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**Related Paper: ** Ku J, Harakeh A, Waslander S L. In defense of classical image processing: Fast depth completion on the cpu[C]//2018 15th Conference on Computer and Robot Vision (CRV). IEEE, 2018: 16-22. [PDF] [Code]

Not the original author. The original version was written in Python, but in this work, I rewrite it in C++. Because I only rewrite what I need, the code is not complete. A depth image captured by an rgbd camera is cited as an example for testing.

mkdir build && cd build
cmake ..
make -j4
 ../bin/main ../data/rgb.png ../data/depth.png ../config/config.yaml