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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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26
app/ios/Settings.bundle/Assembling.plist
View File

@@ -346,6 +346,32 @@
<integer>0</integer>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>The format of exported point cloud data.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Export Point Cloud Format</string>
<key>Key</key>
<string>ExportPointCloudFormat</string>
<key>DefaultValue</key>
<string>ply</string>
<key>Titles</key>
<array>
<string>PLY</string>
<string>LAS</string>
</array>
<key>Values</key>
<array>
<string>ply</string>
<string>las</string>
</array>
</dict>
</array>
</dict>
</plist>

49
app/ios/Settings.bundle/License.plist
View File

@@ -13,7 +13,7 @@
<string>
======= RTAB-Map =======
RTAB-Map - https://github.com/introlab/rtabmap
Copyright (c) 2010-2023, Mathieu Labbe - IntRoLab - Universite de Sherbrooke, all rights reserved.
Copyright (c) 2010-2024, Mathieu Labbe - IntRoLab - Universite de Sherbrooke, all rights reserved.
Copyright (c) XXX, contributors, all rights reserved.
Redistribution and use in source and binary forms, with or without
@@ -165,6 +165,53 @@ BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY
WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
======= libLAS =======
Copyright (c) 2007, Martin Isenburg, isenburg at cs.unc.edu
Copyright (c) 2008, Howard Butler, hobu.inc at gmail.com
Copyright (c) 2008, Mateusz Loskot, mateusz at loskot.net
Copyright (c) 2008, Phil Vachon, philippe at cowpig.ca
Copyright (c) 2008, Frank Warmerdam, warmerdam at pobox.com
Copyright (c) 2008, Martin Rodriguez, mrodriguez at stereocarto.com
Copyright (c) 2016, Oscar Martinez Rubi o.rubi at esciencecenter.nl
Copyright (c) 2016, Romulo Goncalves r.goncalves at esciencecenter.nl
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following
conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in
the documentation and/or other materials provided
with the distribution.
* Neither the name of the Martin Isenburg or Iowa Department
of Natural Resources nor the names of its contributors may be
used to endorse or promote products derived from this software
without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
OF SUCH DAMAGE.
</string>
</dict>

44
app/ios/Settings.bundle/Mapping.plist
View File

@@ -70,6 +70,48 @@
<key>DefaultValue</key>
<false/>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Filter ARKit's re-localization events to avoid jumps in odometry when creating a map with RTAB-Map, which would cause large drift errors that are difficult to correct. Set an acceleration threshold to detect those events.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>ARKit Re-Localization Acceleration Threshold</string>
<key>Key</key>
<string>UpstreamRelocalizationFilteringAccThr</string>
<key>DefaultValue</key>
<string>58.8399</string>
<key>Titles</key>
<array>
<string>Disabled</string>
<string>10 g</string>
<string>9 g</string>
<string>8 g</string>
<string>7 g</string>
<string>6 g</string>
<string>5 g</string>
<string>4 g</string>
<string>3 g</string>
<string>2 g</string>
</array>
<key>Values</key>
<array>
<string>0</string>
<string>98.0665</string>
<string>88.25985</string>
<string>78.4532</string>
<string>68.64655</string>
<string>58.8399</string>
<string>49.03325</string>
<string>39.2266</string>
<string>29.41995</string>
<string>19.6133</string>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
@@ -368,7 +410,7 @@
<key>Key</key>
<string>MaxOptimizationError</string>
<key>DefaultValue</key>
<integer>1</integer>
<integer>2</integer>
<key>Titles</key>
<array>
<string>4x</string>

