StereoVisionMultiWay
This repository contains a few implementations of simple stereo block matching algorithms. Stereo block matching algorithms are used to compute disparity maps, which is a key step in computing depth from a pair of images acquired from a stereo camera. Here's an example of the output of the algorithm:
The same algorithm has been implemented in multiple different ways, using different strategies for parallelizing the work to improve performance. For a more in-depth discussion and analysis of the algorithms used, read the blog post. Shown below is a comparison of all of the different algorithms contained within this repository:
Build instructions
In order to build this project, the following dependencies need to be installed:
- Ubuntu 18.04
- OpenCV (tested with version 4.0.1)
- OpenMP
- CUDA (tested with version 10.2)
- Clang 9.0.0
Once installed, the program can be built using the standard CMake procedure:
mkdir build
cd build
cmake ..
make
After building, the following programs will be available:
- GenerateDisparityVisualization: This program will take in two images and, using the specified algorithm, generate a disparity image. In this image, the lighter pixels correspond to higher disparity values, which correlate with closer objects.
- SpeedTest: This program takes in a series of algorithms, and runs them multiple times, saving the runtime statistics to a file. This program was used to generate data for the blog post.