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

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This commit is contained in:
matlabbe
2016-11-03 17:04:31 -04:00
parent 70dbac10c7
commit a7971373a6
14 changed files with 593 additions and 28 deletions
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corelib/src/CameraThread.cpp
+19 -1
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@@ -58,7 +58,10 @@ CameraThread::CameraThread(Camera * camera, const ParametersMap & parameters) :
_scanVoxelSize(0.0f),
_scanNormalsK(0),
_stereoDense(new StereoBM(parameters)),
_distortionModel(0)
_distortionModel(0),
_bilateralFiltering(false),
_bilateralSigmaS(10),
_bilateralSigmaR(0.1)
{
UASSERT(_camera != 0);
}
@@ -106,6 +109,14 @@ void CameraThread::setDistortionModel(const std::string & path)
}
}
void CameraThread::enableBilateralFiltering(float sigmaS, float sigmaR)
{
UASSERT(sigmaS > 0.0f && sigmaR > 0.0f);
_bilateralFiltering = true;
_bilateralSigmaS = sigmaS;
_bilateralSigmaR = sigmaR;
}
void CameraThread::mainLoop()
{
UTimer totalTime;
@@ -139,6 +150,13 @@ void CameraThread::mainLoop()
info.timeUndistortDepth = timer.ticks();
}
if(_bilateralFiltering && !data.depthRaw().empty())
{
UTimer timer;
data.setDepthOrRightRaw(util2d::fastBilateralFiltering(data.depthRaw(), _bilateralSigmaS, _bilateralSigmaR));
info.timeBilateralFiltering = timer.ticks();
}
if(_imageDecimation>1 && !data.imageRaw().empty())
{
UDEBUG("");