using OpenCVForUnity.CoreModule;
using OpenCVForUnity.UtilsModule;
using System;
using System.Collections.Generic;
using System.Runtime.InteropServices;
namespace OpenCVForUnity.Calib3dModule
{
// C++: class StereoSGBM
/**
* The class implements the modified H. Hirschmuller algorithm CITE: HH08 that differs from the original
* one as follows:
*
*
* -
* By default, the algorithm is single-pass, which means that you consider only 5 directions
* instead of 8. Set mode=StereoSGBM::MODE_HH in createStereoSGBM to run the full variant of the
* algorithm but beware that it may consume a lot of memory.
*
* -
* The algorithm matches blocks, not individual pixels. Though, setting blockSize=1 reduces the
* blocks to single pixels.
*
* -
* Mutual information cost function is not implemented. Instead, a simpler Birchfield-Tomasi
* sub-pixel metric from CITE: BT98 is used. Though, the color images are supported as well.
*
* -
* Some pre- and post- processing steps from K. Konolige algorithm StereoBM are included, for
* example: pre-filtering (StereoBM::PREFILTER_XSOBEL type) and post-filtering (uniqueness
* check, quadratic interpolation and speckle filtering).
*
*
*
* Note:
*
* -
* (Python) An example illustrating the use of the StereoSGBM matching algorithm can be found
* at opencv_source_code/samples/python/stereo_match.py
*
*
*/
public class StereoSGBM : StereoMatcher
{
protected override void Dispose(bool disposing)
{
try
{
if (disposing)
{
}
if (IsEnabledDispose)
{
if (nativeObj != IntPtr.Zero)
calib3d_StereoSGBM_delete(nativeObj);
nativeObj = IntPtr.Zero;
}
}
finally
{
base.Dispose(disposing);
}
}
protected internal StereoSGBM(IntPtr addr) : base(addr) { }
// internal usage only
public static new StereoSGBM __fromPtr__(IntPtr addr) { return new StereoSGBM(addr); }
// C++: enum
public const int MODE_SGBM = 0;
public const int MODE_HH = 1;
public const int MODE_SGBM_3WAY = 2;
public const int MODE_HH4 = 3;
//
// C++: int cv::StereoSGBM::getPreFilterCap()
//
public int getPreFilterCap()
{
ThrowIfDisposed();
return calib3d_StereoSGBM_getPreFilterCap_10(nativeObj);
}
//
// C++: void cv::StereoSGBM::setPreFilterCap(int preFilterCap)
//
public void setPreFilterCap(int preFilterCap)
{
ThrowIfDisposed();
calib3d_StereoSGBM_setPreFilterCap_10(nativeObj, preFilterCap);
}
//
// C++: int cv::StereoSGBM::getUniquenessRatio()
//
public int getUniquenessRatio()
{
ThrowIfDisposed();
return calib3d_StereoSGBM_getUniquenessRatio_10(nativeObj);
}
//
// C++: void cv::StereoSGBM::setUniquenessRatio(int uniquenessRatio)
//
public void setUniquenessRatio(int uniquenessRatio)
{
ThrowIfDisposed();
calib3d_StereoSGBM_setUniquenessRatio_10(nativeObj, uniquenessRatio);
}
//
// C++: int cv::StereoSGBM::getP1()
//
public int getP1()
{
ThrowIfDisposed();
return calib3d_StereoSGBM_getP1_10(nativeObj);
}
//
// C++: void cv::StereoSGBM::setP1(int P1)
//
public void setP1(int P1)
{
ThrowIfDisposed();
calib3d_StereoSGBM_setP1_10(nativeObj, P1);
}
//
// C++: int cv::StereoSGBM::getP2()
//
public int getP2()
{
ThrowIfDisposed();
return calib3d_StereoSGBM_getP2_10(nativeObj);
}
//
// C++: void cv::StereoSGBM::setP2(int P2)
//
public void setP2(int P2)
{
ThrowIfDisposed();
calib3d_StereoSGBM_setP2_10(nativeObj, P2);
}
//
// C++: int cv::StereoSGBM::getMode()
//
public int getMode()
{
ThrowIfDisposed();
return calib3d_StereoSGBM_getMode_10(nativeObj);
}
//
// C++: void cv::StereoSGBM::setMode(int mode)
//
public void setMode(int mode)
{
ThrowIfDisposed();
calib3d_StereoSGBM_setMode_10(nativeObj, mode);
}
//
// C++: static Ptr_StereoSGBM cv::StereoSGBM::create(int minDisparity = 0, int numDisparities = 16, int blockSize = 3, int P1 = 0, int P2 = 0, int disp12MaxDiff = 0, int preFilterCap = 0, int uniquenessRatio = 0, int speckleWindowSize = 0, int speckleRange = 0, int mode = StereoSGBM::MODE_SGBM)
//
/**
* Creates StereoSGBM object
*
* param minDisparity Minimum possible disparity value. Normally, it is zero but sometimes
* rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.
