def readyStereoBM(roi1, roi2):
stereobm = cv2.StereoBM_create(numDisparities=112, blockSize=31)
stereobm.setPreFilterSize(31)#41
stereobm.setPreFilterType(cv2.STEREO_BM_PREFILTER_NORMALIZED_RESPONSE)
stereobm.setPreFilterCap(31)
stereobm.setTextureThreshold(10)
stereobm.setMinDisparity(0)
stereobm.setSpeckleWindowSize(100)
stereobm.setSpeckleRange(64)
stereobm.setUniquenessRatio(0)
stereobm.setROI1(roi1)
stereobm.setROI1(roi2)
return stereobm
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