libBICOS

BInary COrrespondence Search for multi-shot stereo imaging, with optional CUDA acceleration.

Citing:

This is the implementation of the corresponding paper to appear in Optical 3D Metrology. BibTeX will appear here when available.

Build:

Dependencies:

• gcc or equivalent C compiler with C++20 (C++17 experimental) support (build)
• meson >= 1.1.0 (build)
• opencv 4.x with cuda support
• cuda 12.x including toolkit
• fmt (C++17)
• cxxopts (optional, for cli)
• benchmark (optional, for executing benchmarks)

# recommended: clone the most recent release
$ git clone --depth 1 --branch v1.2.1 https://github.com/JMUWRobotics/libBICOS
$ cd libBICOS

$ meson setup builddir --buildtype release

# optional but recommended if you have access to a CUDA-capable GPU
$ meson configure -Dimplementation=cuda builddir

$ meson install -C builddir

The versioning scheme of the library is Semantic Versioning.

Usage

Linking

After installing, you can include /usr/local/include/BICOS/* and link against /usr/local/lib/libBICOS.so.

Commandline-interface

Alternatively, this project builds bicos-cli. To give you a feel for the parameters of BICOS, you can download an example dataset with data/prepare.sh that contains rectified imagery from a stereo camera, where images per side only differ in the projected light pattern. Calling:

$ bicos-cli data/{left,right} -q data/Q.yaml --threshold 0.96 --stacksize 33 --limited --variance 2.0 --step 0.1 -o /tmp/result.png

will get you:

Disparity

Pointcloud

While only requiring ~110ms (RTX4090) and ~1.6GB VRAM for matching on two stacks of 33 images each.

The most significant parameters can be summarized:

• --threshold: increasing this reduces match-outliers. High values rely on a reliable pattern.
• --variance: high values reduce coarse outliers, e.g. pixels where no pattern was projected. May reduce correct matches on low pattern contrast.
• --step: optional value for subpixel-interpolation around matches.

Other settings are available; Try bicos-cli -h for details.

Benchmarking:

$ meson test --benchmark -C builddir --interactive

Light projection:

For starters, you may find https://github.com/Sir-Photch/VRRTest useful for projecting a light pattern using an aftermarket projector.

License

This library is licensed under the GNU Lesser General Public License v3.0 (or later). Please see COPYING and COPYING.LESSER for details.