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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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corelib/include/rtabmap/core/SensorData.h
+54 -2
View File
@@ -78,6 +78,16 @@ public:
double stamp = 0.0,
const cv::Mat & userData = cv::Mat());
// RGB-D constructor + depth confidence
SensorData(
const cv::Mat & rgb,
const cv::Mat & depth,
const cv::Mat & depth_confidence,
const CameraModel & cameraModel,
int id = 0,
double stamp = 0.0,
const cv::Mat & userData = cv::Mat());
// RGB-D constructor + laser scan
SensorData(
const LaserScan & laserScan,
@@ -87,6 +97,17 @@ public:
int id = 0,
double stamp = 0.0,
const cv::Mat & userData = cv::Mat());
// RGB-D constructor + confidence + laser scan
SensorData(
const LaserScan & laserScan,
const cv::Mat & rgb,
const cv::Mat & depth,
const cv::Mat & depthConfidence,
const CameraModel & cameraModel,
int id = 0,
double stamp = 0.0,
const cv::Mat & userData = cv::Mat());
// Multi-cameras RGB-D constructor
SensorData(
@@ -96,6 +117,16 @@ public:
int id = 0,
double stamp = 0.0,
const cv::Mat & userData = cv::Mat());
// Multi-cameras RGB-D constructor + depth confidence
SensorData(
const cv::Mat & rgb,
const cv::Mat & depth,
const cv::Mat & depthConfidence,
const std::vector<CameraModel> & cameraModels,
int id = 0,
double stamp = 0.0,
const cv::Mat & userData = cv::Mat());
// Multi-cameras RGB-D constructor + laser scan
SensorData(
@@ -107,6 +138,17 @@ public:
double stamp = 0.0,
const cv::Mat & userData = cv::Mat());
// Multi-cameras RGB-D constructor + depth confidence + laser scan
SensorData(
const LaserScan & laserScan,
const cv::Mat & rgb,
const cv::Mat & depth,
const cv::Mat & depthConfidence,
const std::vector<CameraModel> & cameraModels,
int id = 0,
double stamp = 0.0,
const cv::Mat & userData = cv::Mat());
// Stereo constructor
SensorData(
const cv::Mat & left,
@@ -160,6 +202,8 @@ public:
_imageCompressed.empty() &&
_depthOrRightRaw.empty() &&
_depthOrRightCompressed.empty() &&
_depthConfidenceRaw.empty() &&
_depthConfidenceCompressed.empty() &&
_laserScanRaw.isEmpty() &&
_laserScanCompressed.isEmpty() &&
_cameraModels.empty() &&
@@ -178,10 +222,12 @@ public:
const cv::Mat & imageCompressed() const {return _imageCompressed;}
const cv::Mat & depthOrRightCompressed() const {return _depthOrRightCompressed;}
const cv::Mat & depthConfidenceCompressed() const {return _depthConfidenceCompressed;}
const LaserScan & laserScanCompressed() const {return _laserScanCompressed;}
const cv::Mat & imageRaw() const {return _imageRaw;}
const cv::Mat & depthOrRightRaw() const {return _depthOrRightRaw;}
const cv::Mat & depthConfidenceRaw() const {return _depthConfidenceRaw;}
const LaserScan & laserScanRaw() const {return _laserScanRaw;}
/**
@@ -190,7 +236,9 @@ public:
* @param clearPreviousData, clear previous raw and compressed images before setting the new ones.
*/
void setRGBDImage(const cv::Mat & rgb, const cv::Mat & depth, const CameraModel & model, bool clearPreviousData = true);
void setRGBDImage(const cv::Mat & rgb, const cv::Mat & depth, const cv::Mat & depth_confidence, const CameraModel & model, bool clearPreviousData = true);
void setRGBDImage(const cv::Mat & rgb, const cv::Mat & depth, const std::vector<CameraModel> & models, bool clearPreviousData = true);
void setRGBDImage(const cv::Mat & rgb, const cv::Mat & depth, const cv::Mat & depth_confidence, const std::vector<CameraModel> & models, bool clearPreviousData = true);
void setStereoImage(const cv::Mat & left, const cv::Mat & right, const StereoCameraModel & stereoCameraModel, bool clearPreviousData = true);
void setStereoImage(const cv::Mat & left, const cv::Mat & right, const std::vector<StereoCameraModel> & stereoCameraModels, bool clearPreviousData = true);
@@ -227,7 +275,8 @@ public:
cv::Mat * userDataRaw = 0,
cv::Mat * groundCellsRaw = 0,
cv::Mat * obstacleCellsRaw = 0,
cv::Mat * emptyCellsRaw = 0);
cv::Mat * emptyCellsRaw = 0,
cv::Mat * depthConfidenceRaw = 0);
void uncompressDataConst(
cv::Mat * imageRaw,
cv::Mat * depthOrRightRaw,
@@ -235,7 +284,8 @@ public:
cv::Mat * userDataRaw = 0,
cv::Mat * groundCellsRaw = 0,
cv::Mat * obstacleCellsRaw = 0,
cv::Mat * emptyCellsRaw = 0) const;
cv::Mat * emptyCellsRaw = 0,
cv::Mat * depthConfidenceRaw = 0) const;
const std::vector<CameraModel> & cameraModels() const {return _cameraModels;}
const std::vector<StereoCameraModel> & stereoCameraModels() const {return _stereoCameraModels;}
@@ -327,10 +377,12 @@ private:
cv::Mat _imageCompressed; // compressed image
