mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-09 03:27:45 +08:00
Abhijithandmatlabbe
a9f63bd5fd
* 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]>
111 lines
4.2 KiB
C
111 lines
4.2 KiB
C
/*
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Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL UNIVERTY DE SHERBROOKE BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef VERSION_H_
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#define VERSION_H_
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// This is auto-generated!
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#define RTABMAP_VERSION "@PROJECT_VERSION@"
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#define RTABMAP_VERSION_MAJOR @PROJECT_VERSION_MAJOR@
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#define RTABMAP_VERSION_MINOR @PROJECT_VERSION_MINOR@
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#define RTABMAP_VERSION_PATCH @PROJECT_VERSION_PATCH@
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#define RTABMAP_VERSION_COMPARE(major, minor, patch) (major>=@PROJECT_VERSION_MAJOR@ || (major==@PROJECT_VERSION_MAJOR@ && minor>=@PROJECT_VERSION_MINOR@) || (major==@PROJECT_VERSION_MAJOR@ && minor==@PROJECT_VERSION_MINOR@ && patch >=@PROJECT_VERSION_PATCH@))
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@NONFREE@#define RTABMAP_NONFREE
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@TORO@#define RTABMAP_TORO
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@G2O@#define RTABMAP_G2O
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@G2O_CPP_CONF@#define RTABMAP_G2O_CPP11 @G2O_CPP11@
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@G2O_WITH_SBA_UTILS_CONF@#define RTABMAP_G2O_WITH_SBA_UTILS
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@GTSAM@#define RTABMAP_GTSAM
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@CERES@#define RTABMAP_CERES
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@MRPT@#define RTABMAP_MRPT
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@VERTIGO@#define RTABMAP_VERTIGO
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@OPENNI@#define RTABMAP_OPENNI
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@OPENNI2@#define RTABMAP_OPENNI2
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@FREENECT@#define RTABMAP_FREENECT
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@FREENECT2@#define RTABMAP_FREENECT2
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@K4W2@#define RTABMAP_K4W2
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@K4A@#define RTABMAP_K4A
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@CVSBA@#define RTABMAP_CVSBA
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@POINTMATCHER@#define RTABMAP_POINTMATCHER
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@CCCORELIB@#define RTABMAP_CCCORELIB
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@OPEN3D@#define RTABMAP_OPEN3D
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@FASTCV@#define RTABMAP_FASTCV
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@OPENGV@#define RTABMAP_OPENGV
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@PDAL@#define RTABMAP_PDAL
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@LIBLAS@#define RTABMAP_LIBLAS
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@CUDASIFT@#define RTABMAP_CUDASIFT
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@LOAM@#define RTABMAP_LOAM
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@FLOAM@#define RTABMAP_FLOAM
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@LIOSAM@#define RTABMAP_LIOSAM
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@DC1394@#define RTABMAP_DC1394
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@FLYCAPTURE2@#define RTABMAP_FLYCAPTURE2
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@ZED@#define RTABMAP_ZED
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@ZEDOC@#define RTABMAP_ZEDOC
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@REALSENSE@#define RTABMAP_REALSENSE
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@REALSENSESLAM@#define RTABMAP_REALSENSE_SLAM
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@REALSENSE2@#define RTABMAP_REALSENSE2
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@MYNTEYE@#define RTABMAP_MYNTEYE
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@DEPTHAI@#define RTABMAP_DEPTHAI
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@XVSDK@#define RTABMAP_XVSDK
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@ORBBEC_SDK@#define RTABMAP_ORBBEC_SDK
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@OCTOMAP@#define RTABMAP_OCTOMAP
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@GRIDMAP@#define RTABMAP_GRIDMAP
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@CPUTSDF@#define RTABMAP_CPUTSDF
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@ALICE_VISION@#define RTABMAP_ALICE_VISION
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@OPENCHISEL@#define RTABMAP_OPENCHISEL
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@FOVIS@#define RTABMAP_FOVIS
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@VISO2@#define RTABMAP_VISO2
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@DVO@#define RTABMAP_DVO
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@OKVIS@#define RTABMAP_OKVIS
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@MSCKF_VIO@#define RTABMAP_MSCKF_VIO
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@VINSFUSION@#define RTABMAP_VINS_FUSION
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@OPENVINS@#define RTABMAP_OPENVINS
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@CUVSLAM@#define RTABMAP_CUVSLAM
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@ORB_SLAM@#define RTABMAP_ORB_SLAM @ORB_SLAM_VERSION@
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@ORB_OCTREE@#define RTABMAP_ORB_OCTREE
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@TORCH@#define RTABMAP_TORCH
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@PYTHON@#define RTABMAP_PYTHON
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@MADGWICK@#define RTABMAP_MADGWICK
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#include <pcl/pcl_config.h>
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#if PCL_VERSION_COMPARE(>, 1, 11, 1)
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#include <pcl/types.h>
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#define RTABMAP_PCL_INDEX pcl::index_t
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#elif PCL_VERSION_COMPARE(>=, 1, 10, 0)
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#define RTABMAP_PCL_INDEX std::uint32_t
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#else
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#include <pcl/pcl_macros.h>
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#define RTABMAP_PCL_INDEX pcl::uint32_t
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#endif
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#endif /* VERSION_H_ */
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