Module inverse_depth

Helper functions to manipulate inverse depth data from depth images.

Enums

InverseDepth

An inverse depth can be one of three values: unknown, discarded, or known with a given variance.

Functions

from_depth

Transform a depth value from a depth map into an inverse depth value with a given scaling.

fuse

Fuse 4 inverse depth pixels of a bloc with a given merging strategy.

strategy_dso_mean

Merge idepth pixels of a bloc into their mean idepth.

strategy_statistically_similar

Only merge inverse depths that are statistically similar. Others are discarded.

to_depth

Transform inverse depth value back into a depth value with a given scaling.