https://github.com/juniorxsound/threadeddepthcleaner

📷 Threaded depth-map cleaning and inpainting using OpenCV
https://github.com/juniorxsound/threadeddepthcleaner

computer-vision depth-camera depth-map image-filters image-processing librealsense2 opencv

Last synced: 2 months ago
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📷 Threaded depth-map cleaning and inpainting using OpenCV

• Host: GitHub
• URL: https://github.com/juniorxsound/threadeddepthcleaner
• Owner: juniorxsound
• License: mit
• Created: 2018-06-24T20:05:10.000Z (over 6 years ago)
• Default Branch: master
• Last Pushed: 2019-06-19T00:03:44.000Z (over 5 years ago)
• Last Synced: 2023-11-07T18:52:08.883Z (about 1 year ago)
• Topics: computer-vision, depth-camera, depth-map, image-filters, image-processing, librealsense2, opencv
• Language: C++
• Homepage:
• Size: 103 KB
• Stars: 115
• Watchers: 9
• Forks: 13
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# Threaded Depth Cleaner

Threaded depth-map cleaning and inpainting using OpenCV. 

1. [Quickstart](#quickstart)

1. [Depth Cleaning](#depth-cleaning)

1. [Video](https://vimeo.com/276897884)

1. [Dependencies](#dependencies)

1. [License](#license)

![Depth-map image](https://github.com/juniorxsound/ThreadedDepthCleaner/blob/master/docs/depth_cleaning_top_bottom.jpg)

*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](https://github.com/IntelRealSense/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

```

2. Install OpenCV ([Windows](https://docs.opencv.org/3.4/d3/d52/tutorial_windows_install.html#tutorial_windows_install_prebuilt), [macOS](https://www.pyimagesearch.com/2016/12/19/install-opencv-3-on-macos-with-homebrew-the-easy-way/), [Linux](https://www.learnopencv.com/install-opencv3-on-ubuntu/))

3. Install CMake ([Instructions](https://cmake.org/download/))

4. ```cd``` into the repository folder and run:

```

mkdir build && cd build && cmake ../ && make -j4

```

5. 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](https://github.com/IntelRealSense/librealsense)

1. [OpenCV](https://opencv.org)

> Depth coloring and cv::Mat queuing functionality was implemented thanks to [@PKLab](http://pklab.net/index.php?id=394&lang=EN) and [@Catree](https://stackoverflow.com/questions/42356562/realsense-opencv-depth-image-too-dark) 🙌🏻

> Thanks to [@Dodiku](https://github.com/dodiku) for help with the cover image 💪🏻

### License

All code in this repository is released under the MIT license [found here](https://github.com/juniorxsound/ThreadedDepthCleaner/blob/master/LICENSE)