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Code Issues Packages Projects Releases Wiki Activity

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/Memory.cpp
+19 -3
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@@ -4893,9 +4893,10 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
else
{
decimationDepth = (int)ceil(float(data.depthRaw().rows) / float(targetSize));
UASSERT(data.depthConfidenceRaw().empty() || data.depthConfidenceRaw().size() == data.depthRaw().size());
}
}
UDEBUG("decimation rgbOrLeft(rows=%d)=%d, depthOrRight(rows=%d)=%d", data.imageRaw().rows, _imagePreDecimation, data.depthOrRightRaw().rows, decimationDepth);
UDEBUG("decimation rgbOrLeft(rows=%d)=%d, depthOrRight(rows=%d)=%d (conf? %d)", data.imageRaw().rows, _imagePreDecimation, data.depthOrRightRaw().rows, decimationDepth, data.depthConfidenceRaw().empty()?0:1);
std::vector<CameraModel> cameraModels = decimatedData.cameraModels();
for(unsigned int i=0; i<cameraModels.size(); ++i)
@@ -4907,6 +4908,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
decimatedData.setRGBDImage(
util2d::decimate(decimatedData.imageRaw(), _imagePreDecimation),
util2d::decimate(decimatedData.depthOrRightRaw(), decimationDepth),
util2d::decimate(decimatedData.depthConfidenceRaw(), decimationDepth),
cameraModels);
}
@@ -5656,6 +5658,8 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
cv::Mat image = data.imageRaw();
cv::Mat depthOrRightImage = data.depthOrRightRaw();
cv::Mat depthConfidence = data.depthConfidenceRaw();
std::vector<CameraModel> cameraModels = data.cameraModels();
std::vector<StereoCameraModel> stereoCameraModels = data.stereoCameraModels();
@@ -5666,6 +5670,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
{
image = decimatedData.imageRaw();
depthOrRightImage = decimatedData.depthOrRightRaw();
depthConfidence = decimatedData.depthConfidenceRaw();
cameraModels = decimatedData.cameraModels();
stereoCameraModels = decimatedData.stereoCameraModels();
}
@@ -5879,9 +5884,10 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
Signature * s;
if(this->isBinDataKept() && (!isIntermediateNode || _saveIntermediateNodeData))
{
UDEBUG("Bin data kept: rgb=%d, depth=%d, scan=%d, userData=%d",
UDEBUG("Bin data kept: rgb=%d, depth=%d, conf=%d, scan=%d, userData=%d",
image.empty()?0:1,
depthOrRightImage.empty()?0:1,
depthConfidence.empty()?0:1,
laserScan.isEmpty()?0:1,
data.userDataRaw().empty()?0:1);
@@ -5928,12 +5934,14 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
cv::Mat compressedImage;
cv::Mat compressedDepth;
cv::Mat compressedDepthConfidence;
cv::Mat compressedScan;
cv::Mat compressedUserData;
if(_compressionParallelized)
{
rtabmap::CompressionThread ctImage(image, _rgbCompressionFormat);
rtabmap::CompressionThread ctDepth(depthOrRightImage, depthOrRightImage.type() == CV_32FC1 || depthOrRightImage.type() == CV_16UC1?_depthCompressionFormat:_rgbCompressionFormat);
rtabmap::CompressionThread ctDepthConfidence(depthConfidence);
rtabmap::CompressionThread ctLaserScan(laserScan.data());
rtabmap::CompressionThread ctUserData(data.userDataRaw());
if(!image.empty())
@@ -5944,6 +5952,10 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
{
ctDepth.start();
}
if(!depthConfidence.empty())
{
ctDepthConfidence.start();
}
if(!laserScan.isEmpty())
{
ctLaserScan.start();
@@ -5954,11 +5966,13 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
}
ctImage.join();
ctDepth.join();
ctDepthConfidence.join();
ctLaserScan.join();
ctUserData.join();
compressedImage = ctImage.getCompressedData();
compressedDepth = ctDepth.getCompressedData();
compressedDepthConfidence = ctDepthConfidence.getCompressedData();
compressedScan = ctLaserScan.getCompressedData();
compressedUserData = ctUserData.getCompressedData();
}
@@ -5966,6 +5980,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
{
compressedImage = compressImage2(image, _rgbCompressionFormat);
compressedDepth = compressImage2(depthOrRightImage, depthOrRightImage.type() == CV_32FC1 || depthOrRightImage.type() == CV_16UC1?_depthCompressionFormat:_rgbCompressionFormat);
compressedDepthConfidence = compressData2(depthConfidence);
compressedScan = compressData2(laserScan.data());
compressedUserData = compressData2(data.userDataRaw());
}
@@ -6016,6 +6031,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
laserScan.localTransform()),
compressedImage.empty()?data.imageCompressed():compressedImage,
compressedDepth.empty()?data.depthOrRightCompressed():compressedDepth,
compressedDepthConfidence.empty()?data.depthConfidenceCompressed():compressedDepthConfidence,
cameraModels,
id,
0,
@@ -6113,7 +6129,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
// set raw data
if(!cameraModels.empty())
{
s->sensorData().setRGBDImage(image, depthOrRightImage, cameraModels, false);
s->sensorData().setRGBDImage(image, depthOrRightImage, depthConfidence, cameraModels, false);
}
else
{