* param numDisparities Maximum disparity minus minimum disparity. The value is always greater than
* zero. In the current implementation, this parameter must be divisible by 16.
* param blockSize Matched block size. It must be an odd number >=1 . Normally, it should be
* somewhere in the 3..11 range.
* param P1 The first parameter controlling the disparity smoothness. See below.
* param 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 . 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).
* param 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.
* param 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.
* param 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.
* param 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.
* param 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.
* param 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 false .
*
* 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.
* return automatically generated
*/
public static StereoSGBM create(int minDisparity, int numDisparities, int blockSize, int P1, int P2, int disp12MaxDiff, int preFilterCap, int uniquenessRatio, int speckleWindowSize, int speckleRange, int mode)
{
return StereoSGBM.__fromPtr__(DisposableObject.ThrowIfNullIntPtr(calib3d_StereoSGBM_create_10(minDisparity, numDisparities, blockSize, P1, P2, disp12MaxDiff, preFilterCap, uniquenessRatio, speckleWindowSize, speckleRange, mode)));
}
/**
* Creates StereoSGBM object
*
* param minDisparity Minimum possible disparity value. Normally, it is zero but sometimes
* rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.
* param numDisparities Maximum disparity minus minimum disparity. The value is always greater than
* zero. In the current implementation, this parameter must be divisible by 16.
* param blockSize Matched block size. It must be an odd number >=1 . Normally, it should be
* somewhere in the 3..11 range.
* param P1 The first parameter controlling the disparity smoothness. See below.
* param 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 . 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).
* param 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.
* param 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.
* param 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.
* param 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.
* param 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.
* 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 .
*
* 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.
* return automatically generated
*/
public static StereoSGBM create(int minDisparity, int numDisparities, int blockSize, int P1, int P2, int disp12MaxDiff, int preFilterCap, int uniquenessRatio, int speckleWindowSize, int speckleRange)
{
return StereoSGBM.__fromPtr__(DisposableObject.ThrowIfNullIntPtr(calib3d_StereoSGBM_create_11(minDisparity, numDisparities, blockSize, P1, P2, disp12MaxDiff, preFilterCap, uniquenessRatio, speckleWindowSize, speckleRange)));
}
/**
* Creates StereoSGBM object
*
* param minDisparity Minimum possible disparity value. Normally, it is zero but sometimes
* rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.
* param numDisparities Maximum disparity minus minimum disparity. The value is always greater than
* zero. In the current implementation, this parameter must be divisible by 16.
* param blockSize Matched block size. It must be an odd number >=1 . Normally, it should be
* somewhere in the 3..11 range.
* param P1 The first parameter controlling the disparity smoothness. See below.
* param 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 . 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).
* param 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.
* param 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.
* param 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.
* param 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.
* filtering, set the parameter to a positive value, it will be implicitly multiplied by 16.
