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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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examples/RGBDMapping/main.cpp
+10 -8
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@@ -30,7 +30,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/RtabmapThread.h"
#include "rtabmap/core/CameraRGBD.h"
#include "rtabmap/core/CameraStereo.h"
#include "rtabmap/core/CameraThread.h"
#include "rtabmap/core/OdometryThread.h"
#include "rtabmap/core/Graph.h"
#include "rtabmap/utilite/UEventsManager.h"
@@ -39,6 +38,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/filters/filter.h>
#include <rtabmap/core/SensorCaptureThread.h>
#ifdef RTABMAP_PYTHON
#include "rtabmap/core/PythonInterface.h"
@@ -80,9 +80,9 @@ int main(int argc, char * argv[])
}
// Here is the pipeline that we will use:
// CameraOpenni -> "CameraEvent" -> OdometryThread -> "OdometryEvent" -> RtabmapThread -> "RtabmapEvent"
// CameraOpenni -> "SensorEvent" -> OdometryThread -> "OdometryEvent" -> RtabmapThread -> "RtabmapEvent"
// Create the OpenNI camera, it will send a CameraEvent at the rate specified.
// Create the OpenNI camera, it will send a SensorEvent at the rate specified.
// Set transform to camera so z is up, y is left and x going forward
Camera * camera = 0;
if(driver == 1)
@@ -185,7 +185,7 @@ int main(int argc, char * argv[])
UERROR("Camera init failed!");
}
CameraThread cameraThread(camera);
SensorCaptureThread cameraThread(camera);
// GUI stuff, there the handler will receive RtabmapEvent and construct the map
@@ -210,19 +210,21 @@ int main(int argc, char * argv[])
rtabmapThread.registerToEventsManager();
mapBuilder.registerToEventsManager();
// The RTAB-Map is subscribed by default to CameraEvent, but we want
// RTAB-Map to process OdometryEvent instead, ignoring the CameraEvent.
// The RTAB-Map is subscribed by default to SensorEvent, but we want
// RTAB-Map to process OdometryEvent instead, ignoring the SensorEvent.
// We can do that by creating a "pipe" between the camera and odometry, then
// only the odometry will receive CameraEvent from that camera. RTAB-Map is
// only the odometry will receive SensorEvent from that camera. RTAB-Map is
// also subscribed to OdometryEvent by default, so no need to create a pipe between
// odometry and RTAB-Map.
UEventsManager::createPipe(&cameraThread, &odomThread, "CameraEvent");
UEventsManager::createPipe(&cameraThread, &odomThread, "SensorEvent");
// Let's start the threads
rtabmapThread.start();
odomThread.start();
cameraThread.start();
printf("Press Space key to pause.\n");
mapBuilder.show();
app.exec(); // main loop