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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/src/DBDriverSqlite3.cpp
+44 -3
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@@ -34,6 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/Compression.h"
#include "DatabaseSchema_sql.h"
#include "DatabaseSchema_0_20_0_sql.h"
#include "DatabaseSchema_0_18_3_sql.h"
#include "DatabaseSchema_0_18_0_sql.h"
#include "DatabaseSchema_0_17_0_sql.h"
@@ -402,6 +403,7 @@ bool DBDriverSqlite3::connectDatabaseQuery(const std::string & url, bool overwri
schemas.push_back(std::make_pair("0.17.0", DATABASESCHEMA_0_17_0_SQL));
schemas.push_back(std::make_pair("0.18.0", DATABASESCHEMA_0_18_0_SQL));
schemas.push_back(std::make_pair("0.18.3", DATABASESCHEMA_0_18_3_SQL));
schemas.push_back(std::make_pair("0.20.0", DATABASESCHEMA_0_20_0_SQL));
schemas.push_back(std::make_pair(uNumber2Str(RTABMAP_VERSION_MAJOR)+"."+uNumber2Str(RTABMAP_VERSION_MINOR), DATABASESCHEMA_SQL));
for(size_t i=0; i<schemas.size(); ++i)
{
@@ -1317,7 +1319,15 @@ void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures, boo
if(images)
{
fields << "image, depth, calibration";
if(uStrNumCmp(_version, "0.22.0") >= 0)
{
fields << "image, depth, depth_confidence, calibration";
}
else
{
fields << "image, depth, calibration";
}
if(scan || userData || occupancyGrid)
{
fields << ", ";
@@ -1448,6 +1458,7 @@ void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures, boo
cv::Mat imageCompressed;
cv::Mat depthOrRightCompressed;
cv::Mat depthConfidenceCompressed;
std::vector<CameraModel> models;
std::vector<StereoCameraModel> stereoModels;
Transform localTransform = Transform::getIdentity();
@@ -1472,6 +1483,17 @@ void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures, boo
depthOrRightCompressed = cv::Mat(1, dataSize, CV_8UC1, (void *)data).clone();
}
if(uStrNumCmp(_version, "0.22.0") >= 0)
{
//Create the depth image
data = sqlite3_column_blob(ppStmt, index);
dataSize = sqlite3_column_bytes(ppStmt, index++);
if(dataSize>4 && data)
{
depthConfidenceCompressed = cv::Mat(1, dataSize, CV_8UC1, (void *)data).clone();
}
}
if(uStrNumCmp(_version, "0.10.0") < 0)
{
data = sqlite3_column_blob(ppStmt, index); // local transform
@@ -1823,7 +1845,7 @@ void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures, boo
{
if(models.size())
{
(*iter)->sensorData().setRGBDImage(imageCompressed, depthOrRightCompressed, models);
(*iter)->sensorData().setRGBDImage(imageCompressed, depthOrRightCompressed, depthConfidenceCompressed, models);
}
else
{
@@ -4478,6 +4500,7 @@ void DBDriverSqlite3::saveQuery(const std::list<Signature *> & signatures)
{
if(!(*i)->sensorData().imageCompressed().empty() ||
!(*i)->sensorData().depthOrRightCompressed().empty() ||
!(*i)->sensorData().depthConfidenceCompressed().empty() ||
!(*i)->sensorData().laserScanCompressed().isEmpty() ||
!(*i)->sensorData().userDataCompressed().empty() ||
!(*i)->sensorData().cameraModels().empty() ||
@@ -6186,7 +6209,11 @@ void DBDriverSqlite3::stepScanUpdate(sqlite3_stmt * ppStmt, int nodeId, const La
std::string DBDriverSqlite3::queryStepSensorData() const
{
UASSERT(uStrNumCmp(_version, "0.10.0") >= 0);
if(uStrNumCmp(_version, "0.16.0") >= 0)
if(uStrNumCmp(_version, "0.22.0") >= 0)
{
return "INSERT INTO Data(id, image, depth, depth_confidence, calibration, scan_info, scan, user_data, ground_cells, obstacle_cells, empty_cells, cell_size, view_point_x, view_point_y, view_point_z) VALUES(?,?,?,?,?,?,?,?,?,?,?,?,?,?,?);";
}
else if(uStrNumCmp(_version, "0.16.0") >= 0)
{
return "INSERT INTO Data(id, image, depth, calibration, scan_info, scan, user_data, ground_cells, obstacle_cells, empty_cells, cell_size, view_point_x, view_point_y, view_point_z) VALUES(?,?,?,?,?,?,?,?,?,?,?,?,?,?);";
}
@@ -6250,6 +6277,20 @@ void DBDriverSqlite3::stepSensorData(sqlite3_stmt * ppStmt,
}
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
//depth confidence
if(uStrNumCmp(_version, "0.22.0") >= 0)
{
if(!sensorData.depthConfidenceCompressed().empty())
{
rc = sqlite3_bind_blob(ppStmt, index++, sensorData.depthConfidenceCompressed().data, (int)sensorData.depthConfidenceCompressed().cols, SQLITE_STATIC);
}
else
{
rc = sqlite3_bind_null(ppStmt, index++);
}
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
}
// calibration
std::vector<unsigned char> calibrationData;
std::vector<float> calibration;