Module depth_processing 

Depth Image Processing

Utilities for converting depth images to point clouds, filling depth holes via a simple inward-propagation (fast-marching-style) scheme, bilateral filtering for edge-preserving depth smoothing, surface normal computation, and disparity-to-depth conversion.

Functions

bilateral_filter_depth

Bilateral filter for edge-preserving depth-image smoothing.

depth_normals

Compute surface normals from a depth image using finite differences.

depth_to_pointcloud

Unproject a depth image into a 3D point cloud using pinhole camera intrinsics.

disparity_to_depth

Convert a stereo disparity map to a depth map.

fill_depth_holes

Fill holes (zero-valued pixels) in a depth image using a fast-marching-inspired inward propagation.