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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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53
tools/Export/main.cpp
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@@ -153,6 +153,8 @@ void showUsage()
" --min_range # Minimum range of the created clouds (default 0 m).\n"
" --max_range # Maximum range of the created clouds (default 4 m, 0 m with --scan).\n"
" --decimation # Depth image decimation before creating the clouds (default 4, 1 with --scan).\n"
" --edge_bleeding_error # Depth's edge bleeding filtering error (default 0 m).\n"
" --depth_confidence # Depth confidence threshold (should be in [0,100]) (default 0=Low).\n"
" --voxel # Voxel size of the created clouds (default 0.01 m, 0 m with --scan).\n"
" --ground_normals_up # Flip ground normals up if close to -z axis (default 0, 0=disabled, value should be >0 and <1, typical 0.9).\n"
" --noise_radius # Noise filtering search radius (default 0, 0=disabled).\n"
@@ -214,6 +216,8 @@ int main(int argc, char * argv[])
float poissonSize = 0.03;
int maxPolygons = 300000;
int decimation = -1;
float depthEdgeBleedingFilterError = 0.0f;
unsigned char depthConfidenceThr = 0;
float minRange = 0.0f;
float maxRange = -1.0f;
float voxelSize = -1.0f;
@@ -773,6 +777,30 @@ int main(int argc, char * argv[])
showUsage();
}
}
else if(std::strcmp(argv[i], "--edge_bleeding_error") == 0)
{
++i;
if(i<argc-1)
{
depthEdgeBleedingFilterError = uStr2Float(argv[i]);
}
else
{
showUsage();
}
}
else if(std::strcmp(argv[i], "--depth_confidence") == 0)
{
++i;
if(i<argc-1)
{
depthConfidenceThr = (unsigned char)uStr2Int(argv[i]);
}
else
{
showUsage();
}
}
else if(std::strcmp(argv[i], "--voxel") == 0)
{
++i;
@@ -1432,6 +1460,7 @@ int main(int argc, char * argv[])
bool densityFiltered = !densityPoses.empty() && densityPoses.find(iter->first) == densityPoses.end();
cv::Mat rgb;
cv::Mat depth;
cv::Mat confidence;
pcl::IndicesPtr indices(new std::vector<int>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
pcl::PointCloud<pcl::PointXYZI>::Ptr cloudI;
@@ -1440,7 +1469,7 @@ int main(int argc, char * argv[])
if(!densityFiltered && cloudFromScan && (exportCloud || exportMesh))
{
LaserScan scan;
data.uncompressData(exportImages?&rgb:0, (texture||exportImages)&&!data.depthOrRightCompressed().empty()?&depth:0, &scan);
data.uncompressData(exportImages?&rgb:0, (texture||exportImages)&&!data.depthOrRightCompressed().empty()?&depth:0, &scan, 0, 0, 0, 0, exportImages?&confidence:0);
if(scan.empty())
{
printf("Node %d doesn't have scan data, empty cloud is created.\n", iter->first);
@@ -1468,7 +1497,7 @@ int main(int argc, char * argv[])
}
else
{
data.uncompressData(&rgb, &depth);
data.uncompressData(&rgb, &depth, 0, 0, 0, 0, 0, &confidence);
if(!densityFiltered && (exportCloud || exportMesh))
{
if(depth.empty())
@@ -1476,12 +1505,20 @@ int main(int argc, char * argv[])
printf("Node %d doesn't have depth or stereo data, empty cloud is "
"created (if you want to create point cloud from scan, use --scan option).\n", iter->first);
}
else if(!data.depthRaw().empty() && depthEdgeBleedingFilterError>0.0f)
{
util2d::depthBleedingFiltering(depth, depthEdgeBleedingFilterError);
data.setRGBDImage(data.imageRaw(), depth, data.depthConfidenceRaw(), data.cameraModels());
}
cloud = util3d::cloudRGBFromSensorData(
data,
decimation, // image decimation before creating the clouds
maxRange, // maximum depth of the cloud
minRange,
indices.get());
indices.get(),
ParametersMap(),
std::vector<float>(),
depthConfidenceThr);
if(noiseRadius>0.0f && noiseMinNeighbors>0)
{
indices = util3d::radiusFiltering(cloud, indices, noiseRadius, noiseMinNeighbors);
@@ -1525,6 +1562,16 @@ int main(int argc, char * argv[])
outputPath=dir+"/"+(exportImagesId?uNumber2Str(iter->first):uFormat("%f", stamp))+ext;
cv::imwrite(outputPath, depthExported);
}
if(!confidence.empty())
{
dir = outputDirectory+"/"+baseName+"_confidence";
if(!UDirectory::exists(dir)) {
UDirectory::makeDir(dir);
}
outputPath=dir+"/"+(exportImagesId?uNumber2Str(iter->first):uFormat("%f", stamp))+".png";
cv::imwrite(outputPath, confidence);
}
// save calibration per image (calibration can change over time, e.g. camera has auto focus)
for(size_t i=0; i<models.size(); ++i)