LiDAR capture support in standalone library (#1264)

* 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

guilib/include/rtabmap/gui/CameraViewer.h

@@ -53,6 +53,7 @@ public:
 		QWidget * parent = 0,
 		const ParametersMap & parameters = ParametersMap());
 	virtual ~CameraViewer();
+	void setDecimation(int value);
 
 public Q_SLOTS:
 	void showImage(const rtabmap::SensorData & data);

guilib/include/rtabmap/gui/MainWindow.h

@@ -37,7 +37,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/RtabmapEvent.h"
 #include "rtabmap/core/SensorData.h"
 #include "rtabmap/core/OdometryEvent.h"
-#include "rtabmap/core/CameraInfo.h"
 #include "rtabmap/core/Optimizer.h"
 #include "rtabmap/core/GlobalMap.h"
 #include "rtabmap/gui/PreferencesDialog.h"
@@ -47,9 +46,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <pcl/PolygonMesh.h>
 #include <pcl/pcl_base.h>
 #include <pcl/TextureMesh.h>
+#include <rtabmap/core/SensorCaptureInfo.h>
 
 namespace rtabmap {
-class CameraThread;
+class SensorCaptureThread;
 class OdometryThread;
 class IMUThread;
 class CloudViewer;
@@ -192,6 +192,7 @@ protected Q_SLOTS:
 	void selectDepthAIOAKD();
 	void selectDepthAIOAKDLite();
 	void selectDepthAIOAKDPro();
+	void selectVLP16();
 	void dumpTheMemory();
 	void dumpThePrediction();
 	void sendGoal();
@@ -206,7 +207,7 @@ protected Q_SLOTS:
 	void selectScreenCaptureFormat(bool checked);
 	void takeScreenshot();
 	void updateElapsedTime();
-	void processCameraInfo(const rtabmap::CameraInfo & info);
+	void processCameraInfo(const rtabmap::SensorCaptureInfo & info);
 	void processOdometry(const rtabmap::OdometryEvent & odom, bool dataIgnored);
 	void applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags);
 	void applyPrefSettings(const rtabmap::ParametersMap & parameters);
@@ -241,7 +242,7 @@ protected Q_SLOTS:
 Q_SIGNALS:
 	void statsReceived(const rtabmap::Statistics &);
 	void statsProcessed();
-	void cameraInfoReceived(const rtabmap::CameraInfo &);
+	void cameraInfoReceived(const rtabmap::SensorCaptureInfo &);
 	void cameraInfoProcessed();
 	void odometryReceived(const rtabmap::OdometryEvent &, bool);
 	void odometryProcessed();
@@ -316,11 +317,6 @@ protected:
 	const QString & newDatabasePathOutput() const { return _newDatabasePathOutput; }
 
 	virtual ParametersMap getCustomParameters() {return ParametersMap();}
-	virtual Camera * createCamera(
-			Camera ** odomSensor,
-			Transform & odomSensorExtrinsics,
-			double & odomSensorTimeOffset,
-			float & odomSensorScaleFactor);
 
 	void postProcessing(
 			bool refineNeighborLinks,
@@ -344,7 +340,7 @@ private:
 	Ui_mainWindow * _ui;
 
 	State _state;
-	rtabmap::CameraThread * _camera;
+	rtabmap::SensorCaptureThread * _sensorCapture;
 	rtabmap::OdometryThread * _odomThread;
 	rtabmap::IMUThread * _imuThread;
 

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -60,6 +60,8 @@ namespace rtabmap {
 class Signature;
 class LoopClosureViewer;
 class Camera;
+class SensorCapture;
+class Lidar;
 class CalibrationDialog;
 class CreateSimpleCalibrationDialog;
 
@@ -77,7 +79,7 @@ public:
 		kPanelAll = 15
 	};
 	// TODO, tried to change the name of PANEL_FLAGS to PanelFlags... but signals/slots errors appeared...
-	Q_DECLARE_FLAGS(PANEL_FLAGS, PanelFlag)
+	Q_DECLARE_FLAGS(PANEL_FLAGS, PanelFlag);
 
 	enum Src {
 		kSrcUndef = -1,
@@ -113,7 +115,10 @@ public:
 		kSrcImages         = 201,
 		kSrcVideo          = 202,
 
-		kSrcDatabase       = 300
+		kSrcDatabase       = 300,
+
+		kSrcLidar           = 400,
+		kSrcLidarVLP16      = 400,
 	};
 
 public:
@@ -253,6 +258,7 @@ public:
 	PreferencesDialog::Src getSourceDriver() const;
 	QString getSourceDriverStr() const;
 	QString getSourceDevice() const;
+	PreferencesDialog::Src getLidarSourceDriver() const;
 	PreferencesDialog::Src getOdomSourceDriver() const;
 
 	bool isSourceDatabaseStampsUsed() const;
@@ -271,6 +277,7 @@ public:
 	bool isSourceStereoDepthGenerated() const;
 	bool isSourceStereoExposureCompensation() const;
 	bool isSourceScanFromDepth() const;
+	bool isSourceScanDeskewing() const;
 	int getSourceScanDownsampleStep() const;
 	double getSourceScanRangeMin() const;
 	double getSourceScanRangeMax() const;
@@ -284,7 +291,8 @@ public:
 	QString getIMUPath() const;
 	int getIMURate() const;
 	Camera * createCamera(bool useRawImages = false, bool useColor = true); // return camera should be deleted if not null
-	Camera * createOdomSensor(Transform & extrinsics, double & timeOffset, float & scaleFactor); // return camera should be deleted if not null
+	SensorCapture * createOdomSensor(Transform & extrinsics, double & timeOffset, float & scaleFactor, double & waitTime); // return odom sensor should be deleted if not null
+	Lidar * createLidar(); // return lidar should be deleted if not null
 
 	int getIgnoredDCComponents() const;
 
@@ -324,6 +332,7 @@ public Q_SLOTS:
 	void calibrate();
 	void calibrateSimple();
 	void calibrateOdomSensorExtrinsics();
+	void testLidar();
 
 private Q_SLOTS:
 	void closeDialog ( QAbstractButton * button );
@@ -332,6 +341,7 @@ private Q_SLOTS:
 	void loadConfigFrom();
 	bool saveConfigTo();
 	void resetConfig();
+	void loadPreset();
 	void makeObsoleteGeneralPanel();
 	void makeObsoleteCloudRenderingPanel();
 	void makeObsoleteLoggingPanel();
@@ -389,6 +399,7 @@ private Q_SLOTS:
 	void selectSourceSvoPath();
 	void selectSourceRealsense2JsonPath();
 	void selectSourceDepthaiBlobPath();
+	void selectVlp16PcapPath();
 	void updateSourceGrpVisibility();
 	void testOdometry();
 	void testCamera();
@@ -417,6 +428,7 @@ private:
 	void setupKpRoiPanel();
 	bool parseModel(QList<QGroupBox*> & boxes, QStandardItem * parentItem, int currentLevel, int & absoluteIndex);
 	void resetSettings(QGroupBox * groupBox);
+	void loadPreset(const std::string & presetHexHeader);
 	void addParameter(const QObject * object, int value);
 	void addParameter(const QObject * object, bool value);
 	void addParameter(const QObject * object, double value);