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:

recover point cloud by voxel merging

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