Stereo Match (OpenCV)

Author: O.Conrad (c) 2014
Menu: Garden | Imagery

Description

Stereo Match.

References

OpenCV - Open Source Computer Vision

Parameters

	Name	Type	Identifier	Description	Constraints
Input	Left Image	grid, input	`LEFT`	-	-
Input	Right Image	grid, input	`RIGHT`	-	-
Output	Disparity Image	grid, output	`DISPARITY`	-	-
Output	Points	point cloud, output, optional	`POINTS`	-	-
Options	Grid System	grid system	`PARAMETERS_GRID_SYSTEM`	-	-
	Algorithm	choice	`ALGORITHM`	-	Available Choices: [0] Block Matching [1] Modified Hirschmuller Default: 0
	Minimum Disparity	integer number	`DISP_MIN`	Minimum possible disparity value. Normally, it is zero but sometimes rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.	Minimum: 0 Default: 0
	Number of Disparities	integer number	`DISP_NUM`	Maximum disparity minus minimum disparity. The value is always greater than zero.	Minimum: 1 Default: 1
	Block Size	integer number	`BLOCKSIZE`	The linear size of the blocks compared by the algorithm. Larger block size implies smoother, though less accurate disparity map. Smaller block size gives more detailed disparity map, but there is higher chance for algorithm to find a wrong correspondence.	Minimum: 0 Default: 4
	Maximum Disparity Difference	integer number	`DIFF_MAX`	Maximum allowed difference (in integer pixel units) in the left-right disparity check. Set it to a non-positive value to disable the check.	Minimum: -1 Default: 1
	Uniqueness Ratio	integer number	`UNIQUENESS`	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.	Minimum: 0 Default: 15
	Speckle Window Size	integer number	`SPECKLE_SIZE`	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.	Minimum: 0 Default: 100
	Speckle Range	integer number	`SPECKLE_RANGE`	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.	Minimum: 0 Default: 2
	Texture Threshold	integer number	`BM_TEXTURE`	-	Minimum: 0 Default: 31
	Prefilter Truncation Value	integer number	`BM_FILTER_CAP`	Truncation value for the prefiltered image pixels.	Minimum: 0 Default: 31
	Mode	choice	`SGBM_MODE`	-	Available Choices: [0] Semi-Global Block Matching [1] HH [2] SGBM 3 Way Default: 0
	Disparity Smoothness Parameter 1	integer number	`SGBM_P1`	The larger the value, the smoother the disparity. Parameter 1 is the penalty on the disparity change by plus or minus 1 between neighbor pixels. The algorithm requires Parameter 2 > Parameter 1.	Minimum: 0 Default: 8
	Disparity Smoothness Parameter 2	integer number	`SGBM_P2`	The larger the value, the smoother the disparity. Parameter 2 is the penalty on the disparity change by more than 1 between neighbor pixels. The algorithm requires Parameter 2 > Parameter 1.	Minimum: 0 Default: 32
	Prefilter Truncation Value	integer number	`SGBM_FILTER_CAP`	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.	Minimum: 0 Default: 31

Command Line


Usage: saga_cmd imagery_opencv 4 [-LEFT ] [-RIGHT ] [-DISPARITY ] [-POINTS ] [-ALGORITHM ] [-DISP_MIN ] [-DISP_NUM ] [-BLOCKSIZE ] [-DIFF_MAX ] [-UNIQUENESS ] [-SPECKLE_SIZE ] [-SPECKLE_RANGE ] [-BM_TEXTURE ] [-BM_FILTER_CAP ] [-SGBM_MODE ] [-SGBM_P1 ] [-SGBM_P2 ] [-SGBM_FILTER_CAP ]
  -LEFT:           	Left Image
	grid, input
  -RIGHT:          	Right Image
	grid, input
  -DISPARITY:      	Disparity Image
	grid, output
  -POINTS:         	Points
	point cloud, output, optional
  -ALGORITHM:      	Algorithm
	choice
	Available Choices:
	[0] Block Matching
	[1] Modified Hirschmuller
	Default: 0
  -DISP_MIN:       	Minimum Disparity
	integer number
	Minimum: 0
	Default: 0
  -DISP_NUM:       	Number of Disparities
	integer number
	Minimum: 1
	Default: 1
  -BLOCKSIZE:      	Block Size
	integer number
	Minimum: 0
	Default: 4
  -DIFF_MAX:       	Maximum Disparity Difference
	integer number
	Minimum: -1
	Default: 1
  -UNIQUENESS:     	Uniqueness Ratio
	integer number
	Minimum: 0
	Default: 15
  -SPECKLE_SIZE:   	Speckle Window Size
	integer number
	Minimum: 0
	Default: 100
  -SPECKLE_RANGE:  	Speckle Range
	integer number
	Minimum: 0
	Default: 2
  -BM_TEXTURE:     	Texture Threshold
	integer number
	Minimum: 0
	Default: 31
  -BM_FILTER_CAP:  	Prefilter Truncation Value
	integer number
	Minimum: 0
	Default: 31
  -SGBM_MODE:      	Mode
	choice
	Available Choices:
	[0] Semi-Global Block Matching
	[1] HH
	[2] SGBM 3 Way
	Default: 0
  -SGBM_P1:        	Disparity Smoothness Parameter 1
	integer number
	Minimum: 0
	Default: 8
  -SGBM_P2:        	Disparity Smoothness Parameter 2
	integer number
	Minimum: 0
	Default: 32
  -SGBM_FILTER_CAP:	Prefilter Truncation Value
	integer number
	Minimum: 0
	Default: 31