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Source depth from scan: filling holes is now optional (though still true by default)

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This commit is contained in:
matlabbe
2016-03-10 12:31:22 -05:00
parent cee9c65b06
commit 5f7dfb943c
5 changed files with 52 additions and 45 deletions
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6
corelib/include/rtabmap/core/CameraRGB.h
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@@ -99,10 +99,10 @@ public:
}
}
void setDepthFromScan(bool enabled, bool fillHolesVertical = true, bool fillHolesFromBorder = false)
void setDepthFromScan(bool enabled, int fillHoles = 1, bool fillHolesFromBorder = false)
{
_depthFromScan = enabled;
_depthFromScanFillHolesVertical = fillHolesVertical;
_depthFromScanFillHoles = fillHoles;
_depthFromScanFillHolesFromBorder = fillHolesFromBorder;
}
@@ -146,7 +146,7 @@ private:
int _scanNormalsK;
bool _depthFromScan;
bool _depthFromScanFillHolesVertical;
int _depthFromScanFillHoles; // <0:horizontal 0:disabled >0:vertical
bool _depthFromScanFillHolesFromBorder;
bool _filenamesAreTimestamps;

4
corelib/include/rtabmap/core/Parameters.h
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@@ -192,7 +192,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, RehearsalSimilarity, float, 0.6, "Rehearsal similarity.");
RTABMAP_PARAM(Mem, ImageKept, bool, false, "Keep raw images in RAM.");
RTABMAP_PARAM(Mem, BinDataKept, bool, true, "Keep binary data in db.");
RTABMAP_PARAM(Mem, RawDescriptorsKept, bool, false, "Raw descriptors kept in memory.");
RTABMAP_PARAM(Mem, RawDescriptorsKept, bool, true, "Raw descriptors kept in memory.");
RTABMAP_PARAM(Mem, MapLabelsAdded, bool, true, "Create map labels. The first node of a map will be labelled as \"map#\" where # is the map ID.");
RTABMAP_PARAM(Mem, SaveDepth16Format, bool, true, "Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters).");
RTABMAP_PARAM(Mem, NotLinkedNodesKept, bool, true, "Keep not linked nodes in db (rehearsed nodes and deleted nodes).");
@@ -317,7 +317,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(RGBD, LocalImmunizationRatio, float, 0.25, "Ratio of working memory for which local nodes are immunized from transfer.");
RTABMAP_PARAM(RGBD, ScanMatchingIdsSavedInLinks, bool, true, "Save scan matching IDs in link's user data.");
RTABMAP_PARAM(RGBD, NeighborLinkRefining, bool, false, "When a new node is added to the graph, the transformation of its neighbor link to the previous node is refined using ICP (laser scans required!).");
RTABMAP_PARAM(RGBD, LoopClosureReextractFeatures, bool, true, "Extract features even if there are some already in the nodes.");
RTABMAP_PARAM(RGBD, LoopClosureReextractFeatures, bool, false, "Extract features even if there are some already in the nodes.");
// Local/Proximity loop closure detection
RTABMAP_PARAM(RGBD, ProximityByTime, bool, false, "Detection over all locations in STM.");

9
corelib/src/CameraRGB.cpp
View File

@@ -68,7 +68,7 @@ CameraImages::CameraImages() :
_scanVoxelSize(0.0f),
_scanNormalsK(0),
_depthFromScan(false),
_depthFromScanFillHolesVertical(true),
_depthFromScanFillHoles(1),
_depthFromScanFillHolesFromBorder(false),
_filenamesAreTimestamps(false),
syncImageRateWithStamps_(true),
@@ -95,7 +95,7 @@ CameraImages::CameraImages(const std::string & path,
_scanVoxelSize(0.0f),
_scanNormalsK(0),
_depthFromScan(false),
_depthFromScanFillHolesVertical(true),
_depthFromScanFillHoles(1),
_depthFromScanFillHolesFromBorder(false),
_filenamesAreTimestamps(false),
syncImageRateWithStamps_(true),
@@ -640,7 +640,10 @@ SensorData CameraImages::captureImage()
else
{
depthFromScan = util3d::projectCloudToCamera(img.size(), _model.K(), cloud, _model.localTransform());
util3d::fillProjectedCloudHoles(depthFromScan, _depthFromScanFillHolesVertical, _depthFromScanFillHolesFromBorder);
if(_depthFromScanFillHoles!=0)
{
util3d::fillProjectedCloudHoles(depthFromScan, _depthFromScanFillHoles>0, _depthFromScanFillHolesFromBorder);
}
}
}
// filter the scan after registration