// // This file is auto-generated. Please don't modify it! // #pragma once #ifdef __cplusplus //#import "opencv.hpp" #import "opencv2/calib3d.hpp" #else #define CV_EXPORTS #endif #import #import "StereoMatcher.h" NS_ASSUME_NONNULL_BEGIN // 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 * * Member of `Calib3d` */ CV_EXPORTS @interface StereoSGBM : StereoMatcher #ifdef __cplusplus @property(readonly)cv::Ptr nativePtrStereoSGBM; #endif #ifdef __cplusplus - (instancetype)initWithNativePtr:(cv::Ptr)nativePtr; + (instancetype)fromNative:(cv::Ptr)nativePtr; #endif #pragma mark - Class Constants @property (class, readonly) int MODE_SGBM NS_SWIFT_NAME(MODE_SGBM); @property (class, readonly) int MODE_HH NS_SWIFT_NAME(MODE_HH); @property (class, readonly) int MODE_SGBM_3WAY NS_SWIFT_NAME(MODE_SGBM_3WAY); @property (class, readonly) int MODE_HH4 NS_SWIFT_NAME(MODE_HH4); #pragma mark - Methods // // int cv::StereoSGBM::getPreFilterCap() // - (int)getPreFilterCap NS_SWIFT_NAME(getPreFilterCap()); // // void cv::StereoSGBM::setPreFilterCap(int preFilterCap) // - (void)setPreFilterCap:(int)preFilterCap NS_SWIFT_NAME(setPreFilterCap(preFilterCap:)); // // int cv::StereoSGBM::getUniquenessRatio() // - (int)getUniquenessRatio NS_SWIFT_NAME(getUniquenessRatio()); // // void cv::StereoSGBM::setUniquenessRatio(int uniquenessRatio) // - (void)setUniquenessRatio:(int)uniquenessRatio NS_SWIFT_NAME(setUniquenessRatio(uniquenessRatio:)); // // int cv::StereoSGBM::getP1() // - (int)getP1 NS_SWIFT_NAME(getP1()); // // void cv::StereoSGBM::setP1(int P1) // - (void)setP1:(int)P1 NS_SWIFT_NAME(setP1(P1:)); // // int cv::StereoSGBM::getP2() // - (int)getP2 NS_SWIFT_NAME(getP2()); // // void cv::StereoSGBM::setP2(int P2) // - (void)setP2:(int)P2 NS_SWIFT_NAME(setP2(P2:)); // // int cv::StereoSGBM::getMode() // - (int)getMode NS_SWIFT_NAME(getMode()); // // void cv::StereoSGBM::setMode(int mode) // - (void)setMode:(int)mode NS_SWIFT_NAME(setMode(mode:)); // // 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. */ + (StereoSGBM*)create:(int)minDisparity numDisparities:(int)numDisparities blockSize:(int)blockSize P1:(int)P1 P2:(int)P2 disp12MaxDiff:(int)disp12MaxDiff preFilterCap:(int)preFilterCap uniquenessRatio:(int)uniquenessRatio speckleWindowSize:(int)speckleWindowSize speckleRange:(int)speckleRange mode:(int)mode NS_SWIFT_NAME(create(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. */ + (StereoSGBM*)create:(int)minDisparity numDisparities:(int)numDisparities blockSize:(int)blockSize P1:(int)P1 P2:(int)P2 disp12MaxDiff:(int)disp12MaxDiff preFilterCap:(int)preFilterCap uniquenessRatio:(int)uniquenessRatio speckleWindowSize:(int)speckleWindowSize speckleRange:(int)speckleRange NS_SWIFT_NAME(create(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. */ + (StereoSGBM*)create:(int)minDisparity numDisparities:(int)numDisparities blockSize:(int)blockSize P1:(int)P1 P2:(int)P2 disp12MaxDiff:(int)disp12MaxDiff preFilterCap:(int)preFilterCap uniquenessRatio:(int)uniquenessRatio speckleWindowSize:(int)speckleWindowSize NS_SWIFT_NAME(create(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. */ + (StereoSGBM*)create:(int)minDisparity numDisparities:(int)numDisparities blockSize:(int)blockSize P1:(int)P1 P2:(int)P2 disp12MaxDiff:(int)disp12MaxDiff preFilterCap:(int)preFilterCap uniquenessRatio:(int)uniquenessRatio NS_SWIFT_NAME(create(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. */ + (StereoSGBM*)create:(int)minDisparity numDisparities:(int)numDisparities blockSize:(int)blockSize P1:(int)P1 P2:(int)P2 disp12MaxDiff:(int)disp12MaxDiff preFilterCap:(int)preFilterCap NS_SWIFT_NAME(create(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. */ + (StereoSGBM*)create:(int)minDisparity numDisparities:(int)numDisparities blockSize:(int)blockSize P1:(int)P1 P2:(int)P2 disp12MaxDiff:(int)disp12MaxDiff NS_SWIFT_NAME(create(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. */ + (StereoSGBM*)create:(int)minDisparity numDisparities:(int)numDisparities blockSize:(int)blockSize P1:(int)P1 P2:(int)P2 NS_SWIFT_NAME(create(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. */ + (StereoSGBM*)create:(int)minDisparity numDisparities:(int)numDisparities blockSize:(int)blockSize P1:(int)P1 NS_SWIFT_NAME(create(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. */ + (StereoSGBM*)create:(int)minDisparity numDisparities:(int)numDisparities blockSize:(int)blockSize NS_SWIFT_NAME(create(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. */ + (StereoSGBM*)create:(int)minDisparity numDisparities:(int)numDisparities NS_SWIFT_NAME(create(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. */ + (StereoSGBM*)create:(int)minDisparity NS_SWIFT_NAME(create(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. */ + (StereoSGBM*)create NS_SWIFT_NAME(create()); @end NS_ASSUME_NONNULL_END