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Add LIO-SAM as an odometry strategy (#1684)

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* Added liosam odometry integration

* Add kXYZIRT scan format with per-point ring channel for LIO-SAM integration

Introduce PointXYZIRT point type and kXYZIRT LaserScan format (x,y,z,
intensity,ring,time) so that ring indices survive the scan pipeline.
Update OdometryLIOSAM to require kXYZIRT and properly split ring/time
into the parallel buffers LIO-SAM expects. Extend deskewing to preserve
ring data and disable base-class deskew in OdometryLIOSAM since LIO-SAM
handles it internally.

* Address PR review: config file, deferred init, and GUI panel for LIO-SAM

- Add OdomLIOSAM/ConfigPath parameter to load LIO-SAM settings from a
  YAML file. When set, individual params are ignored. Extrinsics from
  sensor local transforms always override config file values.
- Defer LioSamCore initialization until both IMU and lidar local
  transforms are available, computing T_lidar_imu from sensor data.
  IMU samples are buffered and replayed after init.
- Fix deferred init for scan-only messages that arrive after IMU
  local transform is already cached.
- Add LIO-SAM entry to odometry strategy combo box (index 14) with
  full PreferencesDialog panel including config path browse button
  and all parameter widgets.

* OdometryLIOSAM: propagate deskewed scan to SensorData

Capture the deskewed cloud produced by LIO-SAM's image projection
stage and replace the raw scan on SensorData with it, so loop closure
registration and other downstream stages operate on the motion-
compensated points instead of the raw pre-deskew input.

* Minor updates for rtabmap_ros

---------

Co-authored-by: matlabbe <[email protected]>
This commit is contained in:
Abhijith
2026-04-12 18:06:44 -07:00
committed by GitHub
co-authored by matlabbe
parent 8fd701aabe
commit a9f63bd5fd
17 changed files with 1316 additions and 29 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/LaserScan.cpp
+11 -3
View File
@@ -68,6 +68,9 @@ std::string LaserScan::formatName(const Format & format)
case kXYZIT:
name = "XYZIT";
break;
case kXYZIRT:
name = "XYZIRT";
break;
default:
name = "Unknown";
break;
@@ -96,6 +99,7 @@ int LaserScan::channels(const Format & format)
break;
case kXYZNormal:
case kXYINormal:
case kXYZIRT:
channels = 6;
break;
case kXYZINormal:
@@ -123,11 +127,15 @@ bool LaserScan::isScanHasRGB(const Format & format)
}
bool LaserScan::isScanHasIntensity(const Format & format)
{
return format==kXYZI || format==kXYZINormal || format == kXYI || format == kXYINormal || format==kXYZIT;
return format==kXYZI || format==kXYZINormal || format == kXYI || format == kXYINormal || format==kXYZIT || format==kXYZIRT;
}
bool LaserScan::isScanHasTime(const Format & format)
{
return format==kXYZIT;
return format==kXYZIT || format==kXYZIRT;
}
bool LaserScan::isScanHasRing(const Format & format)
{
return format==kXYZIRT;
}
LaserScan LaserScan::backwardCompatibility(
@@ -404,7 +412,7 @@ void LaserScan::init(
UASSERT_MSG(data.channels() != 3 || (data.channels() == 3 && (format == kXYZ || format == kXYI)), uFormat("format=%s", LaserScan::formatName(format).c_str()).c_str());
UASSERT_MSG(data.channels() != 4 || (data.channels() == 4 && (format == kXYZI || format == kXYZRGB)), uFormat("format=%s", LaserScan::formatName(format).c_str()).c_str());
UASSERT_MSG(data.channels() != 5 || (data.channels() == 5 && (format == kXYNormal || format == kXYZIT)), uFormat("format=%s", LaserScan::formatName(format).c_str()).c_str());
UASSERT_MSG(data.channels() != 6 || (data.channels() == 6 && (format == kXYINormal || format == kXYZNormal)), uFormat("format=%s", LaserScan::formatName(format).c_str()).c_str());
UASSERT_MSG(data.channels() != 6 || (data.channels() == 6 && (format == kXYINormal || format == kXYZNormal || format == kXYZIRT)), uFormat("format=%s", LaserScan::formatName(format).c_str()).c_str());
UASSERT_MSG(data.channels() != 7 || (data.channels() == 7 && (format == kXYZRGBNormal || format == kXYZINormal)), uFormat("format=%s", LaserScan::formatName(format).c_str()).c_str());
}
}