import libsgm

lib/libsgm/CMakeLists.txt

+cmake_minimum_required(VERSION 3.1)
+
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
+set(CUDA_ARCH "-arch=sm_50" CACHE STRING "Value of the NVCC -arch option.")
+
+option(ENABLE_ZED_DEMO      "Build a Demo using ZED Camera" OFF)
+option(ENABLE_SAMPLES       "Build samples" OFF)
+option(ENABLE_TESTS         "Test library" OFF)
+option(LIBSGM_SHARED        "Build a shared library" OFF)
+option(BUILD_OPENCV_WRAPPER "Make library compatible with cv::Mat and cv::cuda::GpuMat of OpenCV" OFF)
+
+if(WIN32)
+  set(ZED_SDK_LIB "C:\\Program Files (x86)\\ZED SDK\\lib\\sl_zed64.lib" CACHE STRING "ZED SDK library(sl_zed**.llb) path.")
+  set(ZED_SDK_INCLUDE_DIR "C:\\Program Files (x86)\\ZED SDK\\include" CACHE STRING "ZED SDK include path.")
+else()
+  set(ZED_SDK_LIB "/usr/local/zed/lib/libsl_zed.so" CACHE STRING "ZED SDK library(sl_zed**.llb) path.")
+  set(ZED_SDK_INCLUDE_DIR "/usr/local/zed/include" CACHE STRING "ZED SDK include path.")
+endif()
+
+project(libSGM VERSION 2.4.0)
+
+if(BUILD_OPENCV_WRAPPER)
+	find_package(OpenCV REQUIRED core)
+	include_directories(${OpenCV_INCLUDE_DIRS})
+endif()
+
+configure_file(${CMAKE_SOURCE_DIR}/include/libsgm_config.h.in
+               ${CMAKE_SOURCE_DIR}/include/libsgm_config.h
+)
+
+add_subdirectory(src)
+
+if(ENABLE_SAMPLES)
+    add_subdirectory(sample/image)
+    add_subdirectory(sample/movie)
+#    add_subdirectory(sample/reprojection)
+    add_subdirectory(sample/benchmark)
+    if(BUILD_OPENCV_WRAPPER)
+        add_subdirectory(sample/image_cv_gpumat)
+    endif()
+endif()
+
+if(ENABLE_TESTS)
+	add_subdirectory(test)
+endif()
+
+if(ENABLE_ZED_DEMO)
+	add_subdirectory(sample/zed)
+endif()

lib/libsgm/FindLibSGM.cmake

+###############################################################################
+# Find LibSGM
+#
+# This sets the following variables:
+# LIBSGM_FOUND - True if LIBSGM was found.
+# LIBSGM_INCLUDE_DIRS - Directories containing the LIBSGM include files.
+# LIBSGM_LIBRARY - Libraries needed to use LIBSGM.
+
+# Find lib
+set(LIBSGM_FOUND FALSE CACHE BOOL "" FORCE)
+find_library(LIBSGM_LIBRARY
+    NAMES sgm libsgm
+    PATH_SUFFIXES lib/
+)
+
+# Find include
+find_path(LIBSGM_INCLUDE_DIRS
+    NAMES libsgm.h
+    PATH_SUFFIXES include/
+)
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(LibSGM DEFAULT_MSG LIBSGM_LIBRARY LIBSGM_INCLUDE_DIRS)
+
+message(STATUS "(LIBSGM_FOUND : ${LIBSGM_FOUND} include: ${LIBSGM_INCLUDE_DIRS}, lib: ${LIBSGM_LIBRARY})")
+
+mark_as_advanced(LIBSGM_FOUND)
+
+if(LIBSGM_FOUND)
+    set(LIBSGM_FOUND TRUE CACHE BOOL "" FORCE)
+    set(LIBSGM_LIBRARIES ${LIBSGM_LIBRARY})
+    message(STATUS "LibSGM found ( include: ${LIBSGM_INCLUDE_DIRS}, lib: ${LIBSGM_LIBRARY})")
+endif()

