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LiDAR capture support in standalone library (#1264)

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* Working rtabmap_lidar-mapping example (live and pcap)

* finalizing merge, added some deprecated

* fixed build

* Working deskewing for Lidar + Camera/IMU (no camera pose correction yet) and Lidar + Odom Sensor in main UI.

* backward compatibility

* fixed some not used variable warnings, fixed qt build for lidar mapping example

* Refactored CameraMobile, added AREngine background support, fixed LidarVPL16 build error with PCL 1.8

* ARCoreJava: buffer last depth image in case its stamp i higher than pose stamp. CameraMobile: added pose buffer. SensorCaptureThread: to get pose, odomSensor should be explicitly set, but can be same as lidar or camera  inputs.

* Working external lidar on iOS

* util3d::commonFiltering()/adjustNormalsToViewPoint() added organized cloud support. MainWindow: updated odomSensor setup

* fixed winsock include order

* reverted camera tool

* disable imu filtering when odom sensor is used

* Updated package version

* fixed windows build

* fixing more windows build erros
This commit is contained in:
matlabbe
2024-04-14 19:06:04 -07:00
committed by GitHub
parent 6a6913c939
commit 700704bec9
131 changed files with 10585 additions and 7476 deletions
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13
app/android/jni/CameraARCore.h
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@@ -63,23 +63,14 @@ public:
CameraARCore(void* env, void* context, void* activity, bool depthFromMotion = false, bool smoothing = false);
virtual ~CameraARCore();
bool uvsInitialized() const {return uvs_initialized_;}
const float* uvsTransformed() const {return transformed_uvs_;}
void getVPMatrices(glm::mat4 & view, glm::mat4 & projection) const {view=viewMatrix_; projection=projectionMatrix_;}
virtual void setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height);
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
void setupGL();
virtual void close(); // close Tango connection
virtual void close(); // close ARCore connection
virtual std::string getSerial() const;
GLuint getTextureId() const {return textureId_;}
void imageCallback(AImageReader *reader);
protected:
virtual SensorData captureImage(CameraInfo * info = 0); // should be called in opengl thread
virtual void capturePoseOnly();
virtual SensorData updateDataOnRender(Transform & pose); // should be called in opengl thread
private:
rtabmap::Transform getPoseAtTimestamp(double timestamp);