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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
guilib/src/PreferencesDialog.cpp
+37
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@@ -243,6 +243,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
#ifndef RTABMAP_CUVSLAM
_ui->odom_strategy->setItemData(13, 0, Qt::UserRole - 1);
#endif
#ifndef RTABMAP_LIOSAM
_ui->odom_strategy->setItemData(14, 0, Qt::UserRole - 1);
#endif
#if CV_MAJOR_VERSION < 3
_ui->stereosgbm_mode->setItemData(2, 0, Qt::UserRole - 1);
@@ -1698,6 +1701,22 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
// Odometry CuVSLAM
_ui->odom_cuvslam_multicam_mode->setObjectName(Parameters::kOdomCuVSLAMMulticamMode().c_str());
// Odometry LIO-SAM
_ui->lineEdit_OdomLIOSAMPath->setObjectName(Parameters::kOdomLIOSAMConfigPath().c_str());
connect(_ui->toolButton_OdomLIOSAMPath, SIGNAL(clicked()), this, SLOT(changeOdometryLIOSAMConfigPath()));
_ui->odom_liosam_sensor->setObjectName(Parameters::kOdomLIOSAMSensor().c_str());
_ui->odom_liosam_nscan->setObjectName(Parameters::kOdomLIOSAMNScan().c_str());
_ui->odom_liosam_horizon_scan->setObjectName(Parameters::kOdomLIOSAMHorizonScan().c_str());
_ui->odom_liosam_imu_acc_noise->setObjectName(Parameters::kOdomLIOSAMImuAccNoise().c_str());
_ui->odom_liosam_imu_gyr_noise->setObjectName(Parameters::kOdomLIOSAMImuGyrNoise().c_str());
_ui->odom_liosam_imu_acc_bias_n->setObjectName(Parameters::kOdomLIOSAMImuAccBiasN().c_str());
_ui->odom_liosam_imu_gyr_bias_n->setObjectName(Parameters::kOdomLIOSAMImuGyrBiasN().c_str());
_ui->odom_liosam_imu_gravity->setObjectName(Parameters::kOdomLIOSAMImuGravity().c_str());
_ui->odom_liosam_edge_threshold->setObjectName(Parameters::kOdomLIOSAMEdgeThreshold().c_str());
_ui->odom_liosam_surf_threshold->setObjectName(Parameters::kOdomLIOSAMSurfThreshold().c_str());
_ui->odom_liosam_linvar->setObjectName(Parameters::kOdomLIOSAMLinVar().c_str());
_ui->odom_liosam_angvar->setObjectName(Parameters::kOdomLIOSAMAngVar().c_str());
//StereoDense
_ui->comboBox_stereoDense_strategy->setObjectName(Parameters::kStereoDenseStrategy().c_str());
connect(_ui->comboBox_stereoDense_strategy, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_stereoDense, SLOT(setCurrentIndex(int)));
@@ -5572,6 +5591,7 @@ void PreferencesDialog::updateOdometryStackedIndex(int index)
_ui->groupBox_odomOpenVINS->setVisible(index==10);
_ui->groupBox_odomOpen3D->setVisible(index==12);
_ui->groupBox_odomCuvslam->setVisible(index==13);
_ui->groupBox_odomLIOSAM->setVisible(index==14);
}
void PreferencesDialog::useOdomFeatures()
@@ -5677,6 +5697,23 @@ void PreferencesDialog::changeOdometryVINSFusionConfigPath()
}
}
void PreferencesDialog::changeOdometryLIOSAMConfigPath()
{
QString path;
if(_ui->lineEdit_OdomLIOSAMPath->text().isEmpty())
{
path = QFileDialog::getOpenFileName(this, tr("LIO-SAM Config"), this->getWorkingDirectory(), tr("LIO-SAM config (*.yaml)"));
}
else
{
path = QFileDialog::getOpenFileName(this, tr("LIO-SAM Config"), _ui->lineEdit_OdomLIOSAMPath->text(), tr("LIO-SAM config (*.yaml)"));
}
if(!path.isEmpty())
{
_ui->lineEdit_OdomLIOSAMPath->setText(path);
}
}
void PreferencesDialog::changeOdometryOpenVINSLeftMask()
{
QString path;