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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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8
app/android/jni/background_renderer.h
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@@ -28,9 +28,15 @@
#include "util.h"
static const GLfloat BackgroundRenderer_kVertices[] = {
static const GLfloat BackgroundRenderer_kVerticesDevice[] = {
-1.0f, -1.0f, +1.0f, -1.0f, -1.0f, +1.0f, +1.0f, +1.0f,
};
//static const GLfloat BackgroundRenderer_kVerticesView[] = {
// 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 1.0f, 1.0f,
//};
static const GLfloat BackgroundRenderer_kVerticesView[] = {
0.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f,
};
static const GLfloat BackgroundRenderer_kTexCoord[] = {
1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
};