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. Then rebuild to provide p1 p2 for every pixel points with a pointer.

Results for example image (left and right Images):

Results for example image (Output):

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

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
• PATH_AGGREGATION parameter must be set to 4 or 8
• Image width and height must be a divisible by 4