76 lines
2.9 KiB
YAML
76 lines
2.9 KiB
YAML
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%YAML:1.0
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---
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SGBM:
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# must define for opencv check
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name: StereoMatcher.SGBM
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# Margin in percentage by which the best (minimum) computed cost function value should "win" the second best value to consider the found match correct.
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# Normally, a value within the 5-15 range is good enough.
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uniquenessRatio: 10
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# Maximum size of smooth disparity regions to consider their noise speckles and invalidate.
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# Set it to 0 to disable speckle filtering.
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# Otherwise, set it somewhere in the 50-200 range.
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speckleWindowSize: 100
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# Maximum disparity variation within each connected component.
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# If you do speckle filtering, set the parameter to a positive value, it will be implicitly multiplied by 16.
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# Normally, 1 or 2 is good enough.
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speckleRange: 32
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# Minimum possible disparity value.
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# Normally, it is zero but sometimes rectification algorithms
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# can shift images, so this parameter needs to be adjusted accordingly.
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minDisparity: 0
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# Maximum allowed difference (in integer pixel units) in the left-right disparity check.
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# Set it to a non-positive value to disable the check.
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disp12MaxDiff: 1
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# Truncation value for the prefiltered image pixels.
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# The algorithm first computes x-derivative at each pixel and clips its value by [-preFilterCap, preFilterCap] interval.
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# The result values are passed to the Birchfield-Tomasi pixel cost function.
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preFilterCap: 63
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# Maximum disparity minus minimum disparity.
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# The value is always greater than zero.
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# In the current implementation, this parameter must be divisible by 16.
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numDisparities: 64
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# Matched block size. It must be an odd number >=1 .
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# Normally, it should be somewhere in the 3..11 range.
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blockSize: 3
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# The first parameter controlling the disparity smoothness. See below.
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P1: 72
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# The second parameter controlling the disparity smoothness.
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# The larger the values are, the smoother the disparity is.
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# P1 is the penalty on the disparity change by plus or minus 1 between neighbor pixels.
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# P2 is the penalty on the disparity change by more than 1 between neighbor pixels.
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# The algorithm requires P2 > P1 .
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P2: 188
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BM:
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# must define for opencv check
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name: StereoMatcher.BM
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uniquenessRatio: 60
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speckleWindowSize: 100
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speckleRange: 4
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minDisparity: 0
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disp12MaxDiff: 1
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preFilterCap: 31
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# the disparity search range.
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# For each pixel algorithm will find the best disparity from 0 (default minimum disparity) to numDisparities.
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# The search range can then be shifted by changing the minimum disparity.
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numDisparities: 64
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# the linear size of the blocks compared by the algorithm.
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# The size should be odd (as the block is centered at the current pixel).
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# Larger block size implies smoother, though less accurate disparity map.
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# Smaller block size gives more detailed disparity map,
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# but there is higher chance for algorithm to find a wrong correspondence.
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blockSize: 15
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preFilterSize: 9
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textureThreshold: 10
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