<h1 align="center"> libSGM </h1>
<h4 align="center">Semi-Global Matching algorithm.</h4>
<p align="center">
<a href="https://github.com/CNES/Pandora_libSGM/actions"><img src="https://github.com/CNES/Pandora_libSGM/actions/workflows/libsgm_ci.yml/badge.svg?branch=master"></a>
<a href="https://codecov.io/gh/CNES/Pandora_libSGM"> <img src="https://codecov.io/gh/CNES/Pandora_libSGM/branch/master/graph/badge.svg?token=OZCYI843JH"/></a>
<a href="https://opensource.org/licenses/Apache-2.0/"><img src="https://img.shields.io/badge/License-Apache%202.0-blue.svg"></a>
</p>
<p align="center">
<a href="#overview">Overview</a> •
<a href="#install">Install</a> •
<a href="#usage">Usage</a> •
<a href="#related">Related</a> •
<a href="#references">References</a>
</p>
## Overview
C++ implementation of Semi-Global Matching (SGM) algorithm that is wrapped with cython to provide a `libsgm` python module based on [[Hirschmuller, 2008]](#1.), [[Ernst, Ines & Hirschmüller, 2008]](#2.) and [[Hirschmüller, Buder & Ernst, 2012]](#3.).
## Install
**libsgm** is available on Pypi and can be installed by:
```bash
pip install numpy
pip install libsgm
```
## Usage
libSGM must be used as a package :
```python
from libSGM import sgm_wrapper
...
cost_volumes_out = sgm_wrapper.sgm_api(cost_volume_in, p1, p2, directions, invalid_value, False, False)
```
Let's see [pandora_plugin_LibSGM](https://github.com/CNES/pandora_plugin_libsgm) for real life exemple.
## Related
[Pandora](https://github.com/CNES/Pandora) - A stereo matching framework
[Plugin_LibSGM](https://github.com/CNES/pandora_plugin_libsgm) - Stereo Matching Algorithm plugin for Pandora
## References
Please cite the following paper when using libsgm:
*Cournet, M., Sarrazin, E., Dumas, L., Michel, J., Guinet, J., Youssefi, D., Defonte, V., Fardet, Q., 2020. Ground-truth generation and disparity estimation for optical satellite imagery. ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences.*
<a id="1.">[Hirschmuller, 2008]</a>
*H. Hirschmuller, "Stereo Processing by Semiglobal Matching and Mutual Information," in IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 30, no. 2, pp. 328-341, Feb. 2008. doi: 10.1109/TPAMI.2007.1166*
<a id="2.">[Ernst, Ines & Hirschmüller, 2008]</a>
*Ernst, Ines & Hirschmüller, Heiko. (2008). Mutual Information Based Semi-Global Stereo Matching on the GPU. Proceedings of the International Symposium on Visual Computing. 5358. 10.1007/978-3-540-89639-5_22.*
<a id="3.">[Hirschmüller, Buder & Ernst, 2012]</a>
*Hirschmüller, Heiko & Buder, Maximilian & Ernst, Ines. (2012). Memory Efficient Semi-Global Matching. ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences. I-3. 10.5194/isprsannals-I-3-371-2012.*
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