* Normally, 1 or 2 is good enough.
* 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 .
*
* 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.
* return automatically generated
*/
public static StereoSGBM create(int minDisparity, int numDisparities, int blockSize, int P1, int P2, int disp12MaxDiff, int preFilterCap, int uniquenessRatio, int speckleWindowSize)
{
return StereoSGBM.__fromPtr__(DisposableObject.ThrowIfNullIntPtr(calib3d_StereoSGBM_create_12(minDisparity, numDisparities, blockSize, P1, P2, disp12MaxDiff, preFilterCap, uniquenessRatio, speckleWindowSize)));
}
/**
* Creates StereoSGBM object
*
* param minDisparity Minimum possible disparity value. Normally, it is zero but sometimes
* rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.
* param numDisparities Maximum disparity minus minimum disparity. The value is always greater than
* zero. In the current implementation, this parameter must be divisible by 16.
* param blockSize Matched block size. It must be an odd number >=1 . Normally, it should be
* somewhere in the 3..11 range.
* param P1 The first parameter controlling the disparity smoothness. See below.
* param 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 . 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).
* param 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.
* param 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.
* param 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.
* and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the
* 50-200 range.
* filtering, set the parameter to a positive value, it will be implicitly multiplied by 16.
* Normally, 1 or 2 is good enough.
* 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 .
*
* 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.
* return automatically generated
*/
public static StereoSGBM create(int minDisparity, int numDisparities, int blockSize, int P1, int P2, int disp12MaxDiff, int preFilterCap, int uniquenessRatio)
{
return StereoSGBM.__fromPtr__(DisposableObject.ThrowIfNullIntPtr(calib3d_StereoSGBM_create_13(minDisparity, numDisparities, blockSize, P1, P2, disp12MaxDiff, preFilterCap, uniquenessRatio)));
}
/**
* Creates StereoSGBM object
*
* param minDisparity Minimum possible disparity value. Normally, it is zero but sometimes
* rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.
* param numDisparities Maximum disparity minus minimum disparity. The value is always greater than
* zero. In the current implementation, this parameter must be divisible by 16.
* param blockSize Matched block size. It must be an odd number >=1 . Normally, it should be
* somewhere in the 3..11 range.
* param P1 The first parameter controlling the disparity smoothness. See below.
* param 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 . 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).
* param 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.
* param 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.
* value should "win" the second best value to consider the found match correct. Normally, a value
* within the 5-15 range is good enough.
* and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the
* 50-200 range.
* filtering, set the parameter to a positive value, it will be implicitly multiplied by 16.
* Normally, 1 or 2 is good enough.
* 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 .
*
* 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.
* return automatically generated
*/
public static StereoSGBM create(int minDisparity, int numDisparities, int blockSize, int P1, int P2, int disp12MaxDiff, int preFilterCap)
{
return StereoSGBM.__fromPtr__(DisposableObject.ThrowIfNullIntPtr(calib3d_StereoSGBM_create_14(minDisparity, numDisparities, blockSize, P1, P2, disp12MaxDiff, preFilterCap)));
}
/**
* Creates StereoSGBM object
*
* param minDisparity Minimum possible disparity value. Normally, it is zero but sometimes
* rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.
* param numDisparities Maximum disparity minus minimum disparity. The value is always greater than
* zero. In the current implementation, this parameter must be divisible by 16.
* param blockSize Matched block size. It must be an odd number >=1 . Normally, it should be
* somewhere in the 3..11 range.
* param P1 The first parameter controlling the disparity smoothness. See below.
* param 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 . 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).
* param 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.
* 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.
* value should "win" the second best value to consider the found match correct. Normally, a value
* within the 5-15 range is good enough.
* and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the
* 50-200 range.
* filtering, set the parameter to a positive value, it will be implicitly multiplied by 16.
* Normally, 1 or 2 is good enough.
* 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 .
*
* 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.
