org.bytedeco.opencv.opencv_calib3d

Class StereoBM

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.opencv.opencv_core.Algorithm

org.bytedeco.opencv.opencv_calib3d.StereoMatcher

org.bytedeco.opencv.opencv_calib3d.StereoBM

All Implemented Interfaces:

AutoCloseable

Direct Known Subclasses:

StereoBM

@Namespace(value="cv")
 @Properties(inherit=opencv_calib3d.class)
public class StereoBM
extends StereoMatcher

\brief Class for computing stereo correspondence using the block matching algorithm, introduced and contributed to OpenCV by K. Konolige. \details This class implements a block matching algorithm for stereo correspondence, which is used to compute disparity maps from stereo image pairs. It provides methods to fine-tune parameters such as pre-filtering, texture thresholds, uniqueness ratios, and regions of interest (ROIs) to optimize performance and accuracy.

Nested Class Summary

Nested classes/interfaces inherited from class org.bytedeco.javacpp.Pointer

Pointer.CustomDeallocator, Pointer.Deallocator, Pointer.NativeDeallocator, Pointer.ReferenceCounter

Field Summary

Fields

Modifier and Type	Field and Description
static int	PREFILTER_NORMALIZED_RESPONSE enum cv::StereoBM::
static int	PREFILTER_XSOBEL enum cv::StereoBM::

Fields inherited from class org.bytedeco.opencv.opencv_calib3d.StereoMatcher

DISP_SCALE, DISP_SHIFT

Fields inherited from class org.bytedeco.javacpp.Pointer

address, capacity, limit, position

Constructor Summary

Constructors

Constructor and Description
StereoBM(Algorithm pointer) Downcast constructor.
StereoBM(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
static StereoBM	create()
static StereoBM	create(int numDisparities, int blockSize) \brief Creates StereoBM object
int	getPreFilterCap() \brief Gets the current truncation value for prefiltered pixels.
int	getPreFilterSize() \brief Gets the current size of the pre-filter kernel.
int	getPreFilterType() \brief Gets the type of pre-filtering currently used in the algorithm.
Rect	getROI1() \brief Gets the current Region of Interest (ROI) for the left image.
Rect	getROI2() \brief Gets the current Region of Interest (ROI) for the right image.
int	getSmallerBlockSize() \brief Gets the current size of the smaller block used for texture check.
int	getTextureThreshold() \brief Gets the current texture threshold value.
int	getUniquenessRatio() \brief Gets the current uniqueness ratio value.
void	setPreFilterCap(int preFilterCap) \brief Sets the truncation value for prefiltered pixels.
void	setPreFilterSize(int preFilterSize) \brief Sets the size of the pre-filter kernel.
void	setPreFilterType(int preFilterType) \brief Sets the type of pre-filtering used in the algorithm.
void	setROI1(Rect roi1) \brief Sets the Region of Interest (ROI) for the left image.
void	setROI2(Rect roi2) \brief Sets the Region of Interest (ROI) for the right image.
void	setSmallerBlockSize(int blockSize) \brief Sets the size of the smaller block used for texture check.
void	setTextureThreshold(int textureThreshold) \brief Sets the threshold for filtering low-texture regions.
void	setUniquenessRatio(int uniquenessRatio) \brief Sets the uniqueness ratio for filtering ambiguous matches.

Methods inherited from class org.bytedeco.opencv.opencv_calib3d.StereoMatcher

asAlgorithm, asAlgorithm, compute, compute, compute, getBlockSize, getDisp12MaxDiff, getMinDisparity, getNumDisparities, getSpeckleRange, getSpeckleWindowSize, setBlockSize, setDisp12MaxDiff, setMinDisparity, setNumDisparities, setSpeckleRange, setSpeckleWindowSize

Methods inherited from class org.bytedeco.opencv.opencv_core.Algorithm

clear, empty, getDefaultName, getPointer, position, read, save, save, write, write, write

Methods inherited from class org.bytedeco.javacpp.Pointer

address, asBuffer, asByteBuffer, availablePhysicalBytes, calloc, capacity, capacity, close, deallocate, deallocate, deallocateReferences, deallocator, deallocator, equals, fill, formatBytes, free, getDirectBufferAddress, getPointer, getPointer, getPointer, hashCode, interruptDeallocatorThread, isNull, isNull, limit, limit, malloc, maxBytes, maxPhysicalBytes, memchr, memcmp, memcpy, memmove, memset, offsetAddress, offsetof, offsetof, parseBytes, physicalBytes, physicalBytesInaccurate, position, put, realloc, referenceCount, releaseReference, retainReference, setNull, sizeof, sizeof, toString, totalBytes, totalCount, totalPhysicalBytes, trimMemory, withDeallocator, zero

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Field Detail

PREFILTER_NORMALIZED_RESPONSE

public static final int PREFILTER_NORMALIZED_RESPONSE

enum cv::StereoBM::

See Also:

Constant Field Values

PREFILTER_XSOBEL

public static final int PREFILTER_XSOBEL

enum cv::StereoBM::

See Also:

Constant Field Values

Constructor Detail

StereoBM

public StereoBM(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

StereoBM

public StereoBM(Algorithm pointer)

Downcast constructor.