lib/libsgm/LICENSE

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lib/libsgm/README.jp.md

+# libSGM
+---
+Semi-Global MatchingをベースとしたCUDA実装です。
+
+## 概要
+---
+
+libSGMは、Semi-Global MatchingアルゴリズムをCUDAで実装したものです。  
+適切にキャリブレーションされた2つの入力画像から、視差画像を取得することができます。
+
+## 特徴
+---
+CUDAを使用し、高速な視差画像算出が可能
+
+## パフォーマンス
+benchmarkサンプルで計測した処理時間を示します
+### Settings
+- image size : 1024 x 440
+- disparity size : 128
+- sgm path : 8 path
+
+### Results
+|Device|Processing Time[Milliseconds]|FPS|
+|---|---|---|
+|Tegra X2|52.4|19.1|
+|GTX 1080 Ti|3.4|296|
+
+## Requirements
+libSGMはCUDA (compute capabilities >= 3.0)を必要とします。  
+また、サンプルをビルドする際には以下のライブラリが必要となります。
+- OpenCV 3.0 以降
+- CMake 3.10 以降
+
+## build
+```
+$ git clone https://github.com/fixstars/libSGM.git
+$ cd libSGM
+$ mkdir build
+$ cd build
+$ cmake ../
+$ make
+```
+
+## サンプル実行
+```
+$ pwd
+.../libSGM
+$ cd build
+$ cd sample/movie/
+$ ./stereo_movie <left image path format> <right image path format> <disparity> <frame count>
+left image path format: 左側画像入力時に使用するファイルパスのフォーマット
+right image path format: 右側画像入力時に使用するファイルパスのフォーマット
+disparity: 視差情報を何段階で保持するか(省略可)
+frame count: 全画像が何枚存在するか(省略可)
+```
+
+disparityとframe countは省略が可能です。省略した時には、それぞれ64, 100が付与されます。
+
+ここで、left image path format, right image path formatとは、ファイル読み込み時に使用するフォーマットを意味します。  
+次のような連番ファイルが与えられていたとき、与えるべきpath formatは以下のようになります。
+```
+left_image_0000.pgm
+left_image_0001.pgm
+left_image_0002.pgm
+left_image_0003.pgm
+...
+
+right_image_0000.pgm
+right_image_0001.pgm
+right_image_0002.pgm
+right_image_0003.pgm
+```
+
+```
+$ ./stereo_movie left_image_%04d.pgm right_image_%04d.pgm
+```
+
+movie, imageサンプルは、
+http://www.6d-vision.com/scene-labeling
+にて提供されている、Daimler Urban Scene Segmentation Benchmark Datasetにて
+動作確認をしています。
+
+## Authors
+The "SGM Team": Samuel Audet, Yoriyuki Kitta, Yuta Noto, Ryo Sakamoto, Akihiro Takagi  
+[Fixstars Corporation](http://www.fixstars.com/)
+
+## License
+Apache License 2.0

lib/libsgm/README.md

+# libSGM
+---
+A CUDA implementation performing Semi-Global Matching.
+
+## Introduction
+---
+
+libSGM is library that implements in CUDA the Semi-Global Matching algorithm.  
+From a pair of appropriately calibrated input images, we can obtain the disparity map.
+
+## Features
+---
+Because it uses CUDA, we can compute the disparity map at high speed.
+
+## Performance
+The libSGM performance obtained from benchmark sample
+### Settings
+- image size : 1024 x 440
+- disparity size : 128
+- sgm path : 8 path
+
+### Results
+|Device|Processing Time[Milliseconds]|FPS|
+|---|---|---|
+|Tegra X2|52.4|19.1|
+|GTX 1080 Ti|3.4|296|
+
+## Requirements
+libSGM needs CUDA (compute capabilities >= 3.0) to be installed.  
+Moreover, to build the sample, we need the following libraries:
+- OpenCV 3.0 or later
+- CMake 3.10 or later
+
+## Build Instructions
+```
+$ git clone https://github.com/fixstars/libSGM.git
+$ cd libSGM
+$ mkdir build
+$ cd build
+$ cmake ../
+$ make
+```
+
+## Sample Execution
+```
+$ pwd
+.../libSGM
+$ cd build
+$ cd sample/movie/
+$ ./stereo_movie <left image path format> <right image path format> <disparity> <frame count>
+left image path format: the format used for the file paths to the left input images
+right image path format: the format used for the file paths to the right input images
+disparity: the maximum number of disparities (optional)
+frame count: the total number of images (optional)
+```
+
+"disparity" and "frame count" are optional. By default, they are 64 and 100, respectively.
+
+Next, we explain the meaning of the "left image path format" and "right image path format".  
+When provided with the following set of files, we should pass the "path formats" given below.
+```
+left_image_0000.pgm
+left_image_0001.pgm
+left_image_0002.pgm
+left_image_0003.pgm
+...
+
+right_image_0000.pgm
+right_image_0001.pgm
+right_image_0002.pgm
+right_image_0003.pgm
+```
+
+```
+$ ./stereo_movie left_image_%04d.pgm right_image_%04d.pgm
+```
+
+The sample movie images available at
+http://www.6d-vision.com/scene-labeling
+under "Daimler Urban Scene Segmentation Benchmark Dataset"
+are used to test the software.
+
+## Authors
+The "SGM Team": Samuel Audet, Yoriyuki Kitta, Yuta Noto, Ryo Sakamoto, Akihiro Takagi  
+[Fixstars Corporation](http://www.fixstars.com/)
+
+## License
+Apache License 2.0

