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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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9
app/android/jni/CameraTango.h
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@@ -52,7 +52,6 @@ public:
virtual void close(); // close Tango connection
virtual std::string getSerial() const;
rtabmap::Transform tangoPoseToTransform(const TangoPoseData * tangoPose) const;
void setColorCamera(bool enabled) {if(!this->isRunning()) colorCamera_ = enabled;}
void setDecimation(int value) {decimation_ = value;}
void setRawScanPublished(bool enabled) {rawScanPublished_ = enabled;}
@@ -61,7 +60,7 @@ public:
void tangoEventReceived(int type, const char * key, const char * value);
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
virtual SensorData updateDataOnRender(Transform & pose);
private:
rtabmap::Transform getPoseAtTimestamp(double timestamp);
@@ -71,12 +70,12 @@ private:
bool colorCamera_;
int decimation_;
bool rawScanPublished_;
SensorData data_;
SensorData tangoData_;
cv::Mat tangoColor_;
int tangoColorType_;
double tangoColorStamp_;
boost::mutex dataMutex_;
USemaphore dataReady_;
boost::mutex tangoDataMutex_;
USemaphore tangoDataReady_;
cv::Mat fisheyeRectifyMapX_;
cv::Mat fisheyeRectifyMapY_;
};