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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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corelib/src/RtabmapThread.cpp
+5 -5
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@@ -25,11 +25,11 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <rtabmap/core/SensorEvent.h>
#include "rtabmap/core/Rtabmap.h"
#include "rtabmap/core/RtabmapThread.h"
#include "rtabmap/core/RtabmapEvent.h"
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/CameraEvent.h"
#include "rtabmap/core/ParamEvent.h"
#include "rtabmap/core/OdometryEvent.h"
#include "rtabmap/core/UserDataEvent.h"
@@ -371,11 +371,11 @@ bool RtabmapThread::handleEvent(UEvent* event)
// IMU events are published at high frequency, early exit
return false;
}
else if(event->getClassName().compare("CameraEvent") == 0)
else if(event->getClassName().compare("SensorEvent") == 0)
{
UDEBUG("CameraEvent");
CameraEvent * e = (CameraEvent*)event;
if(e->getCode() == CameraEvent::kCodeData)
UDEBUG("SensorEvent");
SensorEvent * e = (SensorEvent*)event;
if(e->getCode() == SensorEvent::kCodeData)
{
if (_rtabmap->isRGBDMode())
{