We implemented the generation of depth and normal maps in C++. In order to call it from python, we are using the pybind11 library. At least version 2.2 is required.
We recommended to use pip to install the library, e.g.
sudo -H pip3 install pybind11
(The package python3-pybind11 from the Ubuntu repositories maybe too old).
Our C++ code can be build with
cd src/map_building/c_utils
mkdir build && cd build
cmake ..
make
Note that depending on the setup of the pybind11 library, one has to give the path to the .cmake files
for the pybind library, e.g.:
cmake .. -Dpybind11_DIR=/usr/local/lib/python3.8/dist-packages/pybind11/share/cmake/pybind11
Or, one could add pybind11 as a subdirectory inside the c++ project and directly compile it. For more details we refer to the pybind11 compiling doc.
The compiled libraries can be found in the build direcotory. To use the C++ libraries,
one needs to specify the path of the library by:
export PYTHONPATH=$PYTHONPATH:<path-to-library>