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Tango: added Noise Filtering post-processing option, set RGBD/MaxLocalRetrieved to 0 (avoiding some high processing time peaks), fill depth holes up to 5 pixels

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matlabbe
2016-09-03 20:38:27 -04:00
parent 7f2c118f8d
commit 91da92346d
9 changed files with 89 additions and 17 deletions
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46
app/android/jni/RTABMapApp.cpp
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@@ -52,6 +52,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/io/obj_io.h>
const int kVersionStringLength = 128;
const int minPolygonClusterSize = 100;
static JavaVM *jvm;
static jobject RTABMapActivity = 0;
@@ -77,6 +78,7 @@ rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), graphOptimization_?"10":"0"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemIncrementalMemory(), uBool2Str(!localizationMode_)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapMaxRetrieved(), "1"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDMaxLocalRetrieved(), "0"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpMaxDepth(), std::string("10"))); // to avoid extracting features in invalid depth (as we compute transformation directly from the words)
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDOptimizeFromGraphEnd(), std::string("true")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kDbSqlite3InMemory(), std::string("true")));
@@ -114,6 +116,7 @@ RTABMapApp::RTABMapApp() :
meshTrianglePix_(1),
meshAngleToleranceDeg_(15.0),
clearSceneOnNextRender_(false),
filterPolygonsOnNextRender_(false),
totalPoints_(0),
totalPolygons_(0),
lastDrawnCloudsCount_(0),
@@ -559,6 +562,42 @@ int RTABMapApp::Render()
}
}
if(filterPolygonsOnNextRender_)
{
filterPolygonsOnNextRender_ = false;
boost::mutex::scoped_lock lock(meshesMutex_);
for(std::map<int, Mesh>::iterator iter = createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
{
if(iter->second.polygons.size())
{
// filter polygons
std::vector<std::set<int> > neighbors;
std::vector<std::set<int> > vertexToPolygons;
rtabmap::util3d::createPolygonIndexes(
iter->second.polygons,
iter->second.cloud->size(),
neighbors,
vertexToPolygons);
std::list<std::list<int> > clusters = rtabmap::util3d::clusterPolygons(
neighbors,
minPolygonClusterSize);
std::vector<pcl::Vertices> filteredPolygons(iter->second.polygons.size());
int oi=0;
for(std::list<std::list<int> >::iterator jter=clusters.begin(); jter!=clusters.end(); ++jter)
{
for(std::list<int>::iterator kter=jter->begin(); kter!=jter->end(); ++kter)
{
filteredPolygons[oi++] = iter->second.polygons.at(*kter);
}
}
filteredPolygons.resize(oi);
iter->second.polygons = filteredPolygons;
main_scene_.updateCloudPolygons(iter->first, iter->second.polygons);
}
}
notifyDataLoaded = true;
}
UTimer fpsTime;
lastDrawnCloudsCount_ = main_scene_.Render();
renderingFPS_ = 1.0/fpsTime.elapsed();
@@ -1004,6 +1043,13 @@ int RTABMapApp::postProcessing(int approach)
returnedValue = -1;
}
}
// filter polygons
if(approach == 4)
{
filterPolygonsOnNextRender_ = true;
}
return returnedValue;
}