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Added floor filtering options for features extraction (#1408)

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* Added floor filtering options for features extraction

* cleanup
This commit is contained in:
matlabbe
2024-12-10 12:36:21 -08:00
committed by GitHub
parent a613998652
commit 38cacb7978
11 changed files with 579 additions and 317 deletions
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1
corelib/include/rtabmap/core/Memory.h
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@@ -314,6 +314,7 @@ private:
bool _badSignaturesIgnored;
bool _mapLabelsAdded;
bool _depthAsMask;
float _maskFloorThreshold;
bool _stereoFromMotion;
unsigned int _imagePreDecimation;
unsigned int _imagePostDecimation;

2
corelib/include/rtabmap/core/Parameters.h
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@@ -221,6 +221,7 @@ class RTABMAP_CORE_EXPORT Parameters
RTABMAP_PARAM(Mem, BadSignaturesIgnored, bool, false, "Bad signatures are ignored.");
RTABMAP_PARAM(Mem, InitWMWithAllNodes, bool, false, "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session.");
RTABMAP_PARAM(Mem, DepthAsMask, bool, true, "Use depth image as mask when extracting features for vocabulary.");
RTABMAP_PARAM(Mem, DepthMaskFloorThr, float, 0.0, uFormat("Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled, negative means remove all objects above the floor threshold instead. Ignored if %s is false.", kMemDepthAsMask().c_str()));
RTABMAP_PARAM(Mem, StereoFromMotion, bool, false, uFormat("Triangulate features without depth using stereo from motion (odometry). It would be ignored if %s is true and the feature detector used supports masking.", kMemDepthAsMask().c_str()));
RTABMAP_PARAM(Mem, ImagePreDecimation, unsigned int, 1, uFormat("Decimation of the RGB image before visual feature detection. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. If %s is true and if depth is smaller than decimated RGB, depth may be interpolated to match RGB size for feature detection.",kMemDepthAsMask().c_str()));
RTABMAP_PARAM(Mem, ImagePostDecimation, unsigned int, 1, uFormat("Decimation of the RGB image before saving it to database. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. Decimation is done from the original image. If set to same value than %s, data already decimated is saved (no need to re-decimate the image).", kMemImagePreDecimation().c_str()));
@@ -703,6 +704,7 @@ class RTABMAP_CORE_EXPORT Parameters
RTABMAP_PARAM(Vis, MaxDepth, float, 0, "Max depth of the features (0 means no limit).");
RTABMAP_PARAM(Vis, MinDepth, float, 0, "Min depth of the features (0 means no limit).");
RTABMAP_PARAM(Vis, DepthAsMask, bool, true, "Use depth image as mask when extracting features.");
RTABMAP_PARAM(Vis, DepthMaskFloorThr, float, 0.0, uFormat("Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled, negative means remove all objects above the floor threshold instead. Ignored if %s is false.", kVisDepthAsMask().c_str()));
RTABMAP_PARAM_STR(Vis, RoiRatios, "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
RTABMAP_PARAM(Vis, SubPixWinSize, int, 3, "See cv::cornerSubPix().");
RTABMAP_PARAM(Vis, SubPixIterations, int, 0, "See cv::cornerSubPix(). 0 disables sub pixel refining.");

1
corelib/include/rtabmap/core/RegistrationVis.h
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@@ -101,6 +101,7 @@ private:
bool _guessMatchToProjection;
int _bundleAdjustment;
bool _depthAsMask;
float _maskFloorThreshold;
float _minInliersDistributionThr;
float _maxInliersMeanDistance;

16
corelib/include/rtabmap/core/util3d.h
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@@ -364,6 +364,22 @@ void RTABMAP_CORE_EXPORT fillProjectedCloudHoles(
bool verticalDirection,
bool fillToBorder);
/**
* @brief Remove values below a floor threshold in a depth image.
*
* @param depth the depth image to filter (can be a multi-camera depth image).
* @param cameraModels corresponding camera model(s) to depth image, with valid
* local transform between base frame to camera frame.
* @param threshold height from base frame at which pixels below it are set to 0.
* @param depthBelow depth image of the pixels below the floor theshold.
* @return cv::Mat depth image of the pixels above the floor theshold.
*/
cv::Mat RTABMAP_CORE_EXPORT filterFloor(
const cv::Mat & depth,
const std::vector<CameraModel> & cameraModels,
float threshold,
cv::Mat * depthBelow = 0);
/**
* For each point, return pixel of the best camera (NodeID->CameraIndex)
* looking at it based on the policy and parameters