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a general depth map estimator for both monocular and binocular cases.

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FinleyPan/DepthSolver

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Introduction

DepthSolver is a depth map estimator for both monocular and binocular cases.

dependencies

  • CMake
  • Eigen3
  • OpenCV
  • OpenCL

Results for TUM Dataset

solve depth map in realtime:

depth_result

recover point cloud by voxel merging

point_cloud_res

matters need attentation

Before running the app, download the dataset and a python script for data alignment firstly:

$ cd /path/to/save/your/data
$ wget https://vision.in.tum.de/rgbd/dataset/freiburg2/rgbd_dataset_freiburg2_desk.tgz
$ tar -xvf rgbd_dataset_freiburg2_desk.tgz
$ cd rgbd_dataset_freiburg2_desk
$ wget https://svncvpr.in.tum.de/cvpr-ros-pkg/trunk/rgbd_benchmark/rgbd_benchmark_tools/src/rgbd_benchmark_tools/associate.py

Run above python script to get associate file:

$ python associate.py rgb.txt groundtruth.txt > associate.txt

Now, you can run the app by following commands:

./pc_maker /path/to/save/your/data/associate.txt

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