Code to Semi Global Matching

I’ve received a few emails asking me for the code to my implementation of Semi Global Matching. So here it is in the state that I last touched it. This is my icky dev code and I have no plans for maintaining it. In another month I’ll probably forget how it works. Before you look at the code, take to heart that this is not a full implementation of what Hirschmuller described in his papers. I didn’t implement 16-path integration or the mutual information cost metric.

TestSemiGlobalMatching is my main function. I developed inside a GTest framework while I was writing this code. [source]

The core of the algorithm is inside the following header and source file links, titled SemiGlobalMatching. As you can see it is all in VW-ese. Most of the math looks Eigen-like and there’s a lot of STL in action that I hope you can still read along. [header] [source]

Also, I haven’t forgotten that I promised to write another article on what I thought was a cool correlator idea. I’m still working on that code base so that I can show off cool urban 3D reconstruction using the satellite imagery I have of NASA Ames Research Center and Mountain View. (I think I have Google’s HQ in the shot.)

Update 3/3/2014

Someone emailed me to figure out what is the MOC imagery that the code keeps referring to? In this case MOC stands for the Mars Orbital Camera on board the 1996 Mars Global Surveyor mission. The stereo pair is epipolar rectified images of Hrad Vallis that I use regularly and represent a classical problem for me when performing satellite stereo correlation. A copy of the input imagery is now available here [epi-L.tif][epi-R.tif].

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