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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/DBReader.cpp
+16 -2
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@@ -607,6 +607,7 @@ SensorData DBReader::getNextData(SensorCaptureInfo * info)
// update images and local transforms
cv::Mat combinedImages;
cv::Mat combinedDepthImages;
cv::Mat combinedDepthConfidenceImages;
std::vector<CameraModel> combinedModels;
std::vector<StereoCameraModel> combinedStereoModels;
for(size_t i=0; i<_cameraIndices.size(); ++i)
@@ -645,6 +646,18 @@ SensorData DBReader::getNextData(SensorCaptureInfo * info)
fromROI = cv::Mat(data.depthOrRightRaw(), cv::Rect(_cameraIndices[i]*subImageWidth, 0, subImageWidth, data.depthOrRightRaw().rows));
toROI = cv::Mat(combinedDepthImages, cv::Rect(addedCameras*subImageWidth, 0, subImageWidth, combinedDepthImages.rows));
fromROI.copyTo(toROI);
if(!data.depthConfidenceRaw().empty())
{
UASSERT(data.depthConfidenceRaw().size() == data.depthOrRightRaw().size());
if(combinedDepthConfidenceImages.empty())
{
combinedDepthConfidenceImages = cv::Mat(data.depthConfidenceRaw().rows, subImageWidth*(_cameraIndices.size()-i), data.depthConfidenceRaw().type());
}
fromROI = cv::Mat(data.depthConfidenceRaw(), cv::Rect(_cameraIndices[i]*subImageWidth, 0, subImageWidth, data.depthConfidenceRaw().rows));
toROI = cv::Mat(combinedDepthConfidenceImages, cv::Rect(addedCameras*subImageWidth, 0, subImageWidth, combinedDepthConfidenceImages.rows));
fromROI.copyTo(toROI);
}
}
if(!data.cameraModels().empty())
@@ -671,7 +684,7 @@ SensorData DBReader::getNextData(SensorCaptureInfo * info)
}
if(!combinedModels.empty())
{
data.setRGBDImage(combinedImages, combinedDepthImages, combinedModels);
data.setRGBDImage(combinedImages, combinedDepthImages, combinedDepthConfidenceImages, combinedModels);
}
else
{
@@ -728,10 +741,11 @@ SensorData DBReader::getNextData(SensorCaptureInfo * info)
}
data.setLandmarks(landmarks);
UDEBUG("Laser=%d RGB/Left=%d Depth/Right=%d, Grid=%d, UserData=%d, GlobalPose=%d, GPS=%d, IMU=%d",
UDEBUG("Laser=%d RGB/Left=%d Depth/Right=%d, Conf=%d, Grid=%d, UserData=%d, GlobalPose=%d, GPS=%d, IMU=%d",
data.laserScanRaw().isEmpty()?0:1,
data.imageRaw().empty()?0:1,
data.depthOrRightRaw().empty()?0:1,
data.depthConfidenceRaw().empty()?0:1,
data.gridCellSize()==0.0f?0:1,
data.userDataRaw().empty()?0:1,
globalPose.isNull()?0:1,