tmddn833 / sgm_gpu_ros

GPU implementation of SGM for ROS

A ROS package of Semi-Global Matching on the GPU

sgm_gpu is a ROS package which contains a nodelet based on Semi-Global Matching on the GPU by D. Hernandez-Juarez .

Prerequisite

Without Docker

• ROS Melodic Morenia
• CUDA Toolkit

With Docker

• Docker
• Docker Compose
• Nvidia Docker2

Run

$ cd <YourCatkinWorkspace>/src
$ git clone https://github.com/ActiveIntelligentSystemsLab/sgm_gpu_ros.git
$ cd ..
$ catkin_make
$ roslaunch sgm_gpu test.launch

Run with Docker

$ git clone https://github.com/ActiveIntelligentSystemsLab/sgm_gpu_ros.git
$ cd sgm_gpu_ros/docker
$ xhost +local:root
$ sudo docker-compose up

sgm_gpu_node

A node calculates disparity from stereo image topic.

Subscribed topics

• left_image (sensor_msgs/Image)

  Rectified image topic from left camera. Should be remapped.

• right_image (sensor_msgs/Image)

  Rectified image topic from right camera. Should be remapped.

• <base topic of left_image>/camera_info (sensor_msgs/CameraInfo)

  Subscribed automatically based on topic of left_image.

• <base topic of right_image>/camera_info (sensor_msgs/CameraInfo)

  Subscribed automatically based on topic of right_image.

Published topic

• ~disparity (stereo_msgs/DisparityImage)

  Disparity image computed by SGM

Parameters

• ~libsgm/p1 (int)

  Parameter used in SGM algorithm. See SGM on GPU papar and SGM paper .

  Default value is 6 from SGM on GPU .

• ~libsgm/p2 (int)

  Parameter used in SGM algorithm. See SGM on GPU papar and SGM paper .

  Default value is 96 from SGM on GPU .

• ~libsgm/check_consistency (bool)

  Check left-right consistency if true.

  Default value is true.

• ~image_transport (string)

  See image_transport

Limitations

• Disparity range is [0, 127]

Using package with airsim

While running unreal engine, you can make sgm depth map with stereo camera by setting ~/Document/Airsim/settings.json with given settings.json file

$ roslaunch airsim_ros_pkgs airsim_node.launch
$ roslaunch sgm_gpu_ros test_airsim.launch