* return automatically generated
*/
public static StereoSGBM create(int minDisparity, int numDisparities, int blockSize, int P1, int P2, int disp12MaxDiff)
{
return StereoSGBM.__fromPtr__(DisposableObject.ThrowIfNullIntPtr(calib3d_StereoSGBM_create_15(minDisparity, numDisparities, blockSize, P1, P2, disp12MaxDiff)));
}
/**
* Creates StereoSGBM object
*
* param minDisparity Minimum possible disparity value. Normally, it is zero but sometimes
* rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.
* param numDisparities Maximum disparity minus minimum disparity. The value is always greater than
* zero. In the current implementation, this parameter must be divisible by 16.
* param blockSize Matched block size. It must be an odd number >=1 . Normally, it should be
* somewhere in the 3..11 range.
* param P1 The first parameter controlling the disparity smoothness. See below.
* param 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 . 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).
* disparity check. Set it to a non-positive value to disable the check.
* 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.
* value should "win" the second best value to consider the found match correct. Normally, a value
* within the 5-15 range is good enough.
* and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the
* 50-200 range.
* filtering, set the parameter to a positive value, it will be implicitly multiplied by 16.
* Normally, 1 or 2 is good enough.
* 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 .
*
* 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.
* return automatically generated
*/
public static StereoSGBM create(int minDisparity, int numDisparities, int blockSize, int P1, int P2)
{
return StereoSGBM.__fromPtr__(DisposableObject.ThrowIfNullIntPtr(calib3d_StereoSGBM_create_16(minDisparity, numDisparities, blockSize, P1, P2)));
}
/**
* Creates StereoSGBM object
*
* param minDisparity Minimum possible disparity value. Normally, it is zero but sometimes
* rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.
* param numDisparities Maximum disparity minus minimum disparity. The value is always greater than
* zero. In the current implementation, this parameter must be divisible by 16.
* param blockSize Matched block size. It must be an odd number >=1 . Normally, it should be
* somewhere in the 3..11 range.
* param P1 The first parameter controlling the disparity smoothness. See below.
* 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).
* disparity check. Set it to a non-positive value to disable the check.
* 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.
* value should "win" the second best value to consider the found match correct. Normally, a value
* within the 5-15 range is good enough.
* and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the
* 50-200 range.
* filtering, set the parameter to a positive value, it will be implicitly multiplied by 16.
* Normally, 1 or 2 is good enough.
* 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 .
*
* 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.
* return automatically generated
*/
public static StereoSGBM create(int minDisparity, int numDisparities, int blockSize, int P1)
{
return StereoSGBM.__fromPtr__(DisposableObject.ThrowIfNullIntPtr(calib3d_StereoSGBM_create_17(minDisparity, numDisparities, blockSize, P1)));
}
/**
* Creates StereoSGBM object
*
* param minDisparity Minimum possible disparity value. Normally, it is zero but sometimes
* rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.
* param numDisparities Maximum disparity minus minimum disparity. The value is always greater than
* zero. In the current implementation, this parameter must be divisible by 16.
* param blockSize Matched block size. It must be an odd number >=1 . Normally, it should be
* somewhere in the 3..11 range.
* 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).
* disparity check. Set it to a non-positive value to disable the check.
* 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.
* value should "win" the second best value to consider the found match correct. Normally, a value
* within the 5-15 range is good enough.
* and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the
* 50-200 range.
* filtering, set the parameter to a positive value, it will be implicitly multiplied by 16.
* Normally, 1 or 2 is good enough.
* 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 .
*
* 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.
* return automatically generated
*/
public static StereoSGBM create(int minDisparity, int numDisparities, int blockSize)
{
return StereoSGBM.__fromPtr__(DisposableObject.ThrowIfNullIntPtr(calib3d_StereoSGBM_create_18(minDisparity, numDisparities, blockSize)));
}
/**
* Creates StereoSGBM object
*
* param minDisparity Minimum possible disparity value. Normally, it is zero but sometimes
* rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.
