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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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7
guilib/src/AboutDialog.cpp
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@@ -107,6 +107,13 @@ AboutDialog::AboutDialog(QWidget * parent) :
_ui->label_pdal->setText("No");
_ui->label_pdal_license->setEnabled(false);
#endif
#ifdef RTABMAP_LIBLAS
_ui->label_liblas->setText("Yes");
_ui->label_liblas_license->setEnabled(true);
#else
_ui->label_liblas->setText("No");
_ui->label_liblas_license->setEnabled(false);
#endif
#ifdef RTABMAP_CUDASIFT
_ui->label_cudasift->setText("Yes");
_ui->label_cudasift_license->setEnabled(true);

1
guilib/src/DatabaseViewer.cpp
View File

@@ -7620,6 +7620,7 @@ void DatabaseViewer::updateGraphView()
// remove intermediate nodes?
if(ui_->checkBox_ignoreIntermediateNodes->isVisible() &&
ui_->checkBox_ignoreIntermediateNodes->isEnabled() &&
ui_->checkBox_ignoreIntermediateNodes->isChecked())
{
for(std::multimap<int, Link>::iterator iter=links.begin(); iter!=links.end(); ++iter)

48
guilib/src/ExportCloudsDialog.cpp
View File

@@ -79,6 +79,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#ifdef RTABMAP_PDAL
#include <rtabmap/core/PDALWriter.h>
#elif defined(RTABMAP_LIBLAS)
#include <rtabmap/core/LASWriter.h>
#endif
namespace rtabmap {
@@ -211,7 +213,7 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
connect(_ui->checkBox_camProjKeepPointsNotSeenByCameras, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_camProjRecolorPoints, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->comboBox_camProjExportCamera, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
#ifndef RTABMAP_PDAL
#if !defined(RTABMAP_PDAL) && !defined(RTABMAP_LIBLAS)
_ui->comboBox_camProjExportCamera->setEnabled(false);
_ui->label_camProjExportCamera->setEnabled(false);
_ui->label_camProjExportCamera->setText(_ui->label_camProjExportCamera->text() + " (PDAL dependency required)");
@@ -4046,6 +4048,8 @@ void ExportCloudsDialog::saveClouds(
extensions += QString(" *.") + iter->c_str();
}
extensions += ")";
#elif defined(RTABMAP_LIBLAS)
QString extensions = tr("Point cloud data (*.ply *.pcd *.las *.laz)");
#else
QString extensions = tr("Point cloud data (*.ply *.pcd)");
#endif
@@ -4160,7 +4164,7 @@ void ExportCloudsDialog::saveClouds(
success = pcl::io::savePLYFile(path.toStdString(), *clouds.begin()->second, binaryMode) == 0;
}
}
#ifdef RTABMAP_PDAL
#if defined(RTABMAP_PDAL) || defined(RTABMAP_LIBLAS)
else if(!QFileInfo(path).suffix().isEmpty())
{
std::vector<int> cameraIds(pointToPixels.size(), 0);
@@ -4173,19 +4177,37 @@ void ExportCloudsDialog::saveClouds(
}
if(cloudIWithNormals.get())
{
#ifdef RTABMAP_PDAL
success = savePDALFile(path.toStdString(), *cloudIWithNormals, cameraIds, binaryMode) == 0;
#else
UERROR("Normals cannot be save with current libLAS implementation, disable normals estimation.");
success = false;
#endif
}
else if(cloudIWithoutNormals.get())
{
#ifdef RTABMAP_PDAL
success = savePDALFile(path.toStdString(), *cloudIWithoutNormals, cameraIds, binaryMode) == 0;
#else
success = saveLASFile(path.toStdString(), *cloudIWithoutNormals, cameraIds) == 0;
#endif
}
else if(cloudRGBWithoutNormals.get())
{
#ifdef RTABMAP_PDAL
success = savePDALFile(path.toStdString(), *cloudRGBWithoutNormals, cameraIds, binaryMode) == 0;
#else
success = saveLASFile(path.toStdString(), *cloudRGBWithoutNormals, cameraIds) == 0;
#endif
}
else
{
#ifdef RTABMAP_PDAL
success = savePDALFile(path.toStdString(), *clouds.begin()->second, cameraIds, binaryMode) == 0;
#else
UERROR("Normals cannot be save with current libLAS implementation, disable normals estimation.");
success = false;
#endif
}
}
#endif
@@ -4230,6 +4252,8 @@ void ExportCloudsDialog::saveClouds(
items.push_back(iter->c_str());
}
extensions += ")...";
#elif defined(RTABMAP_LIBLAS)
QString extensions = tr("Save clouds to (*.ply *.pcd *.las *.laz)...");
#else
QString extensions = tr("Save clouds to (*.ply *.pcd)...");
#endif
@@ -4343,24 +4367,42 @@ void ExportCloudsDialog::saveClouds(
success = pcl::io::savePLYFile(pathFile.toStdString(), *transformedCloud, binaryMode) == 0;
}
}
#ifdef RTABMAP_PDAL
#if defined(RTABMAP_PDAL) || defined(RTABMAP_LIBLAS)
else if(!suffix.isEmpty())
{
if(cloudIWithNormals.get())
{
#ifdef RTABMAP_PDAL
success = savePDALFile(pathFile.toStdString(), *cloudIWithNormals) == 0;
#else
UERROR("Normals cannot be save with current libLAS implementation, disable normals estimation.");
success = false;
#endif
}
else if(cloudIWithoutNormals.get())
{
#ifdef RTABMAP_PDAL
success = savePDALFile(pathFile.toStdString(), *cloudIWithoutNormals) == 0;
#else
success = saveLASFile(pathFile.toStdString(), *cloudIWithoutNormals) == 0;
#endif
}
else if(cloudRGBWithoutNormals.get())
{
#ifdef RTABMAP_PDAL
success = savePDALFile(pathFile.toStdString(), *cloudRGBWithoutNormals) == 0;
#else
success = saveLASFile(pathFile.toStdString(), *cloudRGBWithoutNormals) == 0;
#endif
}
else
{
#ifdef RTABMAP_PDAL
success = savePDALFile(pathFile.toStdString(), *transformedCloud) == 0;
#else
UERROR("Normals cannot be save with current libLAS implementation, disable normals estimation.");
success = false;
#endif
}
}
#endif

2191
guilib/src/ui/aboutDialog.ui
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