mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
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 <matlabbe@gmail.com>