Added LOAM (loam_velodyne) odometry support

corelib/include/rtabmap/core/Odometry.h

@@ -50,7 +50,8 @@ public:
 		kTypeViso2 = 3,
 		kTypeDVO = 4,
 		kTypeORBSLAM2 = 5,
-		kTypeOkvis = 6
+		kTypeOkvis = 6,
+		kTypeLOAM = 7
 	};
 
 public:

corelib/include/rtabmap/core/OdometryLOAM.h

@@ -0,0 +1,74 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef ODOMETRYLOAM_H_
+#define ODOMETRYLOAM_H_
+
+#include <rtabmap/core/Odometry.h>
+
+#ifdef RTABMAP_LOAM
+#include <loam_velodyne/BasicScanRegistration.h>
+#include <loam_velodyne/BasicLaserOdometry.h>
+#include <loam_velodyne/BasicLaserMapping.h>
+#include <loam_velodyne/BasicTransformMaintenance.h>
+#include <loam_velodyne/MultiScanRegistration.h>
+#endif
+
+namespace rtabmap {
+
+class RTABMAP_EXP OdometryLOAM : public Odometry
+{
+public:
+	OdometryLOAM(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+	virtual ~OdometryLOAM();
+
+	virtual void reset(const Transform & initialPose = Transform::getIdentity());
+	virtual Odometry::Type getType() {return Odometry::kTypeLOAM;}
+
+private:
+	virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
+private:
+#ifdef RTABMAP_LOAM
+	std::vector<pcl::PointCloud<pcl::PointXYZI> > segmentScanRings(const pcl::PointCloud<pcl::PointXYZ> & laserCloudIn);
+
+	loam::BasicScanRegistration scanRegistration_;
+	loam::MultiScanMapper scanMapper_;
+	loam::BasicLaserOdometry * laserOdometry_;
+	loam::BasicLaserMapping * laserMapping_;
+	loam::BasicTransformMaintenance transformMaintenance_;
+	Transform lastPose_;
+	float scanPeriod_;
+	float linVar_;
+	float angVar_;
+	bool lost_;
+#endif
+};
+
+}
+
+#endif /* ODOMETRYLOAM_H_ */

corelib/include/rtabmap/core/Parameters.h

@@ -492,6 +492,12 @@ class RTABMAP_EXP Parameters
     // Odometry OKVIS
     RTABMAP_PARAM_STR(OdomOKVIS, ConfigPath,     "",  "Path of OKVIS config file.");
 
+    // Odometry LOAM
+    RTABMAP_PARAM(OdomLOAM, Sensor,     int,    2,    "Velodyne sensor: 0=VLP-16, 1=HDL-32, 2=HDL-64E");
+    RTABMAP_PARAM(OdomLOAM, ScanPeriod, float,  0.1,  "Scan period (s)");
+    RTABMAP_PARAM(OdomLOAM, LinVar,     float,  0.01,  "Linear output variance.");
+    RTABMAP_PARAM(OdomLOAM, AngVar,     float,  0.01,  "Angular output variance.");
+
     // Common registration parameters
     RTABMAP_PARAM(Reg, RepeatOnce,               bool, true,    "Do a second registration with the output of the first registration as guess. Only done if no guess was provided for the first registration (like on loop closure). It can be useful if the registration approach used can use a guess to get better matches.");
     RTABMAP_PARAM(Reg, Strategy,                 int, 0,        "0=Vis, 1=Icp, 2=VisIcp");