Struct DepthCompleter 

pub struct DepthCompleter { /* private fields */ }

Depth completer: fills a sparse Option<f32> depth map into a dense one.

Implementations

impl DepthCompleter

pub fn new(config: DepthCompletionConfig) -> Self

Create a new depth completer with the given configuration.

pub fn complete( &self, sparse_depth: &[Vec<Option<f32>>], rgb: Option<&[Vec<[u8; 3]>]>, ) -> DepthResult

Complete a sparse depth map.

Arguments

• sparse_depth – sparse_depth[row][col] is None where depth is unknown, Some(d) where a valid measurement exists. All rows must have the same length.
• rgb – optional RGB guide image required for SurfaceNormals. Each pixel is [R, G, B] with values in [0, 255].

Returns

A DepthResult whose dense_depth has the same shape as sparse_depth.