i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-04 00:57:46 +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/src/ExportCloudsDialog.cpp
+32 -6
View File
@@ -151,6 +151,9 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
connect(_ui->lineEdit_distortionModel, SIGNAL(textChanged(const QString &)), this, SIGNAL(configChanged()));
connect(_ui->toolButton_distortionModel, SIGNAL(clicked()), this, SLOT(selectDistortionModel()));
connect(_ui->spinBox_depthConfidence, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_depthEdgeFiltering, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_bilateral, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_bilateral, SIGNAL(stateChanged(int)), this, SLOT(updateReconstructionFlavor()));
connect(_ui->doubleSpinBox_bilateral_sigmaS, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
@@ -401,6 +404,8 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
settings.setValue("regenerate_fill_error", _ui->spinBox_fillDepthHolesError->value());
settings.setValue("regenerate_roi", _ui->lineEdit_roiRatios->text());
settings.setValue("regenerate_distortion_model", _ui->lineEdit_distortionModel->text());
settings.setValue("regenerate_min_depth_confidence", _ui->spinBox_depthConfidence->value());
settings.setValue("regenerate_edge_bleeding_error", _ui->doubleSpinBox_depthEdgeFiltering->value());
settings.setValue("bilateral", _ui->checkBox_bilateral->isChecked());
settings.setValue("bilateral_sigma_s", _ui->doubleSpinBox_bilateral_sigmaS->value());
@@ -584,6 +589,8 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
_ui->spinBox_fillDepthHolesError->setValue(settings.value("regenerate_fill_error", _ui->spinBox_fillDepthHolesError->value()).toInt());
_ui->lineEdit_roiRatios->setText(settings.value("regenerate_roi", _ui->lineEdit_roiRatios->text()).toString());
_ui->lineEdit_distortionModel->setText(settings.value("regenerate_distortion_model", _ui->lineEdit_distortionModel->text()).toString());
_ui->spinBox_depthConfidence->setValue(settings.value("regenerate_min_depth_confidence", _ui->spinBox_depthConfidence->value()).toInt());
_ui->doubleSpinBox_depthEdgeFiltering->setValue(settings.value("regenerate_edge_bleeding_error", _ui->doubleSpinBox_depthEdgeFiltering->value()).toDouble());
_ui->checkBox_bilateral->setChecked(settings.value("bilateral", _ui->checkBox_bilateral->isChecked()).toBool());
_ui->doubleSpinBox_bilateral_sigmaS->setValue(settings.value("bilateral_sigma_s", _ui->doubleSpinBox_bilateral_sigmaS->value()).toDouble());
@@ -770,6 +777,8 @@ void ExportCloudsDialog::restoreDefaults()
_ui->spinBox_fillDepthHolesError->setValue(2);
_ui->lineEdit_roiRatios->setText("0.0 0.0 0.0 0.0");
_ui->lineEdit_distortionModel->setText("");
_ui->spinBox_depthConfidence->setValue(0);
_ui->doubleSpinBox_depthEdgeFiltering->setValue(0.0);
_ui->checkBox_bilateral->setChecked(false);
_ui->doubleSpinBox_bilateral_sigmaS->setValue(10.0);
@@ -3685,20 +3694,30 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
{
const Signature & s = cachedSignatures.find(iter->first).value();
data = s.sensorData();
cv::Mat image,depth;
cv::Mat image,depth,confidence;
data.uncompressData(
_ui->checkBox_fromDepth->isChecked()?&image:0,
_ui->checkBox_fromDepth->isChecked()?&depth:0,
!_ui->checkBox_fromDepth->isChecked()?&scan:0);
!_ui->checkBox_fromDepth->isChecked()?&scan:0,
0,
0,
0,
0,
_ui->checkBox_fromDepth->isChecked()?&confidence:0);
}
else if(_dbDriver)
{
cv::Mat image,depth;
cv::Mat image,depth,confidence;
_dbDriver->getNodeData(iter->first, data, _ui->checkBox_fromDepth->isChecked(), !_ui->checkBox_fromDepth->isChecked(), false, false);
data.uncompressData(
_ui->checkBox_fromDepth->isChecked()?&image:0,
_ui->checkBox_fromDepth->isChecked()?&depth:0,
!_ui->checkBox_fromDepth->isChecked()?&scan:0);
!_ui->checkBox_fromDepth->isChecked()?&scan:0,
0,
0,
0,
0,
_ui->checkBox_fromDepth->isChecked()?&confidence:0);
}
if(_ui->checkBox_fromDepth->isChecked() && !data.imageRaw().empty() && !data.depthOrRightRaw().empty())
@@ -3719,6 +3738,12 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
model.undistort(depth);
}
// edge bleeding filter
if(!depth.empty() && _ui->doubleSpinBox_depthEdgeFiltering->value()>0.0)
{
util2d::depthBleedingFiltering(depth, _ui->doubleSpinBox_depthEdgeFiltering->value());
}
// bilateral filtering
if(!depth.empty() && _ui->checkBox_bilateral->isChecked())
{
@@ -3729,7 +3754,7 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
if(!depth.empty())
{
data.setRGBDImage(data.imageRaw(), depth, data.cameraModels());
data.setRGBDImage(data.imageRaw(), depth, data.depthConfidenceRaw(), data.cameraModels());
}
UASSERT(iter->first == data.id());
@@ -3754,7 +3779,8 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
_ui->doubleSpinBox_minDepth->value(),
indices.get(),
parameters,
roiRatios);
roiRatios,
(unsigned char)_ui->spinBox_depthConfidence->value());
if(cloudWithoutNormals->size())
{