

Python prototype (for reference only):

save(filename) -> None

@spec setBlockSize(t(), integer()) :: t() | {:error, String.t()}

setBlockSize

Positional Arguments

• self: Evision.StereoSGBM.t()
• blockSize: int

Python prototype (for reference only):

setBlockSize(blockSize) -> None

@spec setDisp12MaxDiff(t(), integer()) :: t() | {:error, String.t()}

setDisp12MaxDiff

Positional Arguments

• self: Evision.StereoSGBM.t()
• disp12MaxDiff: int

Python prototype (for reference only):

setDisp12MaxDiff(disp12MaxDiff) -> None

@spec setMinDisparity(t(), integer()) :: t() | {:error, String.t()}

setMinDisparity

Positional Arguments

• self: Evision.StereoSGBM.t()
• minDisparity: int

Python prototype (for reference only):

setMinDisparity(minDisparity) -> None

@spec setMode(t(), integer()) :: t() | {:error, String.t()}

setMode

Positional Arguments

• self: Evision.StereoSGBM.t()
• mode: int

Python prototype (for reference only):

setMode(mode) -> None

@spec setNumDisparities(t(), integer()) :: t() | {:error, String.t()}

setNumDisparities

Positional Arguments

• self: Evision.StereoSGBM.t()
• numDisparities: int

Python prototype (for reference only):

setNumDisparities(numDisparities) -> None

@spec setP1(t(), integer()) :: t() | {:error, String.t()}

setP1

Positional Arguments

• self: Evision.StereoSGBM.t()
• p1: int

Python prototype (for reference only):

setP1(P1) -> None

@spec setP2(t(), integer()) :: t() | {:error, String.t()}

setP2

Positional Arguments

• self: Evision.StereoSGBM.t()
• p2: int

Python prototype (for reference only):

setP2(P2) -> None

@spec setPreFilterCap(t(), integer()) :: t() | {:error, String.t()}

setPreFilterCap

Positional Arguments

• self: Evision.StereoSGBM.t()
• preFilterCap: int

Python prototype (for reference only):

setPreFilterCap(preFilterCap) -> None

@spec setSpeckleRange(t(), integer()) :: t() | {:error, String.t()}

setSpeckleRange

Positional Arguments

• self: Evision.StereoSGBM.t()
• speckleRange: int

Python prototype (for reference only):

setSpeckleRange(speckleRange) -> None

@spec setSpeckleWindowSize(t(), integer()) :: t() | {:error, String.t()}

setSpeckleWindowSize

Positional Arguments

• self: Evision.StereoSGBM.t()
• speckleWindowSize: int

Python prototype (for reference only):

setSpeckleWindowSize(speckleWindowSize) -> None

@spec setUniquenessRatio(t(), integer()) :: t() | {:error, String.t()}

setUniquenessRatio

Positional Arguments

• self: Evision.StereoSGBM.t()
• uniquenessRatio: int

Python prototype (for reference only):

setUniquenessRatio(uniquenessRatio) -> None

@spec write(t(), Evision.FileStorage.t()) :: t() | {:error, String.t()}

Stores algorithm parameters in a file storage

Positional Arguments

• self: Evision.StereoSGBM.t()
• fs: Evision.FileStorage.t()

Python prototype (for reference only):

write(fs) -> None

@spec write(t(), Evision.FileStorage.t(), binary()) :: t() | {:error, String.t()}

write

Positional Arguments

• self: Evision.StereoSGBM.t()
• fs: Evision.FileStorage.t()
• name: String

Has overloading in C++

Python prototype (for reference only):

write(fs, name) -> None