External disparity calculation interface to ZED SDK

[katsunori-waragai]

Preliminary Checks

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• This issue is not a question, bug report, or anything other than a feature request directly related to this project.

Proposal

Create an interface to make it a ZED SDK depth, point cloud using parallax with a different algorithm than provided in the ZED SDK,

It is just like the code below with the detections_to_custom_box().

            # ZED CustomBox format (with inverse letterboxing tf applied)
            detections = detections_to_custom_box(det, image_net)

/

Use-Case

Then you can use the new depth calculation algorithm in combination with the ZED SDK.
The ZED SDK offers several advantages, such as the ability to use the IMU information of the ZED camera to get a point cloud in world coordinates.
Combined with this, the ZED SDK can be made more attractive.

Library of stereo calculations converted into a library
https://github.com/katsunori-waragai/libIGEVStereo
The author's original code can be found in README.md.

Anything else?

This figure is from
https://github.com/gangweiX/IGEV