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Sean-

Victor from OpenCV and I set up that package for benchmarking. If you look at the code, that package uses a modified version of stereo image proc that runs on the GPU with CUDA. That package was never designed to be released.

I believe OpenCV has released GPU implementations of several algorithms, including stereo block matching (or they may be scheduled to release them soon). I don't think these algorithms have been integrated with ROS's stereo_image_proc, but you could probably patch it fairly easily since they probably have identical API's. If you create any patches, open a ticket in ros-pkg.

Kevin