Semi-Global Matching

Implementation of the Semi-Global Matching algorithm in Python.

Dependencies

• OpenCV
• NumPy

Instructions

$ git clone https://github.com/beaupreda/semi-global-matching.git
$ cd path/to/semi-global-matching

Usage

python3 sgm.py --left [LEFT IMAGE NAME] --right [RIGHT IMAGE NAME] --left_gt [LEFT GT IMAGE NAME] --right_gt [RIGHT GT IMAGE NAME] --output [OUTPUT IMAGE NAME] --disp [MAXIMUM DISPARITY] --images [TRUE OR FALSE] --eval [TRUE OR FALSE]

Example

python3 sgm.py --left cones/im2.png --right cones/im6.png --left_gt cones/disp2.png --right_gt cones/disp6.png --output disparity_map.png --disp 64 --images False --eval True

Other implementations

• C++
• MATLAB
• CUDA

References

• Stereo Processing by Semi-Global Matching and Mutual Information
• LUNOKHOD SGM Blog Post