i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-05 17:47:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added floor filtering options for features extraction (#1408)

Browse Source 
* 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
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Memory.cpp
+22 -1
View File
@@ -91,6 +91,7 @@ Memory::Memory(const ParametersMap & parameters) :
_badSignaturesIgnored(Parameters::defaultMemBadSignaturesIgnored()),
_mapLabelsAdded(Parameters::defaultMemMapLabelsAdded()),
_depthAsMask(Parameters::defaultMemDepthAsMask()),
_maskFloorThreshold(Parameters::defaultMemDepthMaskFloorThr()),
_stereoFromMotion(Parameters::defaultMemStereoFromMotion()),
_imagePreDecimation(Parameters::defaultMemImagePreDecimation()),
_imagePostDecimation(Parameters::defaultMemImagePostDecimation()),
@@ -576,6 +577,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
Parameters::parse(params, Parameters::kMemTransferSortingByWeightId(), _transferSortingByWeightId);
Parameters::parse(params, Parameters::kMemSTMSize(), _maxStMemSize);
Parameters::parse(params, Parameters::kMemDepthAsMask(), _depthAsMask);
Parameters::parse(params, Parameters::kMemDepthMaskFloorThr(), _maskFloorThreshold);
Parameters::parse(params, Parameters::kMemStereoFromMotion(), _stereoFromMotion);
Parameters::parse(params, Parameters::kMemImagePreDecimation(), _imagePreDecimation);
Parameters::parse(params, Parameters::kMemImagePostDecimation(), _imagePostDecimation);
@@ -4884,7 +4886,26 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
imageMono.cols % decimatedData.depthRaw().cols == 0 &&
imageMono.rows/decimatedData.depthRaw().rows == imageMono.cols/decimatedData.depthRaw().cols)
{
depthMask = util2d::interpolate(decimatedData.depthRaw(), imageMono.rows/decimatedData.depthRaw().rows, 0.1f);
depthMask = decimatedData.depthRaw();
if(_maskFloorThreshold != 0.0f)
{
UASSERT(!decimatedData.cameraModels().empty());
UDEBUG("Masking floor (threshold=%f)", _maskFloorThreshold);
if(_maskFloorThreshold<0.0f)
{
cv::Mat depthBelow;
util3d::filterFloor(depthMask, decimatedData.cameraModels(), _maskFloorThreshold*-1.0f, &depthBelow);
depthMask = depthBelow;
}
else
{
depthMask = util3d::filterFloor(depthMask, decimatedData.cameraModels(), _maskFloorThreshold);
}
UDEBUG("Masking floor done.");
}
depthMask = util2d::interpolate(depthMask, imageMono.rows/depthMask.rows, 0.1f);
}
else
{