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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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13
corelib/src/odometry/OdometryF2M.cpp
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@@ -156,11 +156,14 @@ OdometryF2M::OdometryF2M(const ParametersMap & parameters) :
regPipeline_ = Registration::create(bundleParameters);
if(bundleAdjustment_>0 && regPipeline_->isScanRequired())
{
UWARN("%s=%d cannot be used with registration not done only with images (%s=%s), disabling bundle adjustment.",
Parameters::kOdomF2MBundleAdjustment().c_str(),
bundleAdjustment_,
Parameters::kRegStrategy().c_str(),
uValue(bundleParameters, Parameters::kRegStrategy(), uNumber2Str(Parameters::defaultRegStrategy())).c_str());
if(regPipeline_->isImageRequired())
{
UWARN("%s=%d cannot be used with registration not done only with images (%s=%s), disabling bundle adjustment.",
Parameters::kOdomF2MBundleAdjustment().c_str(),
bundleAdjustment_,
Parameters::kRegStrategy().c_str(),
uValue(bundleParameters, Parameters::kRegStrategy(), uNumber2Str(Parameters::defaultRegStrategy())).c_str());
}
bundleAdjustment_ = 0;
}