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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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12
app/android/jni/CameraARCore.h
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@@ -50,17 +50,7 @@ namespace rtabmap {
class CameraARCore : public CameraMobile {
public:
static LaserScan scanFromPointCloudData(
const float * pointCloudData,
int points,
const Transform & pose,
const CameraModel & model,
const cv::Mat & rgb,
std::vector<cv::KeyPoint> * kpts = 0,
std::vector<cv::Point3f> * kpts3D = 0);
public:
CameraARCore(void* env, void* context, void* activity, bool depthFromMotion = false, bool smoothing = false);
CameraARCore(void* env, void* context, void* activity, bool depthFromMotion = false, bool smoothing = false, float upstreamRelocalizationAccThr = 0.0f);
virtual ~CameraARCore();
virtual void setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height);