MYNT-EYE-S-SDK/config/disparity_config.yaml
2019-03-27 14:40:35 +08:00

76 lines
2.9 KiB
YAML

%YAML:1.0
---
SGBM:
# must define for opencv check
name: StereoMatcher.SGBM
# 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.
uniquenessRatio: 10
# 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.
speckleWindowSize: 100
# 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.
speckleRange: 32
# Minimum possible disparity value.
# Normally, it is zero but sometimes rectification algorithms
# can shift images, so this parameter needs to be adjusted accordingly.
minDisparity: 0
# Maximum allowed difference (in integer pixel units) in the left-right disparity check.
# Set it to a non-positive value to disable the check.
disp12MaxDiff: 1
# 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.
preFilterCap: 63
# Maximum disparity minus minimum disparity.
# The value is always greater than zero.
# In the current implementation, this parameter must be divisible by 16.
numDisparities: 64
# Matched block size. It must be an odd number >=1 .
# Normally, it should be somewhere in the 3..11 range.
blockSize: 3
# The first parameter controlling the disparity smoothness. See below.
P1: 72
# 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 .
P2: 188
BM:
# must define for opencv check
name: StereoMatcher.BM
uniquenessRatio: 60
speckleWindowSize: 100
speckleRange: 4
minDisparity: 0
disp12MaxDiff: 1
preFilterCap: 31
# the disparity search range.
# For each pixel algorithm will find the best disparity from 0 (default minimum disparity) to numDisparities.
# The search range can then be shifted by changing the minimum disparity.
numDisparities: 64
# the linear size of the blocks compared by the algorithm.
# The size should be odd (as the block is centered at the current pixel).
# 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.
blockSize: 15
preFilterSize: 9
textureThreshold: 10