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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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14
app/android/jni/CameraMobile.h
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@@ -79,7 +79,6 @@ public:
public:
static LaserScan scanFromPointCloudData(
const cv::Mat & pointCloudData,
int points,
const Transform & pose,
const CameraModel & model,
const cv::Mat & rgb,
@@ -88,7 +87,7 @@ public:
int kptsSize = 3);
public:
CameraMobile(bool smoothing = false);
CameraMobile(bool smoothing = false, float upstreamRelocalizationAccThr = 0.0f);
virtual ~CameraMobile();
// abstract functions
@@ -96,16 +95,17 @@ public:
virtual void close(); // inherited classes should call its parent at the end of their close().
virtual std::string getSerial() const {return "CameraMobile";}
// original pose of device in rtabmap frame (without origin offset), stamp of the device (may be not epoch), viewMatrix in opengl frame (without origin offset)
void update(const SensorData & data, const Transform & pose, const glm::mat4 & viewMatrix, const glm::mat4 & projectionMatrix, const float * texCoord);
void updateOnRender();
const Transform & getOriginOffset() const {return originOffset_;} // in rtabmap frame
void resetOrigin();
virtual bool isCalibrated() const;
virtual bool odomProvided() const { return true; }
virtual bool getPose(double epochStamp, Transform & pose, cv::Mat & covariance, double maxWaitTime = 0.06); // Return pose of device in rtabmap frame (with origin offset), stamp should be epoch time
void poseReceived(const Transform & pose, double deviceStamp); // original pose of device in rtabmap frame (without origin offset), stamp of the device (may be not epoch)
// original pose of device in rtabmap frame (without origin offset), stamp of the device (may be not epoch)
void poseReceived(const Transform & pose, double deviceStamp);
double getStampEpochOffset() const {return stampEpochOffset_;}
const CameraModel & getCameraModel() const {return model_;}
@@ -150,11 +150,17 @@ private:
EnvSensors lastEnvSensors_;
Transform originOffset_;
bool originUpdate_;
float upstreamRelocalizationAccThr_;
rtabmap::Transform previousAnchorPose_;
std::vector<float> previousAnchorLinearVelocity_;
double previousAnchorStamp_;
std::map<double, std::pair<rtabmap::Transform, rtabmap::Transform> > relocalizationDebugBuffer_;
USemaphore dataReady_;
UMutex dataMutex_;
SensorData data_;
Transform dataPose_;
bool dataGoodTracking_;
UMutex poseMutex_;
std::map<double, Transform> poseBuffer_; // <stamp, Pose>