SemiGlobalMatching

SGM，立体匹配最经典应用最广泛算法，4000+引用，兼顾效率和效果。完整实现，代码规范，注释清晰，博客教学，欢迎star！

<table> <tr> <td ><center><img src="https://github.com/ethan-li-coding/SemiGlobalMatching/blob/master/Data/cone/im2.png"></center></td> <td ><center><img src="https://github.com/ethan-li-coding/SemiGlobalMatching/blob/master/Data/cone/im6.png"></center></td> <td ><center><img src="https://github.com/ethan-li-coding/SemiGlobalMatching/blob/master/doc/exp/res/cone-d.png"></center></td> <td ><center><img src="https://github.com/ethan-li-coding/SemiGlobalMatching/blob/master/doc/exp/res/cone-c.png"></center></td> </tr> <tr> <td ><center><img src="https://github.com/ethan-li-coding/SemiGlobalMatching/blob/master/Data/Reindeer/view1.png"></center></td> <td ><center><img src="https://github.com/ethan-li-coding/SemiGlobalMatching/blob/master/Data/Reindeer/view5.png"></center></td> <td ><center><img src="https://github.com/ethan-li-coding/SemiGlobalMatching/blob/master/doc/exp/res/reindeer-d.png"></center></td> <td ><center><img src="https://github.com/ethan-li-coding/SemiGlobalMatching/blob/master/doc/exp/res/reindeer-c.png"></center></td> </tr> <tr> <td ><center><img src="https://github.com/ethan-li-coding/SemiGlobalMatching/blob/master/Data/Cloth3/view1.png"></center></td> <td ><center><img src="https://github.com/ethan-li-coding/SemiGlobalMatching/blob/master/Data/Cloth3/view5.png"></center></td> <td ><center><img src="https://github.com/ethan-li-coding/SemiGlobalMatching/blob/master/doc/exp/res/cloth-d.png"></center></td> <td ><center><img src="https://github.com/ethan-li-coding/SemiGlobalMatching/blob/master/doc/exp/res/cloth-c.png"></center></td> </tr> </table>

CSDN博客

【恒叨立码】【码上实战】【立体匹配系列】经典SGM：（1）框架与类设计<br> 【恒叨立码】【码上实战】【立体匹配系列】经典SGM：（2）代价计算<br> 【恒叨立码】【码上实战】【立体匹配系列】经典SGM：（3）代价聚合<br> 【恒叨立码】【码上实战】【立体匹配系列】经典SGM：（4）代价聚合2<br> 【恒叨立码】【码上实战】【立体匹配系列】经典SGM：（5）视差优化<br> 【恒叨立码】【码上实战】【立体匹配系列】经典SGM：（6）视差填充<br> 【恒叨立码】【码上实战】【立体匹配系列】经典SGM：（7）弱纹理优化<br>

环境

windows10 / visual studio 2015&2019 <br>代码基本没有使用系统api，你可以非常方便的移植到linux，可能需要做极少量的修改

第三方库

opencv310 <br> 百度网盘连接：https://pan.baidu.com/s/1_WD-KdPyDBazEIim7NU3jA <br> 提取码：aab4 <br><br> 解压后放将名称为OpenCV的文件夹复制到到3rdparty文件夹下 <br><br>若运行时提示缺少opencv_world310(d).dll，则在OpenCV文件夹里找到对应的dll文件复制到程序exe所在的目录即可（Opencv\dll\opencv_world310(d).dll），带d为debug库，不带d为release库。 <br><br> 为便于移植，算法是不依赖任何图像库的，只在算法实验部分调用opencv库读取和显示图像，也可替换成其他图像库

算法引导

SGM步骤图

<div align=center> <img src="https://github.com/ethan-li-coding/SemiGlobalMatching/blob/master/doc/exp/SGM%E6%AD%A5%E9%AA%A4%E5%9B%BE.png" width=70%> </div> <br>SGM类设计图<br/> <div align=center> <img src="https://github.com/ethan-li-coding/SemiGlobalMatching/blob/master/doc/exp/SGM%E5%8C%B9%E9%85%8D%E7%B1%BB%E7%BB%93%E6%9E%84.png" width=50%> </div>

备注

<b>算法优点</b>：效果好，效率高，且可高度并行 <br><b>算法缺点</b>：效果非SOTA、内存占用高（可优化）、对弱纹理、重复纹理支持不太好

论文

1. Heiko Hirschmüller. Hirschmüller, H: <b>Stereo processing by semiglobal matching and mutual information</b>. IEEE PAMI 30(2), 328-341[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2008, 30(2):328-341.
2. Humenberger M , Engelke T , Kubinger W . <b>A census-based stereo vision algorithm using modified Semi-Global Matching and plane fitting to improve matching quality</b>[C]// IEEE Computer Society Conference on Computer Vision & Pattern Recognition-workshops. IEEE, 2010.

实验图

<table> <tr> <td ><center><img src="https://github.com/ethan-li-coding/SemiGlobalMatching/blob/master/Data/cone/im2.png"></center></td> <td ><center><img src="https://github.com/ethan-li-coding/SemiGlobalMatching/blob/master/Data/cone/im6.png"></center></td> <td ><center><img src="https://github.com/ethan-li-coding/SemiGlobalMatching/blob/master/doc/exp/Init.png"></center></td> <td ><center><img src="https://github.com/ethan-li-coding/SemiGlobalMatching/blob/master/doc/exp/CA.png"></center></td> </tr> <tr> <td ><center><img src="https://github.com/ethan-li-coding/SemiGlobalMatching/blob/master/doc/exp/LRCheck.png"></center></td> <td ><center><img src="https://github.com/ethan-li-coding/SemiGlobalMatching/blob/master/doc/exp/LRCheck%2BRemovePeaks.png"></center></td> <td ><center><img src="https://github.com/ethan-li-coding/SemiGlobalMatching/blob/master/doc/exp/MedianFilter.png"></center></td> <td ><center><img src="https://github.com/ethan-li-coding/SemiGlobalMatching/blob/master/doc/exp/Fill.png"></center></td> </tr> </table> <b>上行</b>：左视图、右视图、初始代价结果、聚合代价结果<br> <b>下行</b>：一致性检查、唯一性约束+去小连通区、中值滤波、视差填充<br>

Github图片不显示的解决办法

修改hosts

C:\Windows\System32\drivers\etc\hosts

在文件末尾添加：

# GitHub Start
192.30.253.119      gist.github.com
151.101.184.133     assets-cdn.github.com
151.101.184.133     raw.githubusercontent.com
151.101.184.133     gist.githubusercontent.com
151.101.184.133     cloud.githubusercontent.com
151.101.184.133     camo.githubusercontent.com
151.101.184.133     avatars0.githubusercontent.com
151.101.184.133     avatars1.githubusercontent.com
151.101.184.133     avatars2.githubusercontent.com
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151.101.184.133     avatars7.githubusercontent.com
151.101.184.133     avatars8.githubusercontent.com
# GitHub End