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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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app/android/src/com/introlab/rtabmap/ARCoreSharedCamera.java
+15 -3
View File
@@ -115,6 +115,9 @@ public class ARCoreSharedCamera {
// Image reader that continuously processes CPU images.
public TOF_ImageReader mTOFImageReader = new TOF_ImageReader();
private boolean mTOFAvailable = false;
ByteBuffer mPreviousDepth = null;
double mPreviousDepthStamp = 0.0;
public boolean isDepthSupported() {return mTOFAvailable;}
@@ -757,7 +760,6 @@ public class ARCoreSharedCamera {
double stamp = (double)frame.getTimestamp()/10e8;
if(!RTABMapActivity.DISABLE_LOG) Log.d(TAG, String.format("pose=%f %f %f q=%f %f %f %f stamp=%f", odomPose.tx(), odomPose.ty(), odomPose.tz(), odomPose.qx(), odomPose.qy(), odomPose.qz(), odomPose.qw(), stamp));
RTABMapLib.postCameraPoseEvent(RTABMapActivity.nativeApplication, odomPose.tx(), odomPose.ty(), odomPose.tz(), odomPose.qx(), odomPose.qy(), odomPose.qz(), odomPose.qw(), stamp);
CameraIntrinsics intrinsics = camera.getImageIntrinsics();
try{
Image image = frame.acquireCameraImage();
@@ -813,6 +815,12 @@ public class ARCoreSharedCamera {
depth = mTOFImageReader.depth16_raw;
depthStamp = (double)mTOFImageReader.timestamp/10e8;
}
if(mPreviousDepth == null)
{
mPreviousDepth = depth;
mPreviousDepthStamp = depthStamp;
}
if(!RTABMapActivity.DISABLE_LOG) Log.d(TAG, String.format("Depth %dx%d len=%dbytes format=%d stamp=%f",
mTOFImageReader.WIDTH, mTOFImageReader.HEIGHT, depth.limit(), ImageFormat.DEPTH16, depthStamp));
@@ -825,13 +833,17 @@ public class ARCoreSharedCamera {
rgbExtrinsics.tx(), rgbExtrinsics.ty(), rgbExtrinsics.tz(), rgbExtrinsics.qx(), rgbExtrinsics.qy(), rgbExtrinsics.qz(), rgbExtrinsics.qw(),
depthExtrinsics.tx(), depthExtrinsics.ty(), depthExtrinsics.tz(), depthExtrinsics.qx(), depthExtrinsics.qy(), depthExtrinsics.qz(), depthExtrinsics.qw(),
stamp,
depthStamp,
depthStamp>stamp?mPreviousDepthStamp:depthStamp,
y, u, v, y.limit(), image.getWidth(), image.getHeight(), image.getFormat(),
depth, depth.limit(), mTOFImageReader.WIDTH, mTOFImageReader.HEIGHT, ImageFormat.DEPTH16,
depthStamp>stamp?mPreviousDepth:depth, depthStamp>stamp?mPreviousDepth.limit():depth.limit(), mTOFImageReader.WIDTH, mTOFImageReader.HEIGHT, ImageFormat.DEPTH16,
points, points.limit()/4,
viewMatrix[12], viewMatrix[13], viewMatrix[14], quat[1], quat[2], quat[3], quat[0],
p[0], p[5], p[8], p[9], p[10], p[11], p[14],
texCoord[0],texCoord[1],texCoord[2],texCoord[3],texCoord[4],texCoord[5],texCoord[6],texCoord[7]);
mPreviousDepthStamp = depthStamp;
mPreviousDepth = depth;
}
else
{