lib/libsgm/include/libsgm.h

+/*
+Copyright 2016 Fixstars Corporation
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http ://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+*/
+
+#pragma once
+
+/**
+* @mainpage stereo-sgm
+* See sgm::StereoSGM
+*/
+
+/**
+* @file libsgm.h
+* stereo-sgm main header
+*/
+
+#include <stdint.h>
+#include "libsgm_config.h"
+
+#if defined(LIBSGM_SHARED)
+	#if defined(WIN32) || defined(_WIN32)
+		#if defined sgm_EXPORTS
+			#define LIBSGM_API __declspec(dllexport)
+		#else
+			#define LIBSGM_API __declspec(dllimport)
+		#endif
+	#else
+		#define LIBSGM_API __attribute__((visibility("default")))
+	#endif
+#else
+	#define LIBSGM_API
+#endif
+
+namespace sgm {
+	struct CudaStereoSGMResources;
+
+	/**
+	* @enum DST_TYPE
+	* Indicates input/output pointer type.
+	*/
+	enum EXECUTE_INOUT {
+		EXECUTE_INOUT_HOST2HOST = (0 << 1) | 0,
+		EXECUTE_INOUT_HOST2CUDA = (1 << 1) | 0,
+		EXECUTE_INOUT_CUDA2HOST = (0 << 1) | 1,
+		EXECUTE_INOUT_CUDA2CUDA = (1 << 1) | 1,
+	};
+
+	/**
+	* @brief StereoSGM class
+	*/
+	class StereoSGM {
+	public:
+		static const int SUBPIXEL_SHIFT = 4;
+		static const int SUBPIXEL_SCALE = (1 << SUBPIXEL_SHIFT);
+		struct Parameters
+		{
+			int P1;
+			int P2;
+			float uniqueness;
+			bool subpixel;
+			Parameters(int P1 = 10, int P2 = 120, float uniqueness = 0.95f, bool subpixel = false) : P1(P1), P2(P2), uniqueness(uniqueness), subpixel(subpixel) {}
+		};
+
+		/**
+		* @param width Processed image's width.
+		* @param height Processed image's height.
+		* @param disparity_size It must be 64 or 128.
+		* @param input_depth_bits Processed image's bits per pixel. It must be 8 or 16.
+		* @param output_depth_bits Disparity image's bits per pixel. It must be 8 or 16.
+		* @param inout_type 	Specify input/output pointer type. See sgm::EXECUTE_TYPE.
+		* @attention
+		* output_depth_bits must be set to 16 when subpixel is enabled.
+		*/
+		LIBSGM_API StereoSGM(int width, int height, int disparity_size, int input_depth_bits, int output_depth_bits, 
+			EXECUTE_INOUT inout_type, const Parameters& param = Parameters());
+
+		/**
+		* @param width Processed image's width.
+		* @param height Processed image's height.
+		* @param disparity_size It must be 64 or 128.
+		* @param input_depth_bits Processed image's bits per pixel. It must be 8 or 16.
+		* @param output_depth_bits Disparity image's bits per pixel. It must be 8 or 16.
+		* @param src_pitch Source image's pitch (pixels).
+		* @param dst_pitch Destination image's pitch (pixels).
+		* @param inout_type 	Specify input/output pointer type. See sgm::EXECUTE_TYPE.
+		* @attention
+		* output_depth_bits must be set to 16 when subpixel is enabled.
+		*/
+		LIBSGM_API StereoSGM(int width, int height, int disparity_size, int input_depth_bits, int output_depth_bits, int src_pitch, int dst_pitch,
+			EXECUTE_INOUT inout_type, const Parameters& param = Parameters());
+
+		LIBSGM_API virtual ~StereoSGM();
+
+		/**
+		* Execute stereo semi global matching.
+		* @param left_pixels	A pointer stored input left image.
+		* @param right_pixels	A pointer stored input right image.
+		* @param dst	        Output pointer. User must allocate enough memory.
+		* @attention
+		* You need to allocate dst memory at least width x height x sizeof(element_type) bytes.
+		* The element_type is uint8_t for output_depth_bits == 8 and uint16_t for output_depth_bits == 16.
+		* Note that dst element value would be multiplied StereoSGM::SUBPIXEL_SCALE if subpixel option was enabled.
+		*/
+		LIBSGM_API void execute(const void* left_pixels, const void* right_pixels, void* dst);
+
+		/**
+		 * Same as execute(left_pixels, right_pixels, dst) with image size parameters.
+		 * Dimensions must be smaller or equal to dimensions provided in constructor.
+		 */
+		LIBSGM_API void execute(const void* left_pixels, const void* right_pixels, void* dst, const int width, const int height, const int src_pitch, const int dst_pitch);
+
+		/**
+		 * Mask for invalid pixels. Must have same shape and pitch as src. Pixels which have non-zero values
+		 * will be masked in final disparity image.
+		 */
+		LIBSGM_API void setMask(uint8_t* mask, int pitch);
+
+		/**
+		 * Update parameters. Returns true if successful. 
+		 */
+		LIBSGM_API bool updateParameters(const Parameters &params);
+
+	private:
+		StereoSGM(const StereoSGM&);
+		StereoSGM& operator=(const StereoSGM&);
+
+		void cuda_resource_allocate();
+
+		CudaStereoSGMResources* cu_res_;
+
+		int width_;
+		int height_;
+		int disparity_size_;
+		int input_depth_bits_;
+		int output_depth_bits_;
+		int src_pitch_;
+		int dst_pitch_;
+		EXECUTE_INOUT inout_type_;
+		Parameters param_;
+	};
+}
+
+#include "libsgm_wrapper.h"

lib/libsgm/include/libsgm_config.h

+#ifndef __LIBSGM_CONFIG_H__
+#define __LIBSGM_CONFIG_H__
+
+/* #undef LIBSGM_SHARED */
+
+#define LIBSGM_VERSION 2.4.0
+#define LIBSGM_VERSION_MAJOR 2
+#define LIBSGM_VERSION_MINOR 4
+#define LIBSGM_VERSION_PATCH 0
+
+/* #undef BUILD_OPENCV_WRAPPER */
+
+#endif // __LIBSGM_CONFIG_H__

