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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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8
guilib/src/AboutDialog.cpp
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@@ -168,6 +168,14 @@ AboutDialog::AboutDialog(QWidget * parent) :
_ui->label_libpointmatcher_license->setEnabled(false);
#endif
#ifdef RTABMAP_CCCORELIB
_ui->label_cccorelib->setText("Yes");
_ui->label_cccorelib_license->setEnabled(true);
#else
_ui->label_cccorelib->setText("No");
_ui->label_cccorelib_license->setEnabled(false);
#endif
#ifdef RTABMAP_FOVIS
_ui->label_fovis->setText("Yes");
_ui->label_fovis_license->setEnabled(true);

32
guilib/src/PreferencesDialog.cpp
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@@ -313,7 +313,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->graphOptimization_robust->setEnabled(false);
}
#ifndef RTABMAP_POINTMATCHER
_ui->groupBox_libpointmatcher->setEnabled(false);
_ui->comboBox_icpStrategy->setItemData(1, 0, Qt::UserRole - 1);
#endif
#ifndef RTABMAP_CCCORELIB
_ui->comboBox_icpStrategy->setItemData(2, 0, Qt::UserRole - 1);
#endif
if(!CameraOpenni::available())
{
@@ -1151,6 +1154,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_bundle->setObjectName(Parameters::kVisBundleAdjustment().c_str());
//RegistrationIcp
_ui->comboBox_icpStrategy->setObjectName(Parameters::kIcpStrategy().c_str());
connect(_ui->comboBox_icpStrategy, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_icpStrategy, SLOT(setCurrentIndex(int)));
_ui->comboBox_icpStrategy->setCurrentIndex(Parameters::defaultIcpStrategy());
_ui->globalDetection_icpMaxTranslation->setObjectName(Parameters::kIcpMaxTranslation().c_str());
_ui->globalDetection_icpMaxRotation->setObjectName(Parameters::kIcpMaxRotation().c_str());
_ui->loopClosure_icpVoxelSize->setObjectName(Parameters::kIcpVoxelSize().c_str());
@@ -1161,6 +1167,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_icpIterations->setObjectName(Parameters::kIcpIterations().c_str());
_ui->loopClosure_icpEpsilon->setObjectName(Parameters::kIcpEpsilon().c_str());
_ui->loopClosure_icpRatio->setObjectName(Parameters::kIcpCorrespondenceRatio().c_str());
_ui->doubleSpinBox_icpOutlierRatio->setObjectName(Parameters::kIcpOutlierRatio().c_str());
_ui->loopClosure_icpPointToPlane->setObjectName(Parameters::kIcpPointToPlane().c_str());
_ui->loopClosure_icpPointToPlaneNormals->setObjectName(Parameters::kIcpPointToPlaneK().c_str());
_ui->loopClosure_icpPointToPlaneNormalsRadius->setObjectName(Parameters::kIcpPointToPlaneRadius().c_str());
@@ -1168,14 +1175,17 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_icpPointToPlaneNormalsMinComplexity->setObjectName(Parameters::kIcpPointToPlaneMinComplexity().c_str());
_ui->loopClosure_icpPointToPlaneLowComplexityStrategy->setObjectName(Parameters::kIcpPointToPlaneLowComplexityStrategy().c_str());
_ui->groupBox_libpointmatcher->setObjectName(Parameters::kIcpPM().c_str());
_ui->lineEdit_IcpPMConfigPath->setObjectName(Parameters::kIcpPMConfig().c_str());
connect(_ui->toolButton_IcpConfigPath, SIGNAL(clicked()), this, SLOT(changeIcpPMConfigPath()));
_ui->doubleSpinBox_icpPMOutlierRatio->setObjectName(Parameters::kIcpPMOutlierRatio().c_str());
_ui->spinBox_icpPMMatcherKnn->setObjectName(Parameters::kIcpPMMatcherKnn().c_str());
_ui->doubleSpinBox_icpPMMatcherEpsilon->setObjectName(Parameters::kIcpPMMatcherEpsilon().c_str());
_ui->loopClosure_icpPMMatcherIntensity->setObjectName(Parameters::kIcpPMMatcherIntensity().c_str());
_ui->loopClosure_icpPMForce4DoF->setObjectName(Parameters::kIcpPMForce4DoF().c_str());
_ui->loopClosure_icpForce4DoF->setObjectName(Parameters::kIcpForce4DoF().c_str());
_ui->spinBox_icpCCSamplingLimit->setObjectName(Parameters::kIcpCCSamplingLimit().c_str());
_ui->checkBox_icpCCFilterOutFarthestPoints->setObjectName(Parameters::kIcpCCFilterOutFarthestPoints().c_str());
_ui->doubleSpinBox_icpCCMaxFinalRMS->setObjectName(Parameters::kIcpCCMaxFinalRMS().c_str());
// Occupancy grid
_ui->groupBox_grid_3d->setObjectName(Parameters::kGrid3D().c_str());
@@ -2601,6 +2611,20 @@ bool PreferencesDialog::readCoreSettings(const QString & filePath)
}
}
}
//backward compatibility
if(iter->first.compare(Parameters::kIcpStrategy()) == 0)
{
if(value.compare("true") == 0)
{
value = "1";
}
else if(value.compare("false") == 0)
{
value = "0";
}
}
this->setParameter(iter->first, value);
}

2129
guilib/src/ui/aboutDialog.ui
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1354
guilib/src/ui/preferencesDialog.ui
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