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ToFMultiCamSuppression

This is repository for ToF multi-camera interference suppression. When ToF cameras like Microsoft Kinect v2 work in parallel mode, the interference in IR and D frames is occurred. This interference can be suppressed using this algorithm.

For build program must be installed

  • PCL 1.9.1 (another version can be set in CMakeLists.txt)
  • OpenCV
  • VTK
  • Threads

Building in terminal:

git clone https://github.com/Jozefiel/ToFMultiCamSuppression.git

cd ToFMultiCamSuppression

mkdir build
cd build
cmake ..
make -j 2
cp Interference ../hlava1/data

for test on Dataset hlava1

cd ../hlava1/data
./run_interference_program.sh main

This script consist of:

  • collectData : create buffers in directories
  • filtration : run Interference program in buffer directories
  • computeHausdorff: compute hausdorff distance between ref model and filtered model
    • must be installed pcl_ply2pcd and pcl_compute_hausdorff binaries
  • resultCollecting : collect results from hausdorff distance and from time computing

Each part can be run separately, where is need to select number for dataset (0,1,2) example:

./run_interference_program.sh collectData 0
./run_interference_program.sh collectData 1
./run_interference_program.sh resultCollecting 1