lib/libsgm/include/libsgm_config.h.in

+#ifndef __LIBSGM_CONFIG_H__
+#define __LIBSGM_CONFIG_H__
+
+#cmakedefine LIBSGM_SHARED
+
+#define LIBSGM_VERSION @libSGM_VERSION@
+#define LIBSGM_VERSION_MAJOR @libSGM_VERSION_MAJOR@
+#define LIBSGM_VERSION_MINOR @libSGM_VERSION_MINOR@
+#define LIBSGM_VERSION_PATCH @libSGM_VERSION_PATCH@
+
+#cmakedefine BUILD_OPENCV_WRAPPER
+
+#endif // __LIBSGM_CONFIG_H__

lib/libsgm/include/libsgm_wrapper.h

+#ifndef __LIBSGM_WRAPPER_H__
+#define __LIBSGM_WRAPPER_H__
+
+#include "libsgm.h"
+#include <memory>
+#ifdef BUILD_OPENCV_WRAPPER
+#include <opencv2/core/cuda.hpp>
+#endif
+
+namespace sgm {
+	/**
+	 * @brief LibSGMWrapper class which is wrapper for sgm::StereoSGM.
+	 */
+	class LibSGMWrapper {
+	public:
+		/**
+		 * @param numDisparity Maximum possible disparity value
+		 * @param P1 Penalty on the disparity change by plus or minus 1 between nieghbor pixels
+		 * @param P2 Penalty on the disparity change by more than 1 between neighbor pixels
+		 * @param uniquenessRatio Margin in ratio by which the best cost function value should be at least second one
+		 * @param subpixel Disparity value has 4 fractional bits if subpixel option is enabled
+		 */
+		LIBSGM_API LibSGMWrapper(int numDisparity = 128, int P1 = 10, int P2 = 120, float uniquenessRatio = 0.95f, bool subpixel = false);
+		LIBSGM_API ~LibSGMWrapper();
+
+		LIBSGM_API int getNumDisparities() const;
+		LIBSGM_API int getP1() const;
+		LIBSGM_API int getP2() const;
+		LIBSGM_API float getUniquenessRatio() const;
+		LIBSGM_API bool hasSubpixel() const;
+
+#ifdef BUILD_OPENCV_WRAPPER
+		/**
+		 * Execute stereo semi global matching via wrapper class
+		 * @param I1        Input left image.  Image's type is must be CV_8U or CV_16U
+		 * @param I2        Input right image.  Image's size and type must be same with I1.
+		 * @param disparity Output image.  Its memory will be allocated automatically dependent on input image size.
+		 * @attention
+		 * type of output image `disparity` is CV_16U.
+		 * Note that disparity element value would be multiplied StereoSGM::SUBPIXEL_SCALE if subpixel option was enabled.
+		 */
+		LIBSGM_API void execute(const cv::cuda::GpuMat& I1, const cv::cuda::GpuMat& I2, cv::cuda::GpuMat& disparity);
+		/**
+		 * Execute stereo semi global matching via wrapper class
+		 * @param I1        Input left image.  Image's type is must be CV_8U or CV_16U
+		 * @param I2        Input right image.  Image's size and type must be same with I1.
+		 * @param disparity Output image.  Its memory will be allocated automatically dependent on input image size.
+		 * @attention
+		 * type of output image `disparity` is CV_16U.
+		 * Note that disparity element value would be multiplied StereoSGM::SUBPIXEL_SCALE if subpixel option was enabled.
+		 */
+		LIBSGM_API void execute(const cv::Mat& I1, const cv::Mat& I2, cv::Mat& disparity);
+#endif // BUILD_OPRENCV_WRAPPER
+
+	private:
+		struct Creator;
+		std::unique_ptr<sgm::StereoSGM> sgm_;
+		int numDisparity_;
+		sgm::StereoSGM::Parameters param_;
+		std::unique_ptr<Creator> prev_;
+	};
+}
+
+#endif // __LIBSGM_WRAPPER_H__

lib/libsgm/sample/benchmark/CMakeLists.txt

+cmake_minimum_required(VERSION 3.1)
+
+set(CMAKE_FIND_PACKAGE_SORT_ORDER NATURAL)
+
+if (CMAKE_COMPILER_IS_GNUCXX)
+	set(CMAKE_CXX_FLAGS "-O3 -Wall")
+endif()
+
+find_package(CUDA REQUIRED)
+
+find_package(OpenCV REQUIRED)
+if (OpenCV_VERSION VERSION_LESS 3.0)
+	message(FATAL_ERROR "Error: OpenCV version requires at least 3.0")
+endif()
+
+include_directories(${OpenCV_INCLUDE_DIRS})
+include_directories(../../include)
+
+cuda_add_executable(stereo_benchmark stereosgm_benchmark.cpp)
+target_link_libraries(stereo_benchmark sgm ${CUDA_LIBRARIES} ${OpenCV_LIBS})

