Added bilateral filtering option. CloudViewer: lighting and edge visibility options.

corelib/include/rtabmap/core/CameraInfo.h

@@ -46,6 +46,7 @@ public:
 		timeImageDecimation(0.0f),
 		timeScanFromDepth(0.0f),
 		timeUndistortDepth(0.0f),
+		timeBilateralFiltering(0.0f),
 		timeTotal(0.0f),
 		odomCovariance(cv::Mat::eye(6,6,CV_64FC1))
 	{
@@ -61,6 +62,7 @@ public:
 	float timeImageDecimation;
 	float timeScanFromDepth;
 	float timeUndistortDepth;
+	float timeBilateralFiltering;
 	float timeTotal;
 	Transform odomPose;
 	cv::Mat odomCovariance;

corelib/include/rtabmap/core/CameraThread.h

@@ -63,6 +63,8 @@ public:
 	void setStereoToDepth(bool enabled) {_stereoToDepth = enabled;}
 	void setImageRate(float imageRate);
 	void setDistortionModel(const std::string & path);
+	void enableBilateralFiltering(float sigmaS, float sigmaR);
+	void disableBilateralFiltering() {_bilateralFiltering = false;}
 
 	void setScanFromDepth(
 			bool enabled,
@@ -102,6 +104,9 @@ private:
 	int _scanNormalsK;
 	StereoDense * _stereoDense;
 	clams::DiscreteDepthDistortionModel * _distortionModel;
+	bool _bilateralFiltering;
+	float _bilateralSigmaS;
+	float _bilateralSigmaR;
 };
 
 } // namespace rtabmap

corelib/include/rtabmap/core/util2d.h

@@ -136,6 +136,12 @@ void RTABMAP_EXP fillRegisteredDepthHoles(
 		bool horizontal,
 		bool fillDoubleHoles = false);
 
+cv::Mat RTABMAP_EXP fastBilateralFiltering(
+		const cv::Mat & depth,
+		float sigmaS = 15.0f,
+		float sigmaR = 0.05f,
+		bool earlyDivision = false);
+
 } // namespace util3d
 } // namespace rtabmap