Method Detail

getPreFilterType

public int getPreFilterType()

\brief Gets the type of pre-filtering currently used in the algorithm.

Returns:

The current pre-filter type: 0 for PREFILTER_NORMALIZED_RESPONSE or 1 for PREFILTER_XSOBEL.

setPreFilterType

public void setPreFilterType(int preFilterType)

\brief Sets the type of pre-filtering used in the algorithm.

Parameters:

preFilterType - The type of pre-filter to use. Possible values are: - PREFILTER_NORMALIZED_RESPONSE (0): Uses normalized response for pre-filtering. - PREFILTER_XSOBEL (1): Uses the X-Sobel operator for pre-filtering. \details The pre-filter type affects how the images are prepared before computing the disparity map. Different pre-filtering methods can enhance specific image features or reduce noise, influencing the quality of the disparity map.

getPreFilterSize

public int getPreFilterSize()

\brief Gets the current size of the pre-filter kernel.

Returns:

The current pre-filter size.

setPreFilterSize

public void setPreFilterSize(int preFilterSize)

\brief Sets the size of the pre-filter kernel.

Parameters:

preFilterSize - The size of the pre-filter kernel. Must be an odd integer, typically between 5 and 255. \details The pre-filter size determines the spatial extent of the pre-filtering operation, which prepares the images for disparity computation by normalizing brightness and enhancing texture. Larger sizes reduce noise but may blur details, while smaller sizes preserve details but are more susceptible to noise.

getPreFilterCap

public int getPreFilterCap()

\brief Gets the current truncation value for prefiltered pixels.

Returns:

The current pre-filter cap value.

setPreFilterCap

public void setPreFilterCap(int preFilterCap)

\brief Sets the truncation value for prefiltered pixels.

Parameters:

preFilterCap - The truncation value. Typically in the range [1, 63]. \details This value caps the output of the pre-filter to [-preFilterCap, preFilterCap], helping to reduce the impact of noise and outliers in the pre-filtered image.

getTextureThreshold

public int getTextureThreshold()

\brief Gets the current texture threshold value.

Returns:

The current texture threshold.

setTextureThreshold

public void setTextureThreshold(int textureThreshold)

\brief Sets the threshold for filtering low-texture regions.

Parameters:

textureThreshold - The threshold value. Must be non-negative. \details This parameter filters out regions with low texture, where establishing correspondences is difficult, thus reducing noise in the disparity map. Higher values filter more aggressively but may discard valid information.

getUniquenessRatio

public int getUniquenessRatio()

\brief Gets the current uniqueness ratio value.

Returns:

The current uniqueness ratio.

setUniquenessRatio

public void setUniquenessRatio(int uniquenessRatio)

\brief Sets the uniqueness ratio for filtering ambiguous matches.

Parameters:

uniquenessRatio - The uniqueness ratio value. Typically in the range [5, 15], but can be from 0 to 100. \details This parameter ensures that the best match is sufficiently better than the next best match, reducing false positives. Higher values are stricter but may filter out valid matches in difficult regions.

getSmallerBlockSize

public int getSmallerBlockSize()

\brief Gets the current size of the smaller block used for texture check.

Returns:

The current smaller block size.

setSmallerBlockSize

public void setSmallerBlockSize(int blockSize)

\brief Sets the size of the smaller block used for texture check.

Parameters:

blockSize - The size of the smaller block. Must be an odd integer between 5 and 255. \details This parameter determines the size of the block used to compute texture variance. Smaller blocks capture finer details but are more sensitive to noise, while larger blocks are more robust but may miss fine details.

getROI1

@ByVal
public Rect getROI1()

\brief Gets the current Region of Interest (ROI) for the left image.

Returns:

The current ROI for the left image.

setROI1

public void setROI1(@ByVal
                    Rect roi1)

\brief Sets the Region of Interest (ROI) for the left image.

Parameters:

roi1 - The ROI rectangle for the left image. \details By setting the ROI, the stereo matching computation is limited to the specified region, improving performance and potentially accuracy by focusing on relevant parts of the image.

getROI2

@ByVal
public Rect getROI2()

\brief Gets the current Region of Interest (ROI) for the right image.

Returns:

The current ROI for the right image.

setROI2

public void setROI2(@ByVal
                    Rect roi2)

\brief Sets the Region of Interest (ROI) for the right image.

Parameters:

roi2 - The ROI rectangle for the right image. \details Similar to setROI1, this limits the computation to the specified region in the right image.

create

@opencv_core.Ptr
public static StereoBM create(int numDisparities,
                                                int blockSize)

\brief Creates StereoBM object

Parameters:

numDisparities - The disparity search range. For each pixel, the algorithm will find the best disparity from 0 (default minimum disparity) to numDisparities. The search range can be shifted by changing the minimum disparity.

blockSize - 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 a higher chance for the algorithm to find a wrong correspondence.

Returns:

A pointer to the created StereoBM object. \details The function creates a StereoBM object. You can then call StereoBM::compute() to compute disparity for a specific stereo pair.

create

@opencv_core.Ptr
public static StereoBM create()