sgbm参数设置

转自
https://blog.csdn.net/zhubaohua_bupt/article/details/51866567
https://blog.csdn.net/cxgincsu/article/details/74451940
https://blog.csdn.net/u010369450/article/details/78839345

SGBM相关学习链接：

1，原始文献：Heiko Hirschmuller. Stereo processing by semiglobal matching and mutual information.Pattern Analysis and Machine Intelligence, IEEE Transactions on, 30(2):328–341, 2008.

2，cv::StereoSGBM Class Reference

3，opencvSGBM版半全局立体匹配算法的研究

SGBM的基本原理

SGBM的基本步骤涉及：预处理、代价计算、动态规划以及后处理

StereoSGBM的原型

 
 
 

  

   
   
   

    
    
    

   
   
   
   
   
   

    
    
    

     
     
     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,