Services
The services module provides various AI and interaction services that can be integrated into social interaction applications.
AI Services
Computer Vision Services
- sic_framework.services.depth_estimation.StereoSGBM_create([minDisparity[, numDisparities[, blockSize[, P1[, P2[, disp12MaxDiff[, preFilterCap[, uniquenessRatio[, speckleWindowSize[, speckleRange[, mode]]]]]]]]]]]) retval
. @brief Creates StereoSGBM object . . @param minDisparity Minimum possible disparity value. Normally, it is zero but sometimes . rectification algorithms can shift images, so this parameter needs to be adjusted accordingly. . @param numDisparities Maximum disparity minus minimum disparity. The value is always greater than . zero. In the current implementation, this parameter must be divisible by 16. . @param blockSize Matched block size. It must be an odd number >=1 . Normally, it should be . somewhere in the 3..11 range. . @param P1 The first parameter controlling the disparity smoothness. See below. . @param P2 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 . See stereo_match.cpp sample where some reasonably good . P1 and P2 values are shown (like 8*number_of_image_channels*blockSize*blockSize and . 32*number_of_image_channels*blockSize*blockSize , respectively). . @param disp12MaxDiff Maximum allowed difference (in integer pixel units) in the left-right . disparity check. Set it to a non-positive value to disable the check. . @param preFilterCap 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. . @param uniquenessRatio 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. . @param speckleWindowSize 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. . @param speckleRange 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. . @param mode Set it to StereoSGBM::MODE_HH to run the full-scale two-pass dynamic programming . algorithm. It will consume O(W*H*numDisparities) bytes, which is large for 640x480 stereo and . huge for HD-size pictures. By default, it is set to false . . . The first constructor initializes StereoSGBM with all the default parameters. So, you only have to . set StereoSGBM::numDisparities at minimum. The second constructor enables you to set each parameter . to a custom value.