i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 10:00:23 +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

13
app/android/jni/RTABMapApp.h
View File

@@ -70,7 +70,8 @@ class RTABMapApp : public UEventsHandler {
int,
float, float, float, float,
int, int,
float, float, float, float, float, float));
float, float, float, float, float, float),
void(*cameraInfoCallback)(void *, int, const char*, const char*));
#endif
~RTABMapApp();
@@ -138,6 +139,7 @@ class RTABMapApp : public UEventsHandler {
void setSmoothing(bool enabled);
void setDepthFromMotion(bool enabled);
void setAppendMode(bool enabled);
void setUpstreamRelocalizationAccThr(float value);
void setDataRecorderMode(bool enabled);
void setMaxCloudDepth(float value);
void setMinCloudDepth(float value);
@@ -150,6 +152,7 @@ class RTABMapApp : public UEventsHandler {
void setRenderingTextureDecimation(int value);
void setBackgroundColor(float gray);
void setDepthConfidence(int value);
void setExportPointCloudFormat(const std::string & format);
int setMappingParameter(const std::string & key, const std::string & value);
void setGPS(const rtabmap::GPS & gps);
void addEnvSensor(int type, float value);
@@ -178,9 +181,6 @@ class RTABMapApp : public UEventsHandler {
bool writeExportedMesh(const std::string & directory, const std::string & name);
int postProcessing(int approach);
void postCameraPoseEvent(
float x, float y, float z, float qx, float qy, float qz, float qw, double stamp);
void postOdometryEvent(
rtabmap::Transform pose,
float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy,
@@ -193,7 +193,7 @@ class RTABMapApp : public UEventsHandler {
const void * depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
const void * conf, int confLen, int confWidth, int confHeight, int confFormat,
const float * points, int pointsLen, int pointsChannels,
const rtabmap::Transform & viewMatrix, //view matrix
rtabmap::Transform viewMatrix, //view matrix
float p00, float p11, float p02, float p12, float p22, float p32, float p23, // projection matrix
float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7); // tex coord
@@ -239,6 +239,8 @@ class RTABMapApp : public UEventsHandler {
int renderingTextureDecimation_;
float backgroundColor_;
int depthConfidence_;
float upstreamRelocalizationMaxAcc_;
std::string exportPointCloudFormat_;
rtabmap::ParametersMap mappingParameters_;
@@ -309,6 +311,7 @@ class RTABMapApp : public UEventsHandler {
float, float, float, float,
int, int,
float, float, float, float, float, float);
void(*swiftCameraInfoEventCallback)(void *, int, const char *, const char *);
#endif
};