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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
Download Patch File Download Diff File Expand all files Collapse all files
guilib/src/CameraViewer.cpp
+11 -4
View File
@@ -25,9 +25,9 @@ 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/gui/CameraViewer.h"
#include <rtabmap/core/CameraEvent.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/util2d.h>
#include <rtabmap/core/util3d_filtering.h>
@@ -58,6 +58,7 @@ CameraViewer::CameraViewer(QWidget * parent, const ParametersMap & parameters) :
imageView_->setImageDepthShown(true);
imageView_->setMinimumSize(320, 240);
imageView_->setVisible(false);
QHBoxLayout * layout = new QHBoxLayout();
layout->setContentsMargins(0,0,0,0);
layout->addWidget(imageView_,1);
@@ -108,10 +109,16 @@ CameraViewer::~CameraViewer()
this->unregisterFromEventsManager();
}
void CameraViewer::setDecimation(int value)
{
decimationSpin_->setValue(value);
}
void CameraViewer::showImage(const rtabmap::SensorData & data)
{
processingImages_ = true;
QString sizes;
imageView_->setVisible(!data.imageRaw().empty() || !data.imageRaw().empty());
if(!data.imageRaw().empty())
{
imageView_->setImage(uCvMat2QImage(data.imageRaw()));
@@ -199,10 +206,10 @@ bool CameraViewer::handleEvent(UEvent * event)
{
if(!pause_->isChecked())
{
if(event->getClassName().compare("CameraEvent") == 0)
if(event->getClassName().compare("SensorEvent") == 0)
{
CameraEvent * camEvent = (CameraEvent*)event;
if(camEvent->getCode() == CameraEvent::kCodeData)
SensorEvent * camEvent = (SensorEvent*)event;
if(camEvent->getCode() == SensorEvent::kCodeData)
{
if(camEvent->data().isValid())
{