Add depth map computation + correct some doc

8 jobs for development/mtos in 15 minutes and 20 seconds (queued for 7 seconds)
Name Stage Failure
failed
windows-debug Build
GO version:   go1.10.8
Built: 2019-11-20T09:14:34+0000
OS/Arch: windows/amd64
Uploading artifacts...
Runtime platform
arch=amd64 os=windows pid=6268 revision=577f813d version=12.5.0
WARNING: build/tests/UT*.xml: no matching files
WARNING: build/bench/tests/UT*.xml: no matching files
ERROR: No files to upload
ERROR: Job failed: exit status 1