fix(pl): Fix LIO-SAM segfaults (#76)

* Clean up lio-sam implementation

* Pin more versions

Author: contagon

.gitignore

@@ -31,5 +31,8 @@ compile_commands.json
 # cloned pipelines
 cpp/bindings/pipelines-src
 
-# beads
+# Beads / Dolt files (added by bd init)
 .beads/
+.dolt/
+*.db
+.beads-credential-key

cpp/bindings/pipelines/lio_sam.h

@@ -119,7 +119,7 @@ class LioSam: public ev::Pipeline {
 
   // Getters
   const std::map<std::string, std::vector<ev::Point>> map() override {
-    return ev::make_map("map", *lio_sam_->getMap());
+    return ev::make_map("features", *lio_sam_->getMap());
   }
 
   // Setters
@@ -150,38 +150,25 @@ class LioSam: public ev::Pipeline {
   }
 
   void add_imu(ev::ImuMeasurement mm) override {
-    std::cout << "EV: Adding IMU measurement at time " << mm.stamp.to_sec()
-              << std::endl;
     lio_sam_->addImuMeasurement(ev::convert<lio_sam::Imu>(mm));
-    std::cout << "EV: Finished adding IMU measurement at time "
-              << mm.stamp.to_sec() << std::endl;
   }
 
   void add_lidar(ev::LidarMeasurement mm) override {
-    std::cout << "EV: Adding lidar measurement at time " << mm.stamp.to_sec()
-              << std::endl;
     // Set everything up
     auto cloud =
       ev::convert_iter<pcl::PointCloud<lio_sam::PointXYZIRT>>(mm.points)
         // NOTE: This likely causes a copy, see if we can avoid that later
         .makeShared();
 
     // Run through pipeline
-    std::cout << "EV: Adding lidar measurement" << std::endl;
     lio_sam_->addLidarMeasurement(mm.stamp.to_sec(), cloud);
-    std::cout << "EV: Finished adding lidar measurement" << std::endl;
 
     // Save pose
-    // std::cout << "EV: Getting pose from LIO-SAM" << std::endl;
-    // const auto pose = ev::convert<ev::SE3>(lio_sam_->getPose()) * lidar_T_imu_;
-    // std::cout << "EV: Pose: " << pose.to_string() << std::endl;
-    // this->save(mm.stamp, pose);
-    // std::cout << "EV: Pose saved" << std::endl;
+    const auto pose = ev::convert<ev::SE3>(lio_sam_->getPose()) * lidar_T_imu_;
+    this->save(mm.stamp, pose);
 
     // Save features
-    // std::cout << "EV: Getting most recent frame from LIO-SAM" << std::endl;
-    // this->save(mm.stamp, "features", *lio_sam_->getMostRecentFrame());
-    // std::cout << "EV: Most recent frame saved" << std::endl;
+    this->save(mm.stamp, "features", *lio_sam_->getMostRecentFrame());
   }
 
 private:

cpp/setup_pipelines.sh

@@ -22,7 +22,7 @@ if [ ! -d "LIO-SAM" ]; then
 fi
 cd LIO-SAM
 git stash
-git checkout master
+git checkout d35ce0606b6326377b631ae9cedd73c74066eacc
 cd ..
 
 # LOAM
@@ -31,7 +31,7 @@ if [ ! -d "loam" ]; then
 fi
 cd loam
 git stash
-git checkout main
+git checkout 48fc3a8c05ec3ea19c57f9565f453292c36b9bdf
 git apply ../../pipelines/loam.patch
 cd ..
 
@@ -69,15 +69,15 @@ if [ ! -d "direct_lidar_inertial_odometry" ]; then
 fi
 cd direct_lidar_inertial_odometry
 git stash
-git checkout master
+git checkout 5cda5f359a70174a98001256ffd7234cbfeccf38
 cd ..
 
 if [ ! -d "form" ]; then
     git clone https://github.com/rpl-cmu/form.git
 fi
 cd form
 git stash
-git switch --detach main
+git switch --detach v0.1.1
 git apply ../../pipelines/form.patch
 cd ..