i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 10:00:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

modified how correspondences ratio is computed (icp 2D and 3D), also fixed build with OpenCV3+Cuda

Browse Source
This commit is contained in:
Mathieu Labbé
2015-07-11 12:42:46 -04:00
parent bf295c4274
commit 2d7be6be48
12 changed files with 388 additions and 339 deletions
Download Patch File Download Diff File Expand all files Collapse all files

48
guilib/src/MainWindow.cpp
View File

@@ -3505,22 +3505,22 @@ void MainWindow::postProcessing()
}
_initProgressDialog->appendText(tr("Refining links..."));
int decimation=8;
float maxDepth=2.0f;
float voxelSize=0.01f;
int samples = 0;
float maxCorrespondences = 0.05f;
float correspondenceRatio = 0.7f;
float icpIterations = 30;
int decimation=Parameters::defaultLccIcp3Decimation();
float maxDepth=Parameters::defaultLccIcp3MaxDepth();
float voxelSize=Parameters::defaultLccIcp3VoxelSize();
int samples = Parameters::defaultLccIcp3Samples();
float maxCorrespondenceDistance = Parameters::defaultLccIcp3MaxCorrespondenceDistance();
float correspondenceRatio = Parameters::defaultLccIcp3CorrespondenceRatio();
float icpIterations = Parameters::defaultLccIcp3Iterations();
Parameters::parse(parameters, Parameters::kLccIcp3Decimation(), decimation);
Parameters::parse(parameters, Parameters::kLccIcp3MaxDepth(), maxDepth);
Parameters::parse(parameters, Parameters::kLccIcp3VoxelSize(), voxelSize);
Parameters::parse(parameters, Parameters::kLccIcp3Samples(), samples);
Parameters::parse(parameters, Parameters::kLccIcp3CorrespondenceRatio(), correspondenceRatio);
Parameters::parse(parameters, Parameters::kLccIcp3MaxCorrespondenceDistance(), maxCorrespondences);
Parameters::parse(parameters, Parameters::kLccIcp3MaxCorrespondenceDistance(), maxCorrespondenceDistance);
Parameters::parse(parameters, Parameters::kLccIcp3Iterations(), icpIterations);
bool pointToPlane = false;
int pointToPlaneNormalNeighbors = 20;
bool pointToPlane = Parameters::defaultLccIcp3PointToPlane();
int pointToPlaneNormalNeighbors = Parameters::defaultLccIcp3PointToPlaneNormalNeighbors();
Parameters::parse(parameters, Parameters::kLccIcp3PointToPlane(), pointToPlane);
Parameters::parse(parameters, Parameters::kLccIcp3PointToPlaneNormalNeighbors(), pointToPlaneNormalNeighbors);
@@ -3605,24 +3605,36 @@ void MainWindow::postProcessing()
UWARN("removed nan normals...");
}
pcl::PointCloud<pcl::PointNormal>::Ptr cloudBRegistered(new pcl::PointCloud<pcl::PointNormal>);
transform = util3d::icpPointToPlane(cloudBNormals,
cloudANormals,
maxCorrespondences,
maxCorrespondenceDistance,
icpIterations,
&hasConverged,
&variance,
&correspondences);
hasConverged,
*cloudBRegistered);
util3d::computeVarianceAndCorrespondences(
cloudBRegistered,
cloudANormals,
maxCorrespondenceDistance,
variance,
correspondences);
}
else
{
UDEBUG("");
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudBRegistered(new pcl::PointCloud<pcl::PointXYZ>);
transform = util3d::icp(cloudB,
cloudA,
maxCorrespondences,
maxCorrespondenceDistance,
icpIterations,
&hasConverged,
&variance,
&correspondences);
hasConverged,
*cloudBRegistered);
util3d::computeVarianceAndCorrespondences(
cloudBRegistered,
cloudA,
maxCorrespondenceDistance,
variance,
correspondences);
}
float correspondencesRatio = float(correspondences)/float(cloudB->size()>cloudA->size()?cloudB->size():cloudA->size());