/// <summary>
/// Release the stereo state and all the memory associate with it
/// </summary>
protected override void DisposeObject()
{
if (_sharedPtr != IntPtr.Zero)
{
Calib3dInvoke.cveStereoMatcherRelease(ref _sharedPtr);
_ptr = IntPtr.Zero;
}
}
/// <summary>
/// Create a stereo disparity solver using StereoSGBM algorithm (combination of H. Hirschmuller + K. Konolige approaches)
/// </summary>
/// <param name="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>
/// <param name="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>
/// <param name="blockSize">Matched block size. It must be an odd number >=1 . Normally, it should be somewhere in the 3..11 range. Use 0 for default. </param>
/// <param name="p1">The first parameter controlling the disparity smoothness. It is the penalty on the disparity change by plus or minus 1 between neighbor pixels. Reasonably good value is 8*number_of_image_channels*SADWindowSize*SADWindowSize. Use 0 for default</param>
/// <param name="p2">The second parameter controlling the disparity smoothness. It is the penalty on the disparity change by more than 1 between neighbor pixels. The algorithm requires <paramref name="p2"/> > <paramref name="p1"/>. Reasonably good value is 32*number_of_image_channels*SADWindowSize*SADWindowSize. Use 0 for default</param>
/// <param name="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>
/// <param name="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>
/// <param name="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>
/// <param name="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>
/// <param name="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>
/// <param name="mode">Set it to 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.</param>
public StereoSGBM(int minDisparity, int numDisparities, int blockSize,
int p1 = 0, int p2 = 0, int disp12MaxDiff = 0,
int preFilterCap = 0, int uniquenessRatio = 0,
int speckleWindowSize = 0, int speckleRange = 0,
Mode mode = Mode.SGBM)
{
_ptr = Calib3dInvoke.cveStereoSGBMCreate(minDisparity, numDisparities, blockSize, p1, p2, disp12MaxDiff, preFilterCap, uniquenessRatio, speckleWindowSize, speckleRange, mode, ref _stereoMatcherPtr, ref _sharedPtr);
}
/// <summary>
/// Create a stereoBM object
/// </summary>
/// <param name="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 higher chance for algorithm to find a wrong correspondence.</param>
/// <param name="numberOfDisparities">the disparity search range. For each pixel algorithm will find the best disparity from 0 (default minimum disparity) to <paramref name="numberOfDisparities"/>. The search range can then be shifted by changing the minimum disparity.</param>
public StereoBM(int numberOfDisparities = 0, int blockSize = 21)
{
_ptr = Calib3dInvoke.cveStereoBMCreate(numberOfDisparities, blockSize, ref _sharedPtr);
}