90
app/ios/Settings.bundle/Root.plist
View File

@@ -60,7 +60,7 @@
<string>PSMultiValueSpecifier</string>
<key>Values</key>
<array>
<real>0.0</real>
<real>0</real>
<real>5</real>
<real>4.5</real>
<real>4</real>
@@ -74,7 +74,7 @@
</dict>
<dict>
<key>DefaultValue</key>
<real>0.0</real>
<real>0</real>
<key>Key</key>
<string>MinDepth</string>
<key>Title</key>
@@ -95,8 +95,8 @@
<string>PSMultiValueSpecifier</string>
<key>Values</key>
<array>
<real>0.0</real>
<real>0.29999999999999999</real>
<real>0</real>
<real>0.3</real>
<real>0.5</real>
<real>0.75</real>
<real>1</real>
@@ -130,7 +130,7 @@
</dict>
<dict>
<key>FooterText</key>
<string>Increase minimum polygon angle to force scanning perpendicular to surfaces. Set a decimation factor to reduce the number of polygons. The higher the factor, the less polygons will remain. Note that the decimation factor is done after decreasing point cloud density. Decimation factor and texture resolution don't affect post-processing.</string>
<string>Increase minimum polygon angle to force scanning perpendicular to surfaces. Set a decimation factor to reduce the number of polygons. The higher the factor, the less polygons will remain. Note that the decimation factor is done after decreasing point cloud density. Decimation factor and texture resolution don&apos;t affect post-processing.</string>
<key>Type</key>
<string>PSGroupSpecifier</string>
</dict>
@@ -196,7 +196,7 @@
</dict>
<dict>
<key>DefaultValue</key>
<real>0.0</real>
<real>0</real>
<key>Key</key>
<string>MeshDecimationFactor</string>
<key>Title</key>
@@ -220,18 +220,18 @@
<string>PSMultiValueSpecifier</string>
<key>Values</key>
<array>
<real>0.98999999999999999</real>
<real>0.94999999999999996</real>
<real>0.90000000000000002</real>
<real>0.80000000000000004</real>
<real>0.69999999999999996</real>
<real>0.59999999999999998</real>
<real>0.99</real>
<real>0.95</real>
<real>0.9</real>
<real>0.8</real>
<real>0.7</real>
<real>0.6</real>
<real>0.5</real>
<real>0.40000000000000002</real>
<real>0.29999999999999999</real>
<real>0.20000000000000001</real>
<real>0.10000000000000001</real>
<real>0.0</real>
<real>0.4</real>
<real>0.3</real>
<real>0.2</real>
<real>0.1</real>
<real>0</real>
</array>
</dict>
<dict>
@@ -266,7 +266,7 @@
</dict>
<dict>
<key>DefaultValue</key>
<real>0.20000000000000001</real>
<real>0.2</real>
<key>Key</key>
<string>BackgroundColor</string>
<key>Title</key>
@@ -288,16 +288,16 @@
<string>PSMultiValueSpecifier</string>
<key>Values</key>
<array>
<real>0.90000000000000002</real>
<real>0.80000000000000004</real>
<real>0.69999999999999996</real>
<real>0.59999999999999998</real>
<real>0.9</real>
<real>0.8</real>
<real>0.7</real>
<real>0.6</real>
<real>0.5</real>
<real>0.40000000000000002</real>
<real>0.29999999999999999</real>
<real>0.20000000000000001</real>
<real>0.10000000000000001</real>
<real>0.0</real>
<real>0.4</real>
<real>0.3</real>
<real>0.2</real>
<real>0.1</real>
<real>0</real>
</array>
</dict>
<dict>
@@ -402,19 +402,19 @@
<string>PSMultiValueSpecifier</string>
<key>Values</key>
<array>
<real>0.29999999999999999</real>
<real>0.20000000000000001</real>
<real>0.10000000000000001</real>
<real>0.050000000000000003</real>
<real>0.025000000000000001</real>
<real>0.3</real>
<real>0.2</real>
<real>0.1</real>
<real>0.05</real>
<real>0.025</real>
<real>0.02</real>
<real>0.014999999999999999</real>
<real>0.015</real>
<real>0.01</real>
</array>
</dict>
<dict>
<key>DefaultValue</key>
<real>0.050000000000000003</real>
<real>0.05</real>
<key>Key</key>
<string>NoiseFilteringRatio</string>
<key>Title</key>
@@ -439,22 +439,22 @@
<key>Values</key>
<array>
<real>1</real>
<real>0.90000000000000002</real>
<real>0.80000000000000004</real>
<real>0.69999999999999996</real>
<real>0.59999999999999998</real>
<real>0.9</real>
<real>0.8</real>
<real>0.7</real>
<real>0.6</real>
<real>0.5</real>
<real>0.40000000000000002</real>
<real>0.29999999999999999</real>
<real>0.20000000000000001</real>
<real>0.10000000000000001</real>
<real>0.050000000000000003</real>
<real>0.4</real>
<real>0.3</real>
<real>0.2</real>
<real>0.1</real>
<real>0.05</real>
<real>0.01</real>
</array>
</dict>
<dict>
<key>FooterText</key>
<string>Copyright (c) 2010-2023, Mathieu Labbe - IntRoLab - Université de Sherbrooke. All rights reserved.</string>
<string>Copyright (c) 2010-2024, Mathieu Labbe - IntRoLab - Université de Sherbrooke. All rights reserved.</string>
<key>Title</key>
<string>About</string>
<key>Type</key>
@@ -462,7 +462,7 @@
</dict>
<dict>
<key>DefaultValue</key>
<string>0.21.0</string>
<string>0.21.7</string>
<key>Key</key>
<string>Version</string>
<key>Title</key>