cv::Mat _depthOrRightCompressed; // compressed image
cv::Mat _depthConfidenceCompressed; // compressed data
LaserScan _laserScanCompressed; // compressed data
cv::Mat _imageRaw; // CV_8UC1 or CV_8UC3
cv::Mat _depthOrRightRaw; // depth CV_16UC1 or CV_32FC1, right image CV_8UC1 or CV_8UC3
cv::Mat _depthConfidenceRaw; // CV_8UC1
LaserScan _laserScanRaw;
std::vector<CameraModel> _cameraModels;
corelib/include/rtabmap/core/util2d.h
+12
View File
@@ -126,6 +126,14 @@ cv::Mat RTABMAP_CORE_EXPORT registerDepth(
const cv::Size & colorSize,
const cv::Mat & colorK,
const rtabmap::Transform & transform);
cv::Mat RTABMAP_CORE_EXPORT registerDepth(
const cv::Mat & depth,
const cv::Mat & confidence,
const cv::Mat & depthK,
const cv::Size & colorSize,
const cv::Mat & colorK,
const rtabmap::Transform & transform,
cv::Mat & registeredConfidence);
cv::Mat RTABMAP_CORE_EXPORT fillDepthHoles(
const cv::Mat & depth,
@@ -144,6 +152,10 @@ cv::Mat RTABMAP_CORE_EXPORT fastBilateralFiltering(
float sigmaR = 0.05f,
bool earlyDivision = false);
void RTABMAP_CORE_EXPORT depthBleedingFiltering(
cv::Mat & depth,
float maxDepthError);
cv::Mat RTABMAP_CORE_EXPORT brightnessAndContrastAuto(
const cv::Mat & src,
const cv::Mat & mask,
corelib/include/rtabmap/core/util3d.h
+27 -4
View File
@@ -97,6 +97,15 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDepth(
float maxDepth = 0.0f,
float minDepth = 0.0f,
std::vector<int> * validIndices = 0);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDepth(
const cv::Mat & imageDepth,
const cv::Mat & imageDepthConfidence,
const CameraModel & model,
int decimation = 1,
float maxDepth = 0.0f,
float minDepth = 0.0f,
unsigned char confidenceThr = 0,
std::vector<int> * validIndices = 0);
// Use cloudFromDepthRGB with CameraModel interface.
RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB(
@@ -116,6 +125,16 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB(
float maxDepth = 0.0f,
float minDepth = 0.0f,
std::vector<int> * validIndices = 0);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB(
const cv::Mat & imageRgb,
const cv::Mat & imageDepth,
const cv::Mat & imageDepthConfidence,
const CameraModel & model,
int decimation = 1,
float maxDepth = 0.0f,
float minDepth = 0.0f,
unsigned char confidenceThr = 0, // 0=low, 100=high
std::vector<int> * validIndices = 0);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDisparity(
const cv::Mat & imageDisparity,
@@ -164,7 +183,8 @@ std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> RTABMAP_CORE_EXPORT cloudsFromS
float minDepth = 0.0f,
std::vector<pcl::IndicesPtr> * validIndices = 0,
const ParametersMap & stereoParameters = ParametersMap(),
const std::vector<float> & roiRatios = std::vector<float>()); // ignored for stereo
const std::vector<float> & roiRatios = std::vector<float>(), // ignored for stereo
unsigned char confidenceThr = 0); // ignored for stereo
/**
* Create a XYZ cloud from the images contained in SensorData. If there is only one camera,
@@ -188,7 +208,8 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromSensorData(
float minDepth = 0.0f,
std::vector<int> * validIndices = 0,
const ParametersMap & stereoParameters = ParametersMap(),
const std::vector<float> & roiRatios = std::vector<float>()); // ignored for stereo
const std::vector<float> & roiRatios = std::vector<float>(), // ignored for stereo
unsigned char confidenceThr = 0); // ignored for stereo
/**
* Create an RGB cloud from the images contained in SensorData, one for each camera
@@ -210,7 +231,8 @@ std::vector<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> RTABMAP_CORE_EXPORT cloudsRG
float minDepth = 0.0f,
std::vector<pcl::IndicesPtr > * validIndices = 0,
const ParametersMap & stereoParameters = ParametersMap(),
const std::vector<float> & roiRatios = std::vector<float>()); // ignored for stereo
const std::vector<float> & roiRatios = std::vector<float>(), // ignored for stereo
unsigned char confidenceThr = 0); // ignored for stereo
/**
* Create an RGB cloud from the images contained in SensorData. If there is only one camera,
@@ -234,7 +256,8 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudRGBFromSensorDat
float minDepth = 0.0f,
std::vector<int> * validIndices = 0,
const ParametersMap & stereoParameters = ParametersMap(),
const std::vector<float> & roiRatios = std::vector<float>()); // ignored for stereo
const std::vector<float> & roiRatios = std::vector<float>(), // ignored for stereo
unsigned char confidenceThr = 0); // ignored for stereo
/**
* Simulate a laser scan rotating counterclockwise, using middle line of the depth image.