mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-09 19:39:50 +08:00
New feature: Depth confidence (#1520)
* 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
@@ -23,9 +23,9 @@
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>-2495</y>
|
||||
<y>-654</y>
|
||||
<width>861</width>
|
||||
<height>6426</height>
|
||||
<height>6498</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_13">
|
||||
@@ -710,6 +710,26 @@
|
||||
<layout class="QVBoxLayout" name="verticalLayout_14">
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout" columnstretch="0,0,1">
|
||||
<item row="3" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_roiRatios"/>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QLabel" name="label_133">
|
||||
<property name="text">
|
||||
<string>3D cloud minimum depth.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_fillDepthHolesError">
|
||||
<property name="suffix">
|
||||
<string> %</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="2">
|
||||
<widget class="QLabel" name="label_134">
|
||||
<property name="text">
|
||||
@@ -720,13 +740,10 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QLabel" name="label_135">
|
||||
<property name="text">
|
||||
<string>ROI ratios [left, right, top, bottom] between 0 and 1. Only generate 3D points for pixels inside the region of interest (RGB image).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
<item row="4" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_fillDepthHoles">
|
||||
<property name="suffix">
|
||||
<string> pixels</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
@@ -749,21 +766,18 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="2">
|
||||
<widget class="QLabel" name="label_198">
|
||||
<item row="3" column="2">
|
||||
<widget class="QLabel" name="label_135">
|
||||
<property name="text">
|
||||
<string>Fill depth hole error.</string>
|
||||
<string>ROI ratios [left, right, top, bottom] between 0 and 1. Only generate 3D points for pixels inside the region of interest (RGB image).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_roiRatios"/>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_distortionModel"/>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth">
|
||||
@@ -794,39 +808,6 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="1">
|
||||
<widget class="QCheckBox" name="checkBox_subtraction">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_distortionModel"/>
|
||||
</item>
|
||||
<item row="8" column="2">
|
||||
<widget class="QLabel" name="label_137">
|
||||
<property name="text">
|
||||
<string>Cloud subtraction. Superposed points from different nodes are filtered.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="2">
|
||||
<widget class="QLabel" name="label_197">
|
||||
<property name="text">
|
||||
<string>Fill depth hole size (0 means no fill).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<widget class="QLabel" name="label_132">
|
||||
<property name="text">
|
||||
@@ -850,13 +831,6 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_fillDepthHolesError">
|
||||
<property name="suffix">
|
||||
<string> %</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QToolButton" name="toolButton_distortionModel">
|
||||
<property name="text">
|
||||
@@ -864,24 +838,57 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<widget class="QCheckBox" name="checkBox_bilateral">
|
||||
<item row="10" column="2">
|
||||
<widget class="QLabel" name="label_137">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QLabel" name="label_133">
|
||||
<property name="text">
|
||||
<string>3D cloud minimum depth.</string>
|
||||
<string>Cloud subtraction. Superposed points from different nodes are filtered.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="2">
|
||||
<item row="5" column="2">
|
||||
<widget class="QLabel" name="label_198">
|
||||
<property name="text">
|
||||
<string>Fill depth hole error.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<widget class="QCheckBox" name="checkBox_subtraction">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="1">
|
||||
<widget class="QCheckBox" name="checkBox_bilateral">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="2">
|
||||
<widget class="QLabel" name="label_197">
|
||||
<property name="text">
|
||||
<string>Fill depth hole size (0 means no fill).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="2">
|
||||
<widget class="QLabel" name="label_136">
|
||||
<property name="text">
|
||||
<string>Bilateral filtering of the depth image. Reduce noise in depth images.</string>
|
||||
@@ -891,10 +898,52 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_fillDepthHoles">
|
||||
<item row="7" column="2">
|
||||
<widget class="QLabel" name="label_147">
|
||||
<property name="text">
|
||||
<string>Depth's edge bleeding filter error (0 means disabled). Reduce depth noise around edges.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_depthEdgeFiltering">
|
||||
<property name="suffix">
|
||||
<string> pixels</string>
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>100.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>4.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="2">
|
||||
<widget class="QLabel" name="label_149">
|
||||
<property name="text">
|
||||
<string>Minimum depth confidence: 0% is low confidence, 100% is high confidence. Ignored if no depth confidence images were recorded or if set to 0%.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_depthConfidence">
|
||||
<property name="suffix">
|
||||
<string> %</string>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>100</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
|
||||
Reference in New Issue
Block a user