Revision history [back]

You can get good results for the aloe vera plant that is found in the OpenCV examples data directory with sbm and sgbm respectively ;

      cvtColor( viewL, viewL, COLOR_RGB2GRAY );
  cvtColor( viewR, viewR, COLOR_RGB2GRAY );
  sStereo->alg = StereoCameraRig::STEREO_BM;
  sStereo->SADWindowSize = 9;
  sStereo->numberOfDisparities = 112;
  sStereo->preFilterSize = 5;
  sStereo->preFilterCap = 61;
  sStereo->minDisparity = -39;
  sStereo->textureThreshold = 507;
  sStereo->uniquenessRatio = 0;
  sStereo->speckleWindowSize = 0;
  sStereo->speckleRange = 8;
  sStereo->disp12MaxDiff = 1;

or : ..

   sStereo->alg = StereoCameraRig::STEREO_SGBM;
  sStereo->SADWindowSize = 11;
  sStereo->numberOfDisparities = 192;
  sStereo->preFilterCap = 4;
  sStereo->minDisparity = -64;
  sStereo->uniquenessRatio = 1;
  sStereo->speckleWindowSize = 150;
  sStereo->speckleRange = 1;
  sStereo->disp12MaxDiff = 1;
  sStereo->P1 = 600;
  sStereo->P2 = 2400;
  sStereo->textureThreshold = 500;

You have to convert images to grey for sbm while sgbm can work with color images without any problems.

You can get good results for the aloe vera plant that is found in the OpenCV examples data directory with sbm and sgbm respectively ;

      cvtColor( viewL, viewL, COLOR_RGB2GRAY );
  cvtColor( viewR, viewR, COLOR_RGB2GRAY );
  sStereo->alg = StereoCameraRig::STEREO_BM;
  sStereo->SADWindowSize = 9;
  sStereo->numberOfDisparities = 112;
  sStereo->preFilterSize = 5;
  sStereo->preFilterCap = 61;
  sStereo->minDisparity = -39;
  sStereo->textureThreshold = 507;
  sStereo->uniquenessRatio = 0;
  sStereo->speckleWindowSize = 0;
  sStereo->speckleRange = 8;
  sStereo->disp12MaxDiff = 1;

or : ..

   sStereo->alg = StereoCameraRig::STEREO_SGBM;
  sStereo->SADWindowSize = 11;
  sStereo->numberOfDisparities = 192;
  sStereo->preFilterCap = 4;
  sStereo->minDisparity = -64;
  sStereo->uniquenessRatio = 1;
  sStereo->speckleWindowSize = 150;
  sStereo->speckleRange = 1;
  sStereo->disp12MaxDiff = 1;
  sStereo->P1 = 600;
  sStereo->P2 = 2400;
  sStereo->textureThreshold = 500;

You have to convert images to grey for sbm while sgbm can work with color images without any problems.