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New feature: Depth confidence (#1520)

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* New feature: Depth confidence

* iOS app updated to save depth confidence, added util2d::depthBleedingFiltering function

* Updated tools to show/extract depth confidence

* Android: moved smoothing in post-processing, fixed confidence registration, added depth bleeding error option.

* Fixed warning

* removed debug log

* Added new feature types, fixed rendering when exporting texture >4096 (#1469), added depth bleeding filter option to iOS

* fixed some warnings, android: added bleeding error option

* CI: try updating ros2 key

* added sudo

* antoher test

* bump ios app version
This commit is contained in:
matlabbe
2025-06-01 14:14:29 -07:00
committed by GitHub
parent 90d195237f
commit 6d4e8a4173
51 changed files with 2368 additions and 1006 deletions
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4
app/android/jni/RTABMapApp.h
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@@ -139,6 +139,7 @@ class RTABMapApp : public UEventsHandler {
void setCameraColor(bool enabled);
void setFullResolution(bool enabled);
void setSmoothing(bool enabled);
void setDepthBleedingError(float value);
void setDepthFromMotion(bool enabled);
void setAppendMode(bool enabled);
void setUpstreamRelocalizationAccThr(float value);
@@ -235,6 +236,7 @@ class RTABMapApp : public UEventsHandler {
bool trajectoryMode_;
bool rawScanSaved_;
bool smoothing_;
float depthBleedingError_;
bool depthFromMotion_;
bool cameraColor_;
bool fullResolution_;
@@ -250,7 +252,7 @@ class RTABMapApp : public UEventsHandler {
float maxGainRadius_;
int renderingTextureDecimation_;
float backgroundColor_;
int depthConfidence_;
unsigned char depthConfidence_;
float upstreamRelocalizationMaxAcc_;
std::string exportPointCloudFormat_;