lib/libsgm/sample/benchmark/stereosgm_benchmark.cpp

+/*
+Copyright 2016 Fixstars Corporation
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http ://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+*/
+
+#include <iostream>
+#include <iomanip>
+#include <chrono>
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <cuda_runtime.h>
+
+#include <libsgm.h>
+
+#define ASSERT_MSG(expr, msg) \
+	if (!(expr)) { \
+		std::cerr << msg << std::endl; \
+		std::exit(EXIT_FAILURE); \
+	} \
+
+struct device_buffer
+{
+	device_buffer() : data(nullptr) {}
+	device_buffer(size_t count) { allocate(count); }
+	void allocate(size_t count) { cudaMalloc(&data, count); }
+	~device_buffer() { cudaFree(data); }
+	void* data;
+};
+
+int main(int argc, char* argv[])
+{
+	if (argc < 3) {
+		std::cout << "usage: " << argv[0] << " left_img right_img [disp_size] [out_depth] [subpixel_enable(0: false, 1:true)] [iterations]" << std::endl;
+		std::exit(EXIT_FAILURE);
+	}
+
+	cv::Mat I1 = cv::imread(argv[1], -1);
+	cv::Mat I2 = cv::imread(argv[2], -1);
+
+	ASSERT_MSG(!I1.empty() && !I2.empty(), "imread failed.");
+	ASSERT_MSG(I1.size() == I2.size() && I1.type() == I2.type(), "input images must be same size and type.");
+	ASSERT_MSG(I1.type() == CV_8U || I1.type() == CV_16U, "input image format must be CV_8U or CV_16U.");
+
+	const int disp_size = argc > 3 ? std::stoi(argv[3]) : 128;
+	const int out_depth = argc > 4 ? std::stoi(argv[4]) : 8;
+	const bool subpixel = argc > 5 ? std::stoi(argv[5]) != 0 : false;
+
+	ASSERT_MSG(disp_size == 64 || disp_size == 128, "disparity size must be 64 or 128.");
+	if (subpixel) {
+		ASSERT_MSG(out_depth == 16, "output depth bits must be 16 if subpixel option is enabled.");
+	} else {
+		ASSERT_MSG(out_depth == 8 || out_depth == 16, "output depth bits must be 8 or 16");
+	}
+	const int iterations = argc > 6 ? std::stoi(argv[6]) : 100;
+
+	const int width = I1.cols;
+	const int height = I1.rows;
+
+	const int input_depth = I1.type() == CV_8U ? 8 : 16;
+	const int input_bytes = input_depth * width * height / 8;
+	const int output_bytes = out_depth * width * height / 8;
+
+	const sgm::StereoSGM::Parameters params{10, 120, 0.95f, subpixel};
+
+	sgm::StereoSGM sgm(width, height, disp_size, input_depth, out_depth, sgm::EXECUTE_INOUT_CUDA2CUDA, params);
+
+	device_buffer d_I1(input_bytes), d_I2(input_bytes), d_disparity(output_bytes);
+	cudaMemcpy(d_I1.data, I1.data, input_bytes, cudaMemcpyHostToDevice);
+	cudaMemcpy(d_I2.data, I2.data, input_bytes, cudaMemcpyHostToDevice);
+
+	cudaDeviceProp prop;
+	int version;
+	cudaGetDeviceProperties(&prop, 0);
+	cudaRuntimeGetVersion(&version);
+
+	// show settings
+	std::cout << "# Settings" << std::endl;
+	std::cout << "device name         : " << prop.name << std::endl;
+	std::cout << "CUDA runtime version: " << version << std::endl;
+	std::cout << "image size          : " << I1.size() << std::endl;
+	std::cout << "disparity size      : " << disp_size << std::endl;
+	std::cout << "output depth        : " << out_depth << std::endl;
+	std::cout << "subpixel option     : " << (subpixel ? "true" : "false") << std::endl;
+	std::cout << "sgm path            : " << "8 path" << std::endl;
+	std::cout << "iterations          : " << iterations << std::endl;
+	std::cout << std::endl;
+
+	// run benchmark
+	std::cout << "Running benchmark..." << std::endl;
+	uint64_t sum = 0;
+	for (int i = 0; i <= iterations; i++) {
+		const auto t1 = std::chrono::system_clock::now();
+
+		sgm.execute(d_I1.data, d_I2.data, d_disparity.data);
+		cudaDeviceSynchronize();
+
+		const auto t2 = std::chrono::system_clock::now();
+		if (i > 0)
+			sum += std::chrono::duration_cast<std::chrono::microseconds>(t2 - t1).count();
+	}
+	std::cout << "Done." << std::endl << std::endl;
+
+	// show results
+	const double time_millisec = 1e-3 * sum / iterations;
+	const double fps = 1e3 / time_millisec;
+	std::cout << "# Results" << std::endl;
+	std::cout.setf(std::ios::fixed);
+	std::cout << std::setprecision(1) << "Processing Time[Milliseconds]: " << time_millisec << std::endl;
+	std::cout << std::setprecision(1) << "FPS                          : " << fps << std::endl;
+	std::cout << std::endl;
+
+	// save disparity image
+	cv::Mat disparity(height, width, out_depth == 8 ? CV_8U : CV_16U);
+	cudaMemcpy(disparity.data, d_disparity.data, output_bytes, cudaMemcpyDeviceToHost);
+	disparity *= 255. / disp_size;
+	cv::imwrite("disparity.png", disparity);
+
+	return 0;
+}

lib/libsgm/sample/image/CMakeLists.txt

+cmake_minimum_required(VERSION 3.1)
+
+set(CMAKE_FIND_PACKAGE_SORT_ORDER NATURAL)
+
+if (CMAKE_COMPILER_IS_GNUCXX)
+	set(CMAKE_CXX_FLAGS "-O3 -Wall")
+endif()
+
+find_package(CUDA REQUIRED)
+
+find_package(OpenCV REQUIRED)
+if (OpenCV_VERSION VERSION_LESS 3.0)
+	message(FATAL_ERROR "Error: OpenCV version requires at least 3.0")
+endif()
+
+include_directories(${OpenCV_INCLUDE_DIRS})
+include_directories(../../include)
+
+cuda_add_executable(stereo_test stereosgm_image.cpp)
+target_link_libraries(stereo_test sgm ${CUDA_LIBRARIES} ${OpenCV_LIBS})

