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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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4
app/ios/RTABMapApp/NativeWrapper.cpp
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@@ -284,11 +284,11 @@ void setCameraNative(const void *object, int type) {
}
void postCameraPoseEventNative(const void *object,
float x, float y, float z, float qx, float qy, float qz, float qw)
float x, float y, float z, float qx, float qy, float qz, float qw, double stamp)
{
if(object)
{
native(object)->postCameraPoseEvent(x,y,z,qx,qy,qz,qw,0.0);
native(object)->postCameraPoseEvent(x,y,z,qx,qy,qz,qw,stamp);
}
else
{

2
app/ios/RTABMapApp/NativeWrapper.hpp
View File

@@ -67,7 +67,7 @@ bool startCameraNative(const void *object);
void stopCameraNative(const void *object);
void setCameraNative(const void *object, int type);
void postCameraPoseEventNative(const void *object,
float x, float y, float z, float qx, float qy, float qz, float qw);
float x, float y, float z, float qx, float qy, float qz, float qw, double stamp);
void postOdometryEventNative(const void *object,
float x, float y, float z, float qx, float qy, float qz, float qw,
float fx, float fy, float cx, float cy,

8
app/ios/RTABMapApp/RTABMap.swift
View File

@@ -216,18 +216,18 @@ class RTABMap {
setCameraNative(native_rtabmap, Int32(type))
}
func postCameraPoseEvent(pose: simd_float4x4) {
func postCameraPoseEvent(pose: simd_float4x4, stamp: TimeInterval) {
let rotation = GLKMatrix3(
m: (pose[0,0], pose[0,1], pose[0,2],
pose[1,0], pose[1,1], pose[1,2],
pose[2,0], pose[2,1], pose[2,2]))
let quat = GLKQuaternionMakeWithMatrix3(rotation)
postCameraPoseEventNative(native_rtabmap, pose[3,0], pose[3,1], pose[3,2], quat.x, quat.y, quat.z, quat.w)
postCameraPoseEventNative(native_rtabmap, pose[3,0], pose[3,1], pose[3,2], quat.x, quat.y, quat.z, quat.w, stamp)
}
func notifyLost() {
// a null transform will make rtabmap creating a new session
postCameraPoseEventNative(native_rtabmap, 0,0,0,0,0,0,0)
postCameraPoseEventNative(native_rtabmap, 0,0,0,0,0,0,0,0)
}
func postOdometryEvent(frame: ARFrame, orientation: UIInterfaceOrientation, viewport: CGSize) {
@@ -239,7 +239,7 @@ class RTABMap {
let quat = GLKQuaternionMakeWithMatrix3(rotation)
postCameraPoseEventNative(native_rtabmap, pose[3,0], pose[3,1], pose[3,2], quat.x, quat.y, quat.z, quat.w)
postCameraPoseEventNative(native_rtabmap, pose[3,0], pose[3,1], pose[3,2], quat.x, quat.y, quat.z, quat.w, frame.timestamp)
let confMap = frame.sceneDepth?.confidenceMap
let depthMap = frame.sceneDepth?.depthMap