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iOS various updates (#1340)

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* Added Data Recording Mode. Added option to filter ARKit localization jumps.

* Implemented max acc relocalization filtering (working on iOS)

* Fixed android build, added re-localization max acceleration parameter

* ARCore Java: Fixed pose of depth not available at stamp requested

* Android log fix

* Added libLAS support

* ios: added LAS support

* updated dep install script to skip libraries already installed

* CameraMobile: Fixed origin not updated if updateOnRender() is used

* Default max opt error increased to 2x to reduce number of loop closures rejected. OptimizerGTSAM: updated gravity noise model to use same sigma for both parameters.

* Updated license

* bump 0.21.7

* updated license date
This commit is contained in:
matlabbe
2024-10-06 17:16:22 -07:00
committed by GitHub
parent 409ef73e56
commit 595f200a89
41 changed files with 2420 additions and 1664 deletions
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21
CMakeLists.txt
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@@ -20,7 +20,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
#######################
SET(RTABMAP_MAJOR_VERSION 0)
SET(RTABMAP_MINOR_VERSION 21)
SET(RTABMAP_PATCH_VERSION 6)
SET(RTABMAP_PATCH_VERSION 7)
SET(RTABMAP_VERSION
${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
@@ -177,6 +177,7 @@ option(WITH_TORCH "Include Torch support (SuperPoint)" OFF)
option(WITH_PYTHON "Include Python3 support (PyMatcher, PyDetector)" OFF)
option(WITH_PYTHON_THREADING "Use more than one Python interpreter." OFF)
option(WITH_PDAL "Include PDAL support" ON)
option(WITH_LIBLAS "Include libLAS support" OFF)
option(WITH_CUDASIFT "Include CudaSift support (this fork https://github.com/matlabbe/CudaSift)" OFF)
option(WITH_FREENECT "Include Freenect support" ON)
option(WITH_FREENECT2 "Include Freenect2 support" ON)
@@ -416,6 +417,13 @@ IF(WITH_PDAL)
ENDIF(PDAL_FOUND)
ENDIF(WITH_PDAL)
IF(WITH_LIBLAS)
FIND_PACKAGE(libLAS QUIET)
IF(libLAS_FOUND)
MESSAGE(STATUS "Found libLAS ${libLAS_VERSION}: ${libLAS_INCLUDE_DIRS}")
ENDIF(libLAS_FOUND)
ENDIF(WITH_LIBLAS)
IF(WITH_CUDASIFT)
FIND_PACKAGE(CudaSift 3 QUIET)
IF(CudaSift_FOUND)
@@ -950,6 +958,9 @@ ENDIF(NOT opengv_FOUND OR NOT WITH_OPENGV)
IF(NOT PDAL_FOUND)
SET(PDAL "//")
ENDIF(NOT PDAL_FOUND)
IF(NOT libLAS_FOUND)
SET(LIBLAS "//")
ENDIF(NOT libLAS_FOUND)
IF(NOT CudaSift_FOUND)
SET(CUDASIFT "//")
ENDIF(NOT CudaSift_FOUND)
@@ -1427,6 +1438,14 @@ ELSE()
MESSAGE(STATUS " With PDAL = NO (PDAL not found)")
ENDIF()
IF(libLAS_FOUND)
MESSAGE(STATUS " With libLAS ${libLAS_VERSION} = YES (License: BSD)")
ELSEIF(NOT WITH_LIBLAS)
MESSAGE(STATUS " With libLAS = NO (WITH_LIBLAS=OFF)")
ELSE()
MESSAGE(STATUS " With libLAS = NO (libLAS not found)")
ENDIF()
IF(CudaSift_FOUND)
MESSAGE(STATUS " With CudaSift = YES (License: MIT)")
ELSEIF(NOT WITH_CUDASIFT)