lib/libsgm/sample/image/stereosgm_image.cpp

+/*
+Copyright 2016 Fixstars Corporation
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http ://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+*/
+
+#include <stdlib.h>
+#include <iostream>
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/core/version.hpp>
+
+#include <libsgm.h>
+
+#define ASSERT_MSG(expr, msg) \
+	if (!(expr)) { \
+		std::cerr << msg << std::endl; \
+		std::exit(EXIT_FAILURE); \
+	} \
+
+int main(int argc, char* argv[]) {
+	if (argc < 3) {
+		std::cerr << "usage: stereosgm left_img right_img [disp_size]" << std::endl;
+		std::exit(EXIT_FAILURE);
+	}
+
+	cv::Mat left = cv::imread(argv[1], -1);
+	cv::Mat right = cv::imread(argv[2], -1);
+
+	int disp_size = 64;
+	if (argc >= 4) {
+		disp_size = atoi(argv[3]);
+	}
+
+	ASSERT_MSG(left.size() == right.size() && left.type() == right.type(), "input images must be same size and type.");
+	//ASSERT_MSG(left.type() == CV_8U || left.type() == CV_16U, "input image format must be CV_8U or CV_16U.");
+	ASSERT_MSG(disp_size == 64 || disp_size == 128 || disp_size == 256, "disparity size must be 64, 128 or 256.");
+
+	cv::resize(left, left, cv::Size(left.cols/2, left.rows/2));
+	cv::resize(right, right, cv::Size(right.cols/2, right.rows/2));
+
+	cv::cvtColor(left, left, cv::COLOR_BGR2GRAY);
+	cv::cvtColor(right, right, cv::COLOR_BGR2GRAY);
+	int bits = 0;
+
+	switch (left.type()) {
+	case CV_8UC1: bits = 8; break;
+	case CV_16UC1: bits = 16; break;
+	default:
+		std::cerr << "invalid input image color format" << left.type() << std::endl;
+		std::exit(EXIT_FAILURE);
+	}
+
+	sgm::StereoSGM ssgm(left.cols, left.rows, disp_size, bits, 8, sgm::EXECUTE_INOUT_HOST2HOST);
+
+	cv::Mat output(cv::Size(left.cols, left.rows), CV_8UC1);
+
+	ssgm.execute(left.data, right.data, output.data);
+	// show image
+	cv::imshow("image", output * 256 / disp_size);
+	
+	int key = cv::waitKey();
+	int mode = 0;
+	while (key != 27) {
+		if (key == 's') {
+			mode += 1;
+			if (mode >= 3) mode = 0;
+
+			switch (mode) {
+			case 0:
+				{
+					cv::setWindowTitle("image", "disparity");
+					cv::imshow("image", output * 256 / disp_size);
+					break;
+				}
+			case 1:
+				{
+					cv::Mat m;
+					cv::applyColorMap(output * 256 / disp_size, m, cv::COLORMAP_JET);
+					cv::setWindowTitle("image", "disparity color");
+					cv::imshow("image", m);
+					break;
+				}
+			case 2:
+				{
+					cv::setWindowTitle("image", "input");
+					cv::imshow("image", left);
+					break;
+				}
+			}
+		}
+		key = cv::waitKey();
+	}
+
+	return 0;
+}

lib/libsgm/sample/image_cv_gpumat/CMakeLists.txt

+cmake_minimum_required(VERSION 3.1)
+
+set(CMAKE_FIND_PACKAGE_SORT_ORDER NATURAL)
+
+if (CMAKE_COMPILER_IS_GNUCXX)
+	set(CMAKE_CXX_FLAGS "-O3 -Wall")
+endif()
+
+find_package(CUDA REQUIRED)
+
+find_package(OpenCV REQUIRED)
+if (OpenCV_VERSION VERSION_LESS 3.0)
+	message(FATAL_ERROR "Error: OpenCV version requires at least 3.0")
+endif()
+
+include_directories(${OpenCV_INCLUDE_DIRS})
+include_directories(../../include)
+
+cuda_add_executable(stereo_image_cv_gpumat stereosgm_image_cv_gpumat.cpp ${CUDA_SRC})
+target_link_libraries(stereo_image_cv_gpumat sgm ${CUDA_LIBRARIES} ${OpenCV_LIBS})

