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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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4
corelib/src/optimizer/OptimizerGTSAM.cpp
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@@ -217,7 +217,7 @@ std::map<int, Transform> OptimizerGTSAM::optimize(
{
gtsam::noiseModel::Diagonal::shared_ptr priorNoise = gtsam::noiseModel::Diagonal::Variances(
(gtsam::Vector(6) <<
(hasGravityConstraints?2:1e-2), (hasGravityConstraints?2:1e-2), hasGPSPrior?1e-2:std::numeric_limits<double>::min(), // roll, pitch, fixed yaw if there are no priors
(hasGravityConstraints?2:1e-2), (hasGravityConstraints?2:1e-2), (hasGPSPrior?1e-2:std::numeric_limits<double>::min()), // roll, pitch, fixed yaw if there are no priors
(hasGPSPrior?2:1e-2), hasGPSPrior?2:1e-2, hasGPSPrior?2:1e-2 // xyz
).finished());
graph.add(gtsam::PriorFactor<gtsam::Pose3>(rootId, gtsam::Pose3(initialPose.toEigen4d()), priorNoise));
@@ -473,7 +473,7 @@ std::map<int, Transform> OptimizerGTSAM::optimize(
{
Vector3 r = gtsam::Pose3(iter->second.transform().toEigen4d()).rotation().xyz();
gtsam::Unit3 nG = gtsam::Rot3::RzRyRx(r.x(), r.y(), 0).rotate(gtsam::Unit3(0,0,-1));
gtsam::SharedNoiseModel model = gtsam::noiseModel::Isotropic::Sigmas(gtsam::Vector2(gravitySigma(), 10));
gtsam::SharedNoiseModel model = gtsam::noiseModel::Isotropic::Sigmas(gtsam::Vector2(gravitySigma(), gravitySigma()));
graph.add(Pose3GravityFactor(iter->first, nG, model, Unit3(0,0,1)));
lastAddedConstraints_.push_back(ConstraintToFactor(iter->first, iter->first, -1));
}