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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/util3d_mapping.cpp
-4
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@@ -655,7 +655,6 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
map = cv::Mat::ones((yMax - yMin) / cellSize, (xMax - xMin) / cellSize, CV_8S)*-1;
UDEBUG("map size = %dx%d", map.cols, map.rows);
int j=0;
float scanMaxRangeSqr = scanMaxRange * scanMaxRange;
for(std::map<int, std::pair<cv::Mat, cv::Mat> >::iterator iter = localScans.begin(); iter!=localScans.end(); ++iter)
{
@@ -741,14 +740,12 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
}
}
}
++j;
}
UDEBUG("Ray trace known space=%fs", timer.ticks());
// now fill unknown spaces
if(unknownSpaceFilled && scanMaxRange > 0)
{
j=0;
float angleIncrement = CV_PI/90.0f; // angle increment
for(std::map<int, std::pair<cv::Mat, cv::Mat> >::iterator iter = localScans.begin(); iter!=localScans.end(); ++iter)
{
@@ -813,7 +810,6 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
}
}
}
++j;
}
UDEBUG("Fill empty space=%fs", timer.ticks());
//cv::imwrite("map.png", util3d::convertMap2Image8U(map));