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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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7
app/ios/RTABMapApp/NativeWrapper.cpp
View File

@@ -505,6 +505,13 @@ void setSmoothingNative(const void *object, bool enabled)
else
UERROR("object is null!");
}
void setDepthBleedingErrorNative(const void *object, float value)
{
if(object)
native(object)->setDepthBleedingError(value);
else
UERROR("object is null!");
}
void setAppendModeNative(const void *object, bool enabled)
{
if(object)

1
app/ios/RTABMapApp/NativeWrapper.hpp
View File

@@ -101,6 +101,7 @@ void setGraphVisibleNative(const void *object, bool visible);
void setGridVisibleNative(const void *object, bool visible);
void setFullResolutionNative(const void *object, bool enabled);
void setSmoothingNative(const void *object, bool enabled);
void setDepthBleedingErrorNative(const void *object, float value);
void setAppendModeNative(const void *object, bool enabled);
void setUpstreamRelocalizationAccThrNative(const void *object, float value);
void setMaxCloudDepthNative(const void *object, float value);

3
app/ios/RTABMapApp/RTABMap.swift
View File

@@ -453,6 +453,9 @@ class RTABMap {
func setSmoothing(enabled: Bool) {
setSmoothingNative(native_rtabmap, enabled)
}
func setDepthBleedingError(value: Float) {
setDepthBleedingErrorNative(native_rtabmap, value)
}
func setAppendMode(enabled: Bool) {
setAppendModeNative(native_rtabmap, enabled)
}

17
app/ios/RTABMapApp/ViewController.swift
View File

@@ -162,7 +162,6 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
func resetNoTouchTimer(_ showHud: Bool = false) {
if(showHud)
{
print("Show HUD")
mMenuOpened = false
mHudVisible = true
setNeedsStatusBarAppearanceUpdate()
@@ -184,7 +183,6 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
}
else if(mState != .STATE_WELCOME && mState != .STATE_CAMERA && presentedViewController as? UIAlertController == nil && !mMenuOpened)
{
print("Hide HUD")
self.mHudVisible = false
self.setNeedsStatusBarAppearanceUpdate()
self.updateState(state: self.mState)
@@ -840,13 +838,11 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
self.isPaused = true
view?.enableSetNeedsDisplay = true
self.view.setNeedsDisplay()
print("enableSetNeedsDisplay")
}
else
{
view?.enableSetNeedsDisplay = false
self.isPaused = false
print("disableSetNeedsDisplay")
}
if !self.isPaused {
@@ -934,7 +930,6 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
])
// Measuring menu
print("measuringMode = \(measuringMode)")
let measuringMenu = UIMenu(title: "Measuring...", image: UIImage(systemName: "ruler"), children: [
UIAction(title: "Plane to Plane Mode", image: measuringMode == 0 ? UIImage(systemName: "checkmark.circle") : UIImage(systemName: "circle"), handler: { _ in
self.measuringMode = 0
@@ -1516,6 +1511,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
rtabmap!.setNodesFiltering(enabled: defaults.bool(forKey: "NodesFiltering"));
rtabmap!.setFullResolution(enabled: defaults.bool(forKey: "HDMode"));
rtabmap!.setSmoothing(enabled: defaults.bool(forKey: "Smoothing"));
rtabmap!.setDepthBleedingError(value: defaults.float(forKey: "DepthBleedingError"));
rtabmap!.setAppendMode(enabled: defaults.bool(forKey: "AppendMode"));
rtabmap!.setUpstreamRelocalizationAccThr(value: defaults.float(forKey: "UpstreamRelocalizationFilteringAccThr"));
rtabmap!.setExportPointCloudFormat(format: defaults.string(forKey: "ExportPointCloudFormat")!);
@@ -1918,7 +1914,9 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
})
}))
let previousState = mState
updateState(state: .STATE_PROCESSING);
present(alertView, animated: true, completion: {
@@ -1989,8 +1987,11 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
self.updateState(state: .STATE_VISUALIZING)
self.rtabmap!.postExportation(visualize: true)
self.setGLCamera(type: 2)
if previousState != .STATE_VISUALIZING
{
self.setGLCamera(type: 2)
}
if self.openedDatabasePath == nil
{

4
app/ios/RTABMapApp/install_deps.sh
View File

@@ -238,7 +238,7 @@ fi
cd opencv
mkdir -p build
cd build
cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DOPENCV_EXTRA_MODULES_PATH=$prefix/opencv_contrib/modules -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF -DWITH_CUDA=OFF -DWITH_WEBP=OFF -DWITH_OPENEXR=OFF -DBUILD_opencv_apps=OFF -DBUILD_opencv_xobjdetect=OFF -DBUILD_opencv_stereo=OFF ..
cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DOPENCV_EXTRA_MODULES_PATH=$prefix/opencv_contrib/modules -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF -DWITH_CUDA=OFF -DWITH_WEBP=OFF -DWITH_OPENEXR=OFF -DBUILD_opencv_apps=OFF -DBUILD_opencv_xobjdetect=OFF -DBUILD_opencv_stereo=OFF -DOPENCV_ENABLE_NONFREE=ON ..
cmake --build . --config Release
cmake --build . --config Release --target install
cd $pwd
@@ -288,6 +288,6 @@ cmake -DANDROID_PREBUILD=ON ../../../../..
cmake --build . --config Release
mkdir -p ios
cd ios
cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DCMAKE_FIND_ROOT_PATH=$prefix -DWITH_QT=OFF -DBUILD_APP=OFF -DBUILD_TOOLS=OFF -DWITH_TORO=OFF -DWITH_VERTIGO=OFF -DWITH_MADGWICK=OFF -DWITH_ORB_OCTREE=OFF -DBUILD_EXAMPLES=OFF -DWITH_LIBLAS=ON ../../../../../..
cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DCMAKE_FIND_ROOT_PATH=$prefix -DWITH_QT=OFF -DBUILD_APP=OFF -DBUILD_TOOLS=OFF -DWITH_TORO=OFF -DWITH_VERTIGO=OFF -DWITH_MADGWICK=OFF -DWITH_ORB_OCTREE=ON -DBUILD_EXAMPLES=OFF -DWITH_LIBLAS=ON ../../../../../..
cmake --build . --config Release
cmake --build . --config Release --target install