A simple ROS package of Semi-Global Matching for AirSim

The code was tested with Ubuntu 20.04, ROS Noetic, CUDA 11.4.

The implementation of sgm_gpu was obtained from agile_autonomy.

How to use

check settings.json and replace the settings for cameras into your airsim settings. run airsim simulator and roslaunch airsim_stereo airsim_stereo.launch

Caution

This code is roughly designed for research purposes. Adjust the camera settings in airsim_stereo.launch to align with your AirSim configurations in settings.json

Check your CUDA version and modify CMakeLists.txt. usually find_package(CUDA REQUIRED) will be fine.

Future work

Retrieving settings from AirSim