In this assignment, we will have to develop the code of a basic implementation of the Semi-Global Block Matching (SGM) stereo matching algorithm. Furthermore, in addition to the pair of input stereo images an initial guess of the disparity map is provided. This initial guess is generally very accurate but defined up to a scalar factor. After computing the disparity map with SGM, we can compute the scalar factor present in the initial guess and use the scaled initial guess disparity map to refine/complete the disparity map computed with SGM.
Building (Out-of-Tree)
mkdir build
cd build/
cmake ..
make
Usage (from build/ directory)
./sgm <right image> <left image> <monocular_right> <gt disparity map> <output image file> <disparity range>
Examples
./sgm ../Examples/Aloe/right.png ../Examples/Aloe/left.png ../Examples/Aloe/right_mono.png ../Examples/Aloe/rightGT.png output_disparityA.png 85
./sgm ../Examples/Cones/right.png ../Examples/Cones/left.png ../Examples/Cones/right_mono.png ../Examples/Cones/rightGT.png output_disparityC.png 85
./sgm ../Examples/Plastic/right.png ../Examples/Plastic/left.png ../Examples/Plastic/right_mono.png ../Examples/Plastic/rightGT.png output_disparityP.png 85
./sgm ../Examples/Rocks1/right.png ../Examples/Rocks1/left.png ../Examples/Rocks1/right_mono.png ../Examples/Rocks1/rightGT.png output_disparityR.png 85