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Refactored RegistrationIcp: libpointmatcher yaml config usage / integrated CCCoreLib (#704)

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* Refactored RegistrationIcp so that libpointmatcher yaml can work with icp odometry (we can then avoid refiltering data with local map of F2M). All data filtering (including libpointmatcher DataFilters) are done at the beginning of the function.

* ICP: Restored ref and data scans order for libpointmatcher (seems more stable this way).

* Fixed compilation error without libpointmatcher

* CCCoreLib integration (Icp/Strategy=2). Icp/PMForce4DoF is now Icp/Force4DoF. Icp/PM is now Icp/Strategy. Icp/PMOutlierRatio is now Icp/OutlierRatio.

* Fixed build without CCCoreLib

* Cleanup RegistrationIcp from third party functions.

* Preferences: disable libpointmatcher and cccorlib options if not available
This commit is contained in:
matlabbe
2021-03-27 15:11:20 -04:00
committed by GitHub
parent c4d127cae4
commit 06e85e140c
18 changed files with 3153 additions and 2686 deletions
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18
corelib/include/rtabmap/core/Parameters.h
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@@ -637,6 +637,11 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(GMS, ThresholdFactor, double, 6.0, "The higher, the less matches.");
// ICP registration parameters
#ifdef RTABMAP_POINTMATCHER
RTABMAP_PARAM(Icp, Strategy, int, 1, "ICP implementation: 0=Point Cloud Library, 1=libpointmatcher, 2=CCCoreLib (CloudCompare).");
#else
RTABMAP_PARAM(Icp, Strategy, int, 0, "ICP implementation: 0=Point Cloud Library, 1=libpointmatcher, 2=CCCoreLib (CloudCompare).");
#endif
RTABMAP_PARAM(Icp, MaxTranslation, float, 0.2, "Maximum ICP translation correction accepted (m).");
RTABMAP_PARAM(Icp, MaxRotation, float, 0.78, "Maximum ICP rotation correction accepted (rad).");
RTABMAP_PARAM(Icp, VoxelSize, float, 0.05, "Uniform sampling voxel size (0=disabled).");
@@ -651,6 +656,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Icp, Iterations, int, 30, "Max iterations.");
RTABMAP_PARAM(Icp, Epsilon, float, 0, "Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution.");
RTABMAP_PARAM(Icp, CorrespondenceRatio, float, 0.1, "Ratio of matching correspondences to accept the transform.");
RTABMAP_PARAM(Icp, Force4DoF, bool, false, uFormat("Limit ICP to x, y, z and yaw DoF. Available if %s > 0.", kIcpStrategy().c_str()));
#ifdef RTABMAP_POINTMATCHER
RTABMAP_PARAM(Icp, PointToPlane, bool, true, "Use point to plane ICP.");
#else
@@ -661,19 +667,17 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Icp, PointToPlaneGroundNormalsUp, float, 0.0, "Invert normals on ground if they are pointing down (useful for ring-like 3D LiDARs). 0 means disabled, 1 means only normals perfectly aligned with -z axis. This is only done with 3D scans.");
RTABMAP_PARAM(Icp, PointToPlaneMinComplexity, float, 0.02, uFormat("Minimum structural complexity (0.0=low, 1.0=high) of the scan to do PointToPlane registration, otherwise PointToPoint registration is done instead and strategy from %s is used. This check is done only when %s=true.", kIcpPointToPlaneLowComplexityStrategy().c_str(), kIcpPointToPlane().c_str()));
RTABMAP_PARAM(Icp, PointToPlaneLowComplexityStrategy, int, 1, uFormat("If structural complexity is below %s: set to 0 to so that the transform is automatically rejected, set to 1 to limit ICP correction in axes with most constraints (e.g., for a corridor-like environment, the resulting transform will be limited in y and yaw, x will taken from the guess), set to 2 to accept \"as is\" the transform computed by PointToPoint.", kIcpPointToPlaneMinComplexity().c_str()));
