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Threaded Depth Cleaner

Threaded depth-map cleaning and inpainting using OpenCV.

  1. Quickstart
  2. Depth Cleaning
  3. Video
  4. Dependencies
  5. License

Depth-map image Left-to-right: Original depth-map visualized using a color-map, filtered depth-map visualized using a color-map

Quickstart

The tool is setup to use the Intel's librealsense SDK and a RealSense depth sensor (415/435).

  1. Clone the repository with it's submodules:
git clone https://github.com/juniorxsound/ThreadedDepthCleaner --recursive
  1. Install OpenCV (Windows, macOS, Linux)
  2. Install CMake (Instructions)
  3. cd into the repository folder and run:
mkdir build && cd build && cmake ../ && make -j4
  1. Run it by running ./DepthCleaner

Tested on macOS (10.13.2) using CMake (3.10.0)

Depth Cleaning

  1. Use the SCALE_FACTOR macro 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).

Dependencies

  1. librealsense
  2. OpenCV

Depth coloring and cv::Mat queuing functionality was implemented thanks to @PKLab and @Catree 🙌🏻

Thanks to @Dodiku for help with the cover image 💪🏻

License

All code in this repository is released under the MIT license found here