i/rtabmap

mirror of https://github.com/introlab/rtabmap.git synced 2026-09-12 14:30:19 +08:00

T

Abhijithandmatlabbe a9f63bd5fd 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

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Co-authored-by: matlabbe <matlabbe@gmail.com>

2026-04-12 18:06:44 -07:00