RTABMAP_PARAM(Icp, OutlierRatio, float, 0.85, uFormat("Outlier ratio used with %s>0. For libpointmatcher, this parameter set TrimmedDistOutlierFilter/ratio for convenience when configuration file is not set. For CCCoreLib, this parameter set the \"finalOverlapRatio\". The value should be between 0 and 1.", kIcpStrategy().c_str()));
// libpointmatcher
#ifdef RTABMAP_POINTMATCHER
RTABMAP_PARAM(Icp, PM, bool, true, "Use libpointmatcher for ICP registration instead of PCL's implementation.");
#else
RTABMAP_PARAM(Icp, PM, bool, false, "Use libpointmatcher for ICP registration instead of PCL's implementation.");
#endif
RTABMAP_PARAM_STR(Icp, PMConfig, "", uFormat("Configuration file (*.yaml) used by libpointmatcher. Note that data filters set for libpointmatcher are done after filtering done by rtabmap (i.e., %s, %s), so make sure to disable those in rtabmap if you want to use only those from libpointmatcher. Parameters %s, %s and %s are also ignored if configuration file is set.", kIcpVoxelSize().c_str(), kIcpDownsamplingStep().c_str(), kIcpIterations().c_str(), kIcpEpsilon().c_str(), kIcpMaxCorrespondenceDistance().c_str()).c_str());
RTABMAP_PARAM(Icp, PMMatcherKnn, int, 1, "KDTreeMatcher/knn: number of nearest neighbors to consider it the reference. For convenience when configuration file is not set.");
RTABMAP_PARAM(Icp, PMMatcherEpsilon, float, 0.0, "KDTreeMatcher/epsilon: approximation to use for the nearest-neighbor search. For convenience when configuration file is not set.");
RTABMAP_PARAM(Icp, PMMatcherIntensity, bool, false, uFormat("KDTreeMatcher: among nearest neighbors, keep only the one with the most similar intensity. This only work with %s>1.", kIcpPMMatcherKnn().c_str()));
RTABMAP_PARAM(Icp, PMOutlierRatio, float, 0.85, "TrimmedDistOutlierFilter/ratio: For convenience when configuration file is not set. For kinect-like point cloud, use 0.65.");
RTABMAP_PARAM(Icp, PMForce4DoF, bool, false, "Limit ICP to x, y, z and yaw DoF.");
RTABMAP_PARAM(Icp, CCSamplingLimit, unsigned int, 50000, "Maximum number of points per cloud (they are randomly resampled below this limit otherwise).");
RTABMAP_PARAM(Icp, CCFilterOutFarthestPoints, bool, false, "If true, the algorithm will automatically ignore farthest points from the reference, for better convergence.");
RTABMAP_PARAM(Icp, CCMaxFinalRMS, float, 0.2, "Maximum final RMS error.");
// Stereo disparity
RTABMAP_PARAM(Stereo, WinWidth, int, 15, "Window width.");

11
corelib/include/rtabmap/core/RegistrationIcp.h
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@@ -56,6 +56,7 @@ protected:
virtual float getMinGeometryCorrespondencesRatioImpl() const {return _correspondenceRatio;}
private:
int _strategy;
float _maxTranslation;
float _maxRotation;
float _voxelSize;
@@ -66,20 +67,24 @@ private:
int _maxIterations;
float _epsilon;
float _correspondenceRatio;
bool _force4DoF;
bool _pointToPlane;
int _pointToPlaneK;
float _pointToPlaneRadius;
float _pointToPlaneGroundNormalsUp;
float _pointToPlaneMinComplexity;
int _pointToPlaneLowComplexityStrategy;
bool _libpointmatcher;
std::string _libpointmatcherConfig;
int _libpointmatcherKnn;
float _libpointmatcherEpsilon;
bool _libpointmatcherIntensity;
float _libpointmatcherOutlierRatio;
bool _libpointmatcherForce4DoF;
float _outlierRatio;
unsigned int _ccSamplingLimit;
bool _ccFilterOutFarthestPoints;
double _ccMaxFinalRMS;
void * _libpointmatcherICP;
void * _libpointmatcherICPFilters;
};
}