Semi-Global Matching on the GPU

This is the implementation of Embedded real-time stereo estimation via Semi-Global Matching on the GPU, D. Hernandez-Juarez et al, ICCS 2016.

How to compile and test

Simply use CMake and target the output directory as "build". In command line this would be (from the project root folder):

mkdir build
cd build
cmake ..
make

How to use it

Type: ./sgm dir p1 p2

The arguments p1 and p2 are semi-global matching parameters, for more information read the SGM paper.

dir is the name of the directory which needs this format:

dir
---- left (images taken from the left camera)
---- right (right camera)
---- disparities (results will be here)

Related Publications

Embedded real-time stereo estimation via Semi-Global Matching on the GPU D. Hernandez-Juarez, A. Chacón, A. Espinosa, D. Vázquez, J. C. Moure, and A. M. López ICCS2016 – International Conference on Computational Science 2016

Requirements

• OpenCV
• CUDA
• CMake

Limitations

• Maximum disparity has to be 128
• Image width and height must be a divisible by 4

What to cite

If you use this code for your research, please kindly cite:

@article{sgm_gpu_iccs2016,
author = "D. Hernandez-Juarez and A. Chacon and A. Espinosa and D. Vazquez and J.C. Moure and A.M. Lopez",
title = "Embedded Real-time Stereo Estimation via Semi-global Matching on the GPU ",
journal = "Procedia Computer Science ",
volume = "80",
number = "",
pages = "143 - 153",
note = "International Conference on Computational Science (ICCS), 6-8 June 2016, San Diego, California ",
year         = {2016}
}