i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-07 02:27:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

New feature: Depth confidence (#1520)

Browse Source 
* 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
Download Patch File Download Diff File Expand all files Collapse all files
guilib/include/rtabmap/utilite/UCv2Qt.h
+25 -4
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