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LiDAR capture support in standalone library #1264

Merged
merged 18 commits into from
Apr 15, 2024
Merged

LiDAR capture support in standalone library #1264

merged 18 commits into from
Apr 15, 2024

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matlabbe
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@matlabbe matlabbe commented Apr 14, 2024 •
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Refactoring:

  • CameraThread -> SensorCaptureThread
  • CameraEvent -> SensorEvent
  • Camerainfo -> SensorCaptureInfo
  • Refactored CameraMobile to include all similar code between mobile camera classes
  • Add Lidar and LidarVLP16 classes

Standalone:

  • can now start mapping with only lidar (include deskewing), only VLP16 supported yet
  • can start lidar + visual odometry sensor and/or camera (deskewing with camera's IMU or VO sensor pose)
  • Preferences: Added embedded presets for ICP-based mapping (lidar or RGB-D sensors)

New Parameters:

  • Odom/Deskewing (default true)
  • Icp/FiltersEnabled

@matlabbe
Working rtabmap_lidar-mapping example (live and pcap)
90c18bb
@matlabbe
merged master->branch
cdd7039
@matlabbe
finalizing merge, added some deprecated
a137cb8
@matlabbe
fixed build
b1ef2ea
@matlabbe
Working deskewing for Lidar + Camera/IMU (no camera pose correction y…
7ee81eb 
…et) and Lidar + Odom Sensor in main UI.
@matlabbe
backward compatibility
8e950a2
@matlabbe
fixed some not used variable warnings, fixed qt build for lidar mappi…
0ebe354 
…ng example
@matlabbe
Refactored CameraMobile, added AREngine background support, fixed Lid…
01f4013 
…arVPL16 build error with PCL 1.8
@matlabbe
ARCoreJava: buffer last depth image in case its stamp i higher than p…
2c7860a 
…ose stamp. CameraMobile: added pose buffer. SensorCaptureThread: to get pose, odomSensor should be explicitly set, but can be same as lidar or camera inputs.
@matlabbe
Working external lidar on iOS
15529b1
@matlabbe
util3d::commonFiltering()/adjustNormalsToViewPoint() added organized …
c9df0e8 
…cloud support. MainWindow: updated odomSensor setup
@matlabbe
merged master->PR
36360ad
@matlabbe
fixed winsock include order
1cea843
@matlabbe
reverted camera tool
3d9f0c1
@matlabbe
disable imu filtering when odom sensor is used
830dd8e
@matlabbe
Updated package version
f02dcff
@matlabbe matlabbe marked this pull request as ready for review April 14, 2024 23:30
@matlabbe matlabbe merged commit 700704b into master Apr 15, 2024
6 checks passed
@matlabbe matlabbe deleted the lidar_standalone branch April 15, 2024 02:06
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@matlabbe