LiDAR capture support in standalone library - Githubissues

introlab / rtabmap

RTAB-Map library and standalone application

https://introlab.github.io/rtabmap

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LiDAR capture support in standalone library #1264

Closed matlabbe closed 2 months ago

matlabbe commented 2 months ago

Refactoring:

CameraThread -> SensorCaptureThread
CameraEvent -> SensorEvent
Camerainfo -> SensorCaptureInfo
Refactored CameraMobile to include all similar code between mobile camera classes
Add Lidar and LidarVLP16 classes

Standalone:

can now start mapping with only lidar (include deskewing), only VLP16 supported yet
can start lidar + visual odometry sensor and/or camera (deskewing with camera's IMU or VO sensor pose)
Preferences: Added embedded presets for ICP-based mapping (lidar or RGB-D sensors)

New Parameters:

Odom/Deskewing (default true)
Icp/FiltersEnabled