lib/libsgm/sample/image_cv_gpumat/stereosgm_image_cv_gpumat.cpp

+/*
+Copyright 2016 Fixstars Corporation
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http ://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+*/
+
+#include <stdlib.h>
+#include <iostream>
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/core/cuda.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/core/version.hpp>
+
+#include <libsgm.h>
+
+#define ASSERT_MSG(expr, msg) \
+	if (!(expr)) { \
+		std::cerr << msg << std::endl; \
+		std::exit(EXIT_FAILURE); \
+	} \
+
+static void execute(sgm::LibSGMWrapper& sgmw, const cv::Mat& h_left, const cv::Mat& h_right, cv::Mat& h_disparity) noexcept(false)
+{
+	cv::cuda::GpuMat d_left, d_right;
+	d_left.upload(h_left);
+	d_right.upload(h_right);
+
+	cv::cuda::GpuMat d_disparity;
+
+	sgmw.execute(d_left, d_right, d_disparity);
+
+	// normalize result
+	cv::cuda::GpuMat d_normalized_disparity;
+	d_disparity.convertTo(d_normalized_disparity, CV_8UC1, 256. / sgmw.getNumDisparities());
+	d_normalized_disparity.download(h_disparity);
+}
+
+int main(int argc, char* argv[]) {
+	ASSERT_MSG(argc >= 3, "usage: stereosgm left_img right_img [disp_size]");
+
+	const cv::Mat left = cv::imread(argv[1], -1);
+	const cv::Mat right = cv::imread(argv[2], -1);
+	const int disp_size = argc > 3 ? std::atoi(argv[3]) : 128;
+
+	ASSERT_MSG(left.size() == right.size() && left.type() == right.type(), "input images must be same size and type.");
+	ASSERT_MSG(left.type() == CV_8U || left.type() == CV_16U, "input image format must be CV_8U or CV_16U.");
+	ASSERT_MSG(disp_size == 64 || disp_size == 128, "disparity size must be 64 or 128.");
+
+	sgm::LibSGMWrapper sgmw{disp_size};
+	cv::Mat disparity;
+	try {
+		execute(sgmw, left, right, disparity);
+	} catch (const cv::Exception& e) {
+		std::cerr << e.what() << std::endl;
+		if (e.code == cv::Error::GpuNotSupported) {
+			return 1;
+		} else {
+			return -1;
+		}
+	}
+
+	// post-process for showing image
+	cv::Mat colored;
+	cv::applyColorMap(disparity, colored, cv::COLORMAP_JET);
+	cv::imshow("image", disparity);
+
+	int key = cv::waitKey();
+	int mode = 0;
+	while (key != 27) {
+		if (key == 's') {
+			mode += 1;
+			if (mode >= 3) mode = 0;
+
+			switch (mode) {
+			case 0:
+				{
+					cv::setWindowTitle("image", "disparity");
+					cv::imshow("image", disparity);
+					break;
+				}
+			case 1:
+				{
+					cv::setWindowTitle("image", "disparity color");
+					cv::imshow("image", colored);
+					break;
+				}
+			case 2:
+				{
+					cv::setWindowTitle("image", "input");
+					cv::imshow("image", left);
+					break;
+				}
+			}
+		}
+		key = cv::waitKey();
+	}
+
+	return 0;
+}

lib/libsgm/sample/movie/CMakeLists.txt

+cmake_minimum_required(VERSION 3.1)
+
+set(CMAKE_FIND_PACKAGE_SORT_ORDER NATURAL)
+
+if (CMAKE_COMPILER_IS_GNUCXX)
+	set(CMAKE_CXX_FLAGS "-O3 -Wall")
+endif()
+
+find_package(CUDA REQUIRED)
+
+find_package(OpenCV REQUIRED)
+if (OpenCV_VERSION VERSION_LESS 3.0)
+	message(FATAL_ERROR "Error: OpenCV version requires at least 3.0")
+endif()
+
+include_directories(${OpenCV_INCLUDE_DIRS})
+include_directories(../../include)
+
+cuda_add_executable(stereo_movie stereosgm_movie.cpp)
+target_link_libraries(stereo_movie sgm ${CUDA_LIBRARIES} ${OpenCV_LIBS})

