Threaded Depth Cleaner
Threaded depth-map cleaning and inpainting using OpenCV.
Left-to-right: Original depth-map visualized using a color-map, filtered depth-map visualized using a color-map
The tool is setup to use the Intel's librealsense SDK and a RealSense depth sensor (415/435).
- Clone the repository with it's submodules:
git clone https://github.com/juniorxsound/ThreadedDepthCleaner --recursive
- Install OpenCV (Windows, macOS, Linux)
- Install CMake (Instructions)
cdinto the repository folder and run:
mkdir build && cd build && cmake ../ && make -j4
- Run it by running
Tested on macOS (10.13.2) using CMake (3.10.0)
- Use the
SCALE_FACTORmacro to determine how much to scale the depth-map for the inpainting (1 means no scaling and less performent, 0.2 means 1/5 of the original depth-map is used for inpainting and more performent).
Depth coloring and cv::Mat queuing functionality was implemented thanks to @PKLab and @Catree 🙌🏻
Thanks to @Dodiku for help with the cover image 💪🏻
All code in this repository is released under the MIT license found here