* param numDisparities Maximum disparity minus minimum disparity. The value is always greater than
* zero. In the current implementation, this parameter must be divisible by 16.
* somewhere in the 3..11 range.
* 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).
* disparity check. Set it to a non-positive value to disable the check.
* 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.
* value should "win" the second best value to consider the found match correct. Normally, a value
* within the 5-15 range is good enough.
* and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the
* 50-200 range.
* filtering, set the parameter to a positive value, it will be implicitly multiplied by 16.
* Normally, 1 or 2 is good enough.
* 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 .
*
* 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.
* return automatically generated
*/
public static StereoSGBM create(int minDisparity, int numDisparities)
{
return StereoSGBM.__fromPtr__(DisposableObject.ThrowIfNullIntPtr(calib3d_StereoSGBM_create_19(minDisparity, numDisparities)));
}
/**
* Creates StereoSGBM object
*
* param minDisparity Minimum possible disparity value. Normally, it is zero but sometimes
* rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.
* zero. In the current implementation, this parameter must be divisible by 16.
* somewhere in the 3..11 range.
* 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).
* disparity check. Set it to a non-positive value to disable the check.
* 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.
* value should "win" the second best value to consider the found match correct. Normally, a value
* within the 5-15 range is good enough.
* and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the
* 50-200 range.
* filtering, set the parameter to a positive value, it will be implicitly multiplied by 16.
* Normally, 1 or 2 is good enough.
* 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 .
*
* 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.
* return automatically generated
*/
public static StereoSGBM create(int minDisparity)
{
return StereoSGBM.__fromPtr__(DisposableObject.ThrowIfNullIntPtr(calib3d_StereoSGBM_create_110(minDisparity)));
}
/**
* Creates StereoSGBM object
*
* rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.
* zero. In the current implementation, this parameter must be divisible by 16.
* somewhere in the 3..11 range.
* 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).
* disparity check. Set it to a non-positive value to disable the check.
* 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.
* value should "win" the second best value to consider the found match correct. Normally, a value
* within the 5-15 range is good enough.
* and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the
* 50-200 range.
* filtering, set the parameter to a positive value, it will be implicitly multiplied by 16.
* Normally, 1 or 2 is good enough.
* 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 .
*
* 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.
* return automatically generated
*/
public static StereoSGBM create()
{
return StereoSGBM.__fromPtr__(DisposableObject.ThrowIfNullIntPtr(calib3d_StereoSGBM_create_111()));
}
#if (UNITY_IOS || UNITY_WEBGL) && !UNITY_EDITOR
const string LIBNAME = "__Internal";
#else
const string LIBNAME = "opencvforunity";
#endif
// C++: int cv::StereoSGBM::getPreFilterCap()
[DllImport(LIBNAME)]
private static extern int calib3d_StereoSGBM_getPreFilterCap_10(IntPtr nativeObj);
// C++: void cv::StereoSGBM::setPreFilterCap(int preFilterCap)
[DllImport(LIBNAME)]
private static extern void calib3d_StereoSGBM_setPreFilterCap_10(IntPtr nativeObj, int preFilterCap);