lib/libsgm/sample/movie/stereosgm_movie.cpp

+/*
+Copyright 2016 Fixstars Corporation
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http ://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+*/
+
+#include <iostream>
+#include <iomanip>
+#include <string>
+#include <chrono>
+
+#include <cuda_runtime.h>
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/core/version.hpp>
+
+#include <libsgm.h>
+
+#define ASSERT_MSG(expr, msg) \
+	if (!(expr)) { \
+		std::cerr << msg << std::endl; \
+		std::exit(EXIT_FAILURE); \
+	} \
+
+struct device_buffer
+{
+	device_buffer() : data(nullptr) {}
+	device_buffer(size_t count) { allocate(count); }
+	void allocate(size_t count) { cudaMalloc(&data, count); }
+	~device_buffer() { cudaFree(data); }
+	void* data;
+};
+
+template <class... Args>
+static std::string format_string(const char* fmt, Args... args)
+{
+	const int BUF_SIZE = 1024;
+	char buf[BUF_SIZE];
+	std::snprintf(buf, BUF_SIZE, fmt, args...);
+	return std::string(buf);
+}
+
+int main(int argc, char* argv[])
+{
+	if (argc < 3) {
+		std::cout << "usage: " << argv[0] << " left-image-format right-image-format [disp_size]" << std::endl;
+		std::exit(EXIT_FAILURE);
+	}
+
+	const int first_frame = 1;
+
+	cv::Mat I1 = cv::imread(format_string(argv[1], first_frame), -1);
+	cv::Mat I2 = cv::imread(format_string(argv[2], first_frame), -1);
+	const int disp_size = argc >= 4 ? std::stoi(argv[3]) : 128;
+
+	ASSERT_MSG(!I1.empty() && !I2.empty(), "imread failed.");
+	ASSERT_MSG(I1.size() == I2.size() && I1.type() == I2.type(), "input images must be same size and type.");
+	ASSERT_MSG(I1.type() == CV_8U || I1.type() == CV_16U, "input image format must be CV_8U or CV_16U.");
+	ASSERT_MSG(disp_size == 64 || disp_size == 128, "disparity size must be 64 or 128.");
+
+	const int width = I1.cols;
+	const int height = I1.rows;
+
+	const int input_depth = I1.type() == CV_8U ? 8 : 16;
+	const int input_bytes = input_depth * width * height / 8;
+	const int output_depth = 8;
+	const int output_bytes = output_depth * width * height / 8;
+
+	sgm::StereoSGM sgm(width, height, disp_size, input_depth, output_depth, sgm::EXECUTE_INOUT_CUDA2CUDA);
+
+	cv::Mat disparity(height, width, output_depth == 8 ? CV_8U : CV_16U);
+	cv::Mat disparity_8u, disparity_color;
+
+	device_buffer d_I1(input_bytes), d_I2(input_bytes), d_disparity(output_bytes);
+
+	for (int frame_no = first_frame;; frame_no++) {
+
+		I1 = cv::imread(format_string(argv[1], frame_no), -1);
+		I2 = cv::imread(format_string(argv[2], frame_no), -1);
+		if (I1.empty() || I2.empty()) {
+			frame_no = first_frame;
+			continue;
+		}
+
+		cudaMemcpy(d_I1.data, I1.data, input_bytes, cudaMemcpyHostToDevice);
+		cudaMemcpy(d_I2.data, I2.data, input_bytes, cudaMemcpyHostToDevice);
+
+		const auto t1 = std::chrono::system_clock::now();
+
+		sgm.execute(d_I1.data, d_I2.data, d_disparity.data);
+		cudaDeviceSynchronize();
+
+		const auto t2 = std::chrono::system_clock::now();
+		const auto duration = std::chrono::duration_cast<std::chrono::microseconds>(t2 - t1).count();
+		const double fps = 1e6 / duration;
+
+		cudaMemcpy(disparity.data, d_disparity.data, output_bytes, cudaMemcpyDeviceToHost);
+
+		// draw results
+		if (I1.type() != CV_8U) {
+			cv::normalize(I1, I1, 0, 255, cv::NORM_MINMAX);
+			I1.convertTo(I1, CV_8U);
+		}
+
+		disparity.convertTo(disparity_8u, CV_8U, 255. / disp_size);
+		cv::applyColorMap(disparity_8u, disparity_color, cv::COLORMAP_JET);
+		cv::putText(disparity_color, format_string("sgm execution time: %4.1f[msec] %4.1f[FPS]", 1e-3 * duration, fps),
+			cv::Point(50, 50), 2, 0.75, cv::Scalar(255, 255, 255));
+
+		cv::imshow("left image", I1);
+		cv::imshow("disparity", disparity_color);
+		const char c = cv::waitKey(1);
+		if (c == 27) // ESC
+			break;
+	}
+
+	return 0;
+}

lib/libsgm/sample/reprojection/CMakeLists.txt

+cmake_minimum_required(VERSION 3.1)
+
+set(CMAKE_FIND_PACKAGE_SORT_ORDER NATURAL)
+
+if (CMAKE_COMPILER_IS_GNUCXX)
+	set(CMAKE_CXX_FLAGS "-O3 -Wall")
+endif()
+
+find_package(CUDA REQUIRED)
+
+find_package(OpenCV REQUIRED)
+if (OpenCV_VERSION VERSION_LESS 3.0)
+	message(FATAL_ERROR "Error: OpenCV version requires at least 3.0")
+endif()
+
+include_directories(${OpenCV_INCLUDE_DIRS})
+include_directories(../../include)
+
+cuda_add_executable(stereo_reprojection stereosgm_reprojection.cpp)
+target_link_libraries(stereo_reprojection sgm ${CUDA_LIBRARIES} ${OpenCV_LIBS})

lib/libsgm/sample/reprojection/camera_daimler_gt_stixel.xml

+<?xml version="1.0"?>
+<opencv_storage>
+
+<!--  Intrinsic parameters -->
+<FocalLengthX>1267.485352</FocalLengthX> <!--  focal length x (pixel) -->
+<FocalLengthY>1224.548950</FocalLengthY> <!--  focal length y (pixel) -->
+<CenterX>472.735474</CenterX>            <!--  principal point x (pixel) -->
+<CenterY>175.787781</CenterY>            <!--  principal point y (pixel) -->
+
+<!--  Extrinsic parameters -->
+<BaseLine>0.214382</BaseLine>            <!--  baseline (meter) -->
+<Height>1.170000</Height>                <!--  height position (meter) -->
+<Tilt>0.081276</Tilt>                    <!--  tilt angle (radian) -->
+
+</opencv_storage>

lib/libsgm/sample/reprojection/camera_daimler_urban_seg.xml

+<?xml version="1.0"?>
+<opencv_storage>
+<FocalLengthX>1249.7700195</FocalLengthX>
+<FocalLengthY>1249.7700195</FocalLengthY>
+<CenterX>480.8460083</CenterX>
+<CenterY>237.4100037</CenterY>
+<BaseLine>0.2339240</BaseLine>
+<Height>1.2000000</Height>
+<Tilt>0.07</Tilt>
+</opencv_storage>