mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-04 09:07:47 +08:00
Add LIO-SAM as an odometry strategy (#1684)
* 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
@@ -243,6 +243,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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#ifndef RTABMAP_CUVSLAM
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_ui->odom_strategy->setItemData(13, 0, Qt::UserRole - 1);
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#endif
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#ifndef RTABMAP_LIOSAM
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_ui->odom_strategy->setItemData(14, 0, Qt::UserRole - 1);
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#endif
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#if CV_MAJOR_VERSION < 3
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_ui->stereosgbm_mode->setItemData(2, 0, Qt::UserRole - 1);
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@@ -1698,6 +1701,22 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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// Odometry CuVSLAM
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_ui->odom_cuvslam_multicam_mode->setObjectName(Parameters::kOdomCuVSLAMMulticamMode().c_str());
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// Odometry LIO-SAM
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_ui->lineEdit_OdomLIOSAMPath->setObjectName(Parameters::kOdomLIOSAMConfigPath().c_str());
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connect(_ui->toolButton_OdomLIOSAMPath, SIGNAL(clicked()), this, SLOT(changeOdometryLIOSAMConfigPath()));
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_ui->odom_liosam_sensor->setObjectName(Parameters::kOdomLIOSAMSensor().c_str());
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_ui->odom_liosam_nscan->setObjectName(Parameters::kOdomLIOSAMNScan().c_str());
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_ui->odom_liosam_horizon_scan->setObjectName(Parameters::kOdomLIOSAMHorizonScan().c_str());
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_ui->odom_liosam_imu_acc_noise->setObjectName(Parameters::kOdomLIOSAMImuAccNoise().c_str());
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_ui->odom_liosam_imu_gyr_noise->setObjectName(Parameters::kOdomLIOSAMImuGyrNoise().c_str());
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_ui->odom_liosam_imu_acc_bias_n->setObjectName(Parameters::kOdomLIOSAMImuAccBiasN().c_str());
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_ui->odom_liosam_imu_gyr_bias_n->setObjectName(Parameters::kOdomLIOSAMImuGyrBiasN().c_str());
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_ui->odom_liosam_imu_gravity->setObjectName(Parameters::kOdomLIOSAMImuGravity().c_str());
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_ui->odom_liosam_edge_threshold->setObjectName(Parameters::kOdomLIOSAMEdgeThreshold().c_str());
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_ui->odom_liosam_surf_threshold->setObjectName(Parameters::kOdomLIOSAMSurfThreshold().c_str());
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_ui->odom_liosam_linvar->setObjectName(Parameters::kOdomLIOSAMLinVar().c_str());
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_ui->odom_liosam_angvar->setObjectName(Parameters::kOdomLIOSAMAngVar().c_str());
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//StereoDense
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_ui->comboBox_stereoDense_strategy->setObjectName(Parameters::kStereoDenseStrategy().c_str());
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connect(_ui->comboBox_stereoDense_strategy, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_stereoDense, SLOT(setCurrentIndex(int)));
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@@ -5572,6 +5591,7 @@ void PreferencesDialog::updateOdometryStackedIndex(int index)
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_ui->groupBox_odomOpenVINS->setVisible(index==10);
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_ui->groupBox_odomOpen3D->setVisible(index==12);
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_ui->groupBox_odomCuvslam->setVisible(index==13);
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_ui->groupBox_odomLIOSAM->setVisible(index==14);
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}
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void PreferencesDialog::useOdomFeatures()
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@@ -5677,6 +5697,23 @@ void PreferencesDialog::changeOdometryVINSFusionConfigPath()
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}
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}
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void PreferencesDialog::changeOdometryLIOSAMConfigPath()
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{
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QString path;
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if(_ui->lineEdit_OdomLIOSAMPath->text().isEmpty())
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{
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path = QFileDialog::getOpenFileName(this, tr("LIO-SAM Config"), this->getWorkingDirectory(), tr("LIO-SAM config (*.yaml)"));
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}
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else
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{
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path = QFileDialog::getOpenFileName(this, tr("LIO-SAM Config"), _ui->lineEdit_OdomLIOSAMPath->text(), tr("LIO-SAM config (*.yaml)"));
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}
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if(!path.isEmpty())
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{
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_ui->lineEdit_OdomLIOSAMPath->setText(path);
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}
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}
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void PreferencesDialog::changeOdometryOpenVINSLeftMask()
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{
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QString path;
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@@ -16137,6 +16137,11 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<string>CuVSLAM</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>LIO-SAM</string>
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</property>
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</item>
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</widget>
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</item>
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<item row="3" column="1">
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@@ -21847,6 +21852,458 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</item>
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</layout>
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</widget>
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<widget class="QWidget" name="page_103">
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<layout class="QVBoxLayout" name="verticalLayout_187">
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<item>
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<widget class="QGroupBox" name="groupBox_odomLIOSAM">
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<property name="title">
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<string>LIO-SAM</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_188" stretch="0,0">
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<item>
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<widget class="QLabel" name="label_odom_liosam_info">
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<property name="text">
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<string><html><head/><body><p>LIO-SAM: <a href="https://github.com/TixiaoShan/LIO-SAM"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/TixiaoShan/LIO-SAM</span></a></p><p>Tightly-coupled lidar-inertial odometry via smoothing and mapping. Requires 3D lidar with per-point ring and time fields (kXYZIRT scan format) and an IMU.</p><p>If a config file path is provided, the parameters below are ignored and read from the file instead.</p></body></html></string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="openExternalLinks">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item>
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<layout class="QGridLayout" name="gridLayout_liosam" columnstretch="0,1">
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<item row="0" column="0">
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<layout class="QHBoxLayout" name="horizontalLayout_liosam_config">
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<item>
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<widget class="QLineEdit" name="lineEdit_OdomLIOSAMPath">
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<property name="placeholderText">
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<string>Optional: path to LIO-SAM config YAML</string>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QToolButton" name="toolButton_OdomLIOSAMPath">
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<property name="text">
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<string>...</string>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_odom_liosam_config">
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<property name="text">
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<string>Config file path (overrides parameters below).</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QComboBox" name="odom_liosam_sensor">
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<property name="sizeAdjustPolicy">
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<enum>QComboBox::AdjustToContents</enum>
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</property>
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<item>
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<property name="text">
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<string>Velodyne</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Ouster</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Livox</string>
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</property>
