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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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10
guilib/include/rtabmap/gui/ImageView.h
View File

@@ -60,6 +60,7 @@ public:
QRectF sceneRect() const;
bool isImageShown() const;
bool isImageDepthShown() const;
bool isImageDepthConfidenceShown() const;
bool isFeaturesShown() const;
bool isLinesShown() const;
int getAlpha() const {return _alpha;}
@@ -82,6 +83,7 @@ public:
void setFeaturesShown(bool shown);
void setImageShown(bool shown);
void setImageDepthShown(bool shown);
void setImageDepthConfidenceShown(bool shown);
void setLinesShown(bool shown);
void setGraphicsViewMode(bool on);
void setGraphicsViewScaled(bool scaled);
@@ -98,8 +100,8 @@ public:
void addFeature(int id, const cv::KeyPoint & kpt, float depth, QColor color);
void addLine(float x1, float y1, float x2, float y2, QColor color, const QString & text = QString());
void setImage(const QImage & image, const std::vector<CameraModel> & models = std::vector<CameraModel>(), const Transform & pose = Transform());
void setImageDepth(const cv::Mat & imageDepth);
void setImageDepth(const QImage & image);
void setImageDepth(const cv::Mat & imageDepth, const cv::Mat & imageDepthConfidence = cv::Mat());
void setImageDepth(const QImage & image, const QImage & imageDepthConfidence = QImage());
void setFeatureColor(int id, QColor color);
void setFeaturesColor(QColor color);
void setAlpha(int alpha);
@@ -147,6 +149,7 @@ private:
QMenu * _menu;
QAction * _showImage;
QAction * _showImageDepth;
QAction * _showImageDepthConfidence;
QAction * _showFeatures;
QAction * _showLines;
QAction * _setFeatureColor;
@@ -175,9 +178,12 @@ private:
QList<QGraphicsLineItem*> _lines;
QGraphicsPixmapItem * _imageItem;
QGraphicsPixmapItem * _imageDepthItem;
QGraphicsPixmapItem * _imageDepthConfidenceItem;
QPixmap _image;
QPixmap _imageDepth;
QPixmap _imageDepthConfidence;
cv::Mat _imageDepthCv;
cv::Mat _imageDepthConfidenceCv;
std::vector<CameraModel> _models;
Transform _pose;
};

2
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -208,6 +208,7 @@ public:
double getCloudMaxDepth(int index) const; // 0=map, 1=odom
double getCloudMinDepth(int index) const; // 0=map, 1=odom
std::vector<float> getCloudRoiRatios(int index) const; // 0=map, 1=odom
unsigned char getCloudConfidenceThr(int index) const; // 0=map, 1=odom
int getCloudColorScheme(int index) const; // 0=map, 1=odom
double getCloudOpacity(int index) const; // 0=map, 1=odom
int getCloudPointSize(int index) const; // 0=map, 1=odom
@@ -466,6 +467,7 @@ private:
QVector<QDoubleSpinBox*> _3dRenderingMaxDepth;
QVector<QDoubleSpinBox*> _3dRenderingMinDepth;
QVector<QLineEdit*> _3dRenderingRoiRatios;
QVector<QSpinBox*> _3dRenderingDepthConfidenceThr;
QVector<QSpinBox*> _3dRenderingColorScheme;
QVector<QDoubleSpinBox*> _3dRenderingOpacity;
QVector<QSpinBox*> _3dRenderingPtSize;

29
guilib/include/rtabmap/utilite/UCv2Qt.h
View File

@@ -39,7 +39,7 @@ enum uCvQtDepthColorMap{
* depth (float32, uint16) image and RGB/BGR 8bits images.
* @param image the cv::Mat image (can be 1 channel [CV_8U, CV_16U or CV_32F] or 3 channels [CV_U8])
* @param isBgr if 3 channels, it is BGR or RGB order.
* @param colorMap gradient of color to use to visualize depth
* @param colorMap gradient of color to use to visualize depth or monochrome images
* @param depthMin fixed minimum range (m) of the depth gradient (if depthMax<=depthMin, max/min are computed based on data in depth image)
* @param depthMax fixed maximum range (m) of the depth gradient (if depthMax<=depthMin, max/min are computed based on data in depth image)
* @return the QImage
@@ -47,7 +47,7 @@ enum uCvQtDepthColorMap{
inline QImage uCvMat2QImage(
const cv::Mat & image,
bool isBgr = true,
uCvQtDepthColorMap colorMap = uCvQtDepthWhiteToBlack,
uCvQtDepthColorMap colorMap = uCvQtDepthBlackToWhite,
float depthMin = 0,
float depthMax = 0)
{
@@ -81,9 +81,30 @@ inline QImage uCvMat2QImage(
{
// mono grayscale
qtemp = QImage(image.data, image.cols, image.rows, image.cols, QImage::Format_Indexed8).copy();
QVector<QRgb> my_table;
for(int i = 0; i < 256; i++)
my_table.push_back(qRgb(i,i,i));
my_table.reserve(256);
if(colorMap == uCvQtDepthRedToBlue || colorMap == uCvQtDepthBlueToRed)
{
if(colorMap == uCvQtDepthBlueToRed) {
for(int i = 0; i < 256; i++)
my_table.push_back(QColor::fromHsv(255-i, 255, 255, 255).rgb());
}
else {
for(int i = 0; i < 256; i++)
my_table.push_back(QColor::fromHsv(i, 255, 255, 255).rgb());
}
}
else if(colorMap == uCvQtDepthBlackToWhite)
{
for(int i = 0; i < 256; i++)
my_table.push_back(qRgb(i,i,i));
}
else // uCvQtDepthWhiteToBlack
{
for(int i = 0; i < 256; i++)
my_table.push_back(qRgb(255-i,255-i,255-i));
}
qtemp.setColorTable(my_table);
}
else