The stereo matching component is part of the basic on-board software package on each rc_visard and can also be used for the rc_viscore. The SGM®Producer is an add-on software element that enables a significant speed-up of the depth image computation by utilizing the computing power of an external host computer’s graphics card (GPU) for stereo matching. Frame rates of 25Hz can be achieved.
Switching from on-board to off-board stereo matching is easy: All interfaces, application code, Semi-Global Matching (SGM) processing and the achieved results are identical – the key difference is the processing speed.
As an example, on an Nvidia RTX 2070, depth images can be computed with 25 Hz in low, medium and high quality, even from two rc_visards at the same time. Full-quality stereo matching in 1.2 MPixel resolution is possible with 12.5 Hz on this graphics card (as compared to 1 Hz on-board the sensor).
The software library implements the GenICam transport layer interface standard and can be used with all GenICam-compatible applications that support the current GenTL 1.5 standard, e.g. Halcon from MVTec (just replace the GigE Vision producer by Roboception’s library!).
Downloads and Links
HALCON users: Note that a sample program is available within the latest HALCON release!