i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-13 06:50:19 +08:00
Code Issues Packages Projects Releases Wiki Activity

iOS various updates (#1340)

Browse Source 
* 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
Download Patch File Download Diff File Expand all files Collapse all files
app/android/jni/CameraAREngine.cpp
+4 -13
View File
@@ -40,8 +40,8 @@ namespace rtabmap {
//////////////////////////////
// CameraAREngine
//////////////////////////////
CameraAREngine::CameraAREngine(void* env, void* context, void* activity, bool smoothing):
CameraMobile(smoothing),
CameraAREngine::CameraAREngine(void* env, void* context, void* activity, bool smoothing, float upstreamRelocalizationAccThr):
CameraMobile(smoothing, upstreamRelocalizationAccThr),
env_(env),
context_(context),
activity_(activity),
@@ -66,6 +66,8 @@ bool CameraAREngine::init(const std::string & calibrationFolder, const std::stri
{
close();
CameraMobile::init(calibrationFolder, cameraName);
UScopeMutex lock(arSessionMutex_);
HwArInstallStatus install_status;
@@ -236,12 +238,6 @@ SensorData CameraAREngine::updateDataOnRender(Transform & pose)
/*near=*/0.1f, /*far=*/100.f,
glm::value_ptr(projectionMatrix_));
// adjust origin
if(!getOriginOffset().isNull())
{
viewMatrix_ = glm::inverse(rtabmap::glmFromTransform(rtabmap::opengl_world_T_rtabmap_world * getOriginOffset() *rtabmap::rtabmap_world_T_opengl_world)*glm::inverse(viewMatrix_));
}
HwArTrackingState camera_tracking_state;
HwArCamera_getTrackingState(arSession_, ar_camera, &camera_tracking_state);
@@ -334,11 +330,6 @@ SensorData CameraAREngine::updateDataOnRender(Transform & pose)
{
pose = rtabmap::rtabmap_world_T_opengl_world * pose * rtabmap::opengl_world_T_rtabmap_world;
this->poseReceived(pose, stamp);
// adjust origin
if(!getOriginOffset().isNull())
{
pose = getOriginOffset() * pose;
}
}
}
}