mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-14 23:40:20 +08:00
Parameters: added Icp/PMOutlierRatio for convenience
This commit is contained in:
matlabbe
@@ -512,8 +512,10 @@ class RTABMAP_EXP Parameters
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RTABMAP_PARAM(Icp, PointToPlane, bool, false, "Use point to plane ICP.");
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RTABMAP_PARAM(Icp, PointToPlaneNormalNeighbors, int, 20, "Number of neighbors to compute normals for point to plane.");
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// libpointmatcher
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RTABMAP_PARAM(Icp, PM, bool, false, "Use libpointmatcher for ICP registration instead of PCL's implementation.");
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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());
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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.");
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// Stereo disparity
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RTABMAP_PARAM(Stereo, WinWidth, int, 15, "Window width.");
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@@ -67,6 +67,7 @@ private:
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int _pointToPlaneNormalNeighbors;
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bool _libpointmatcher;
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std::string _libpointmatcherConfig;
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float _libpointmatcherOutlierRatio;
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void * _libpointmatcherICP;
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};
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@@ -228,6 +228,7 @@ RegistrationIcp::RegistrationIcp(const ParametersMap & parameters, Registration
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_pointToPlaneNormalNeighbors(Parameters::defaultIcpPointToPlaneNormalNeighbors()),
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_libpointmatcher(Parameters::defaultIcpPM()),
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_libpointmatcherConfig(Parameters::defaultIcpPMConfig()),
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_libpointmatcherOutlierRatio(Parameters::defaultIcpPMOutlierRatio()),
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_libpointmatcherICP(0)
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{
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this->parseParameters(parameters);
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@@ -260,6 +261,8 @@ void RegistrationIcp::parseParameters(const ParametersMap & parameters)
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Parameters::parse(parameters, Parameters::kIcpPM(), _libpointmatcher);
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Parameters::parse(parameters, Parameters::kIcpPMConfig(), _libpointmatcherConfig);
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Parameters::parse(parameters, Parameters::kIcpPMOutlierRatio(), _libpointmatcherOutlierRatio);
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#ifndef RTABMAP_POINTMATCHER
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if(_libpointmatcher)
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{
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@@ -312,7 +315,7 @@ void RegistrationIcp::parseParameters(const ParametersMap & parameters)
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icp->matcher.reset(PM::get().MatcherRegistrar.create("KDTreeMatcher", params));
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params.clear();
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params["ratio"] = uNumber2Str(0.65); // For kinect cloud, 0.65 is better than 0.85
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params["ratio"] = uNumber2Str(_libpointmatcherOutlierRatio);
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icp->outlierFilters.clear();
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icp->outlierFilters.push_back(PM::get().OutlierFilterRegistrar.create("TrimmedDistOutlierFilter", params));
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params.clear();
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@@ -358,7 +361,7 @@ Transform RegistrationIcp::computeTransformationImpl(
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UDEBUG("Max translation=%f", _maxTranslation);
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UDEBUG("Max rotation=%f", _maxRotation);
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UDEBUG("Downsampling step=%d", _downsamplingStep);
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UDEBUG("libpointmatcher=%