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

Troubleshooting

• Very fast execution and black disparity result: This is usually an error related to the compute architecture used. Look at the CMakeLists.txt and change the architecture to the one you are using, please. If you run the application with nvprof you will see that it does not run any CUDA kernel.

What to cite

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

@inproceedings{sgm_gpu_iccs2016,
  author    = {Daniel Hernandez-Juarez and
               Alejandro Chac{\'{o}}n and
               Antonio Espinosa and
               David V{\'{a}}zquez and
               Juan Carlos Moure and
               Antonio M. L{\'{o}}pez},
  title     = {Embedded Real-time Stereo Estimation via Semi-Global Matching on the
               {GPU}},
  booktitle = {International Conference on Computational Science 2016, {ICCS} 2016,
               6-8 June 2016, San Diego, California, {USA}},
  pages     = {143--153},
  year      = {2016},
  crossref  = {DBLP:conf/iccS/2016},
  url       = {http://dx.doi.org/10.1016/j.procs.2016.05.305},
  doi       = {10.1016/j.procs.2016.05.305},
  biburl    = {http://dblp.uni-trier.de/rec/bib/conf/iccS/JuarezCEVML16},
  bibsource = {dblp computer science bibliography, http://dblp.org}
}