// C++: int cv::StereoSGBM::getUniquenessRatio()
[DllImport(LIBNAME)]
private static extern int calib3d_StereoSGBM_getUniquenessRatio_10(IntPtr nativeObj);
// C++: void cv::StereoSGBM::setUniquenessRatio(int uniquenessRatio)
[DllImport(LIBNAME)]
private static extern void calib3d_StereoSGBM_setUniquenessRatio_10(IntPtr nativeObj, int uniquenessRatio);
// C++: int cv::StereoSGBM::getP1()
[DllImport(LIBNAME)]
private static extern int calib3d_StereoSGBM_getP1_10(IntPtr nativeObj);
// C++: void cv::StereoSGBM::setP1(int P1)
[DllImport(LIBNAME)]
private static extern void calib3d_StereoSGBM_setP1_10(IntPtr nativeObj, int P1);
// C++: int cv::StereoSGBM::getP2()
[DllImport(LIBNAME)]
private static extern int calib3d_StereoSGBM_getP2_10(IntPtr nativeObj);
// C++: void cv::StereoSGBM::setP2(int P2)
[DllImport(LIBNAME)]
private static extern void calib3d_StereoSGBM_setP2_10(IntPtr nativeObj, int P2);
// C++: int cv::StereoSGBM::getMode()
[DllImport(LIBNAME)]
private static extern int calib3d_StereoSGBM_getMode_10(IntPtr nativeObj);
// C++: void cv::StereoSGBM::setMode(int mode)
[DllImport(LIBNAME)]
private static extern void calib3d_StereoSGBM_setMode_10(IntPtr nativeObj, int mode);
// C++: static Ptr_StereoSGBM cv::StereoSGBM::create(int minDisparity = 0, int numDisparities = 16, int blockSize = 3, int P1 = 0, int P2 = 0, int disp12MaxDiff = 0, int preFilterCap = 0, int uniquenessRatio = 0, int speckleWindowSize = 0, int speckleRange = 0, int mode = StereoSGBM::MODE_SGBM)
[DllImport(LIBNAME)]
private static extern IntPtr calib3d_StereoSGBM_create_10(int minDisparity, int numDisparities, int blockSize, int P1, int P2, int disp12MaxDiff, int preFilterCap, int uniquenessRatio, int speckleWindowSize, int speckleRange, int mode);
[DllImport(LIBNAME)]
private static extern IntPtr calib3d_StereoSGBM_create_11(int minDisparity, int numDisparities, int blockSize, int P1, int P2, int disp12MaxDiff, int preFilterCap, int uniquenessRatio, int speckleWindowSize, int speckleRange);
[DllImport(LIBNAME)]
private static extern IntPtr calib3d_StereoSGBM_create_12(int minDisparity, int numDisparities, int blockSize, int P1, int P2, int disp12MaxDiff, int preFilterCap, int uniquenessRatio, int speckleWindowSize);
[DllImport(LIBNAME)]
private static extern IntPtr calib3d_StereoSGBM_create_13(int minDisparity, int numDisparities, int blockSize, int P1, int P2, int disp12MaxDiff, int preFilterCap, int uniquenessRatio);
[DllImport(LIBNAME)]
private static extern IntPtr calib3d_StereoSGBM_create_14(int minDisparity, int numDisparities, int blockSize, int P1, int P2, int disp12MaxDiff, int preFilterCap);
[DllImport(LIBNAME)]
private static extern IntPtr calib3d_StereoSGBM_create_15(int minDisparity, int numDisparities, int blockSize, int P1, int P2, int disp12MaxDiff);
[DllImport(LIBNAME)]
private static extern IntPtr calib3d_StereoSGBM_create_16(int minDisparity, int numDisparities, int blockSize, int P1, int P2);
[DllImport(LIBNAME)]
private static extern IntPtr calib3d_StereoSGBM_create_17(int minDisparity, int numDisparities, int blockSize, int P1);
[DllImport(LIBNAME)]
private static extern IntPtr calib3d_StereoSGBM_create_18(int minDisparity, int numDisparities, int blockSize);
[DllImport(LIBNAME)]
private static extern IntPtr calib3d_StereoSGBM_create_19(int minDisparity, int numDisparities);
[DllImport(LIBNAME)]
private static extern IntPtr calib3d_StereoSGBM_create_110(int minDisparity);
[DllImport(LIBNAME)]
private static extern IntPtr calib3d_StereoSGBM_create_111();
// native support for java finalize()
[DllImport(LIBNAME)]
private static extern void calib3d_StereoSGBM_delete(IntPtr nativeObj);
}
}