Module estimate.py

estimate.estimate(configparams)

Estimate and store depthmaps from a picture sequence.

The picture sequence directory, and a configuration parameters is obtained by reading the configuration file configfile. The estimated depth-maps are subsequently stored in an output directory specified in the aforementioned file. To read a more in-depth explanation of the parameters in configfile see Configuration File.

Parameters:

configparams : dict

Configuration parameters. This dictionary contains information about necessary files directories, as well as the values for various parameters used by the system.

See also

compute_frame

Notes

If the configuration parameter depthmaps_directory is not null then bundle optimization is performed during estimation.

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estimate.compute_frame(frame, sequence, configparams)

Estimate the (per-pixel) depth labels for a single frame in the sequence.

This function executes the depth-map estimation for the frame frame, given the input sequence sequence. If sequence.use_bundle()==True then bundle optimization is performed using the depth-maps in sequence.

Parameters:

frame : int

Frame whose depth-map is estimated.

sequence : utils.Sequence

Object containing parameters necessary to the depth-maps estimation. It contains the camera matrices, picture arrays, length of the sequence, etc. If the sequence instance contains also previously estimated depth-maps, then the bundle optimization phase is also executed.

configparams : dict

Configuration parameters. It contains information about necessary files directories, as well as the values for various parameters used by the system.

Returns:

numpy array, type uint16

An array representing the per-pixel depth labels. The shape of such array is [h, w] (with h and w heigth and width of the input frame).