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</item>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_odom_liosam_sensor">
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<property name="text">
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<string>LiDAR sensor type.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QSpinBox" name="odom_liosam_nscan">
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<property name="minimum">
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<number>1</number>
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</property>
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<property name="maximum">
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<number>256</number>
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</property>
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<property name="value">
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<number>16</number>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_odom_liosam_nscan">
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<property name="text">
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<string>Number of LiDAR channels (16, 32, 64, 128).</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QSpinBox" name="odom_liosam_horizon_scan">
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<property name="minimum">
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<number>1</number>
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</property>
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<property name="maximum">
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<number>10000</number>
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</property>
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<property name="value">
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<number>1800</number>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_odom_liosam_horizon_scan">
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<property name="text">
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<string>Horizontal resolution (Velodyne:1800, Ouster:512/1024/2048).</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="4" column="0">
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<widget class="QDoubleSpinBox" name="odom_liosam_imu_acc_noise">
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="minimum">
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<double>0.000001000000000</double>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.001000000000000</double>
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</property>
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<property name="value">
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<double>0.010000000000000</double>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_odom_liosam_imu_acc_noise">
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<property name="text">
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<string>IMU accelerometer white noise.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="5" column="0">
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<widget class="QDoubleSpinBox" name="odom_liosam_imu_gyr_noise">
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="minimum">
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<double>0.000001000000000</double>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.000100000000000</double>
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</property>
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<property name="value">
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<double>0.001000000000000</double>
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</property>
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</widget>
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</item>
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<item row="5" column="1">
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<widget class="QLabel" name="label_odom_liosam_imu_gyr_noise">
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<property name="text">
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<string>IMU gyroscope white noise.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="6" column="0">
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<widget class="QDoubleSpinBox" name="odom_liosam_imu_acc_bias_n">
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="minimum">
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<double>0.000001000000000</double>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.000100000000000</double>
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</property>
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<property name="value">
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<double>0.000200000000000</double>
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</property>
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</widget>
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</item>
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<item row="6" column="1">
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<widget class="QLabel" name="label_odom_liosam_imu_acc_bias_n">
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<property name="text">
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<string>IMU accelerometer bias noise.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="7" column="0">
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<widget class="QDoubleSpinBox" name="odom_liosam_imu_gyr_bias_n">
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="minimum">
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<double>0.000001000000000</double>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.000010000000000</double>
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</property>
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<property name="value">
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<double>0.000030000000000</double>
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</property>
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</widget>
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</item>
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<item row="7" column="1">
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<widget class="QLabel" name="label_odom_liosam_imu_gyr_bias_n">
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<property name="text">
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<string>IMU gyroscope bias noise.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="8" column="0">
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<widget class="QDoubleSpinBox" name="odom_liosam_imu_gravity">
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<property name="decimals">
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||||
<number>5</number>
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</property>
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||||
<property name="minimum">
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<double>0.000000000000000</double>
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</property>
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<property name="maximum">
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||||
<double>20.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
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||||
<property name="value">
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<double>9.805110000000000</double>
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||||
</property>
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</widget>
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</item>
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<item row="8" column="1">
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<widget class="QLabel" name="label_odom_liosam_imu_gravity">
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<property name="text">
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<string>Gravity magnitude.</string>
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||||
</property>
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||||
<property name="wordWrap">
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||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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||||
</property>
|
||||
</widget>
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||||
</item>
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||||
<item row="9" column="0">
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||||
<widget class="QDoubleSpinBox" name="odom_liosam_edge_threshold">
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||||
<property name="decimals">
|
||||
<number>4</number>
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||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>100.000000000000000</double>
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||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="1">
|
||||
<widget class="QLabel" name="label_odom_liosam_edge_threshold">
|
||||
<property name="text">
|
||||
<string>Edge feature curvature threshold.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_liosam_surf_threshold">
|
||||
<property name="decimals">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>100.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<widget class="QLabel" name="label_odom_liosam_surf_threshold">
|
||||
<property name="text">
|
||||
<string>Surface feature curvature threshold.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_liosam_linvar">
|
||||
<property name="decimals">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="1">
|
||||
<widget class="QLabel" name="label_odom_liosam_linvar">
|
||||
<property name="text">
|
||||
<string>Linear output variance.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_liosam_angvar">
|
||||
<property name="decimals">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="1">
|
||||
<widget class="QLabel" name="label_odom_liosam_angvar">
|
||||
<property name="text">
|
||||
<string>Angular output variance.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_93">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="page_26">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_88">
|
||||
<item>
|
||||
|
||||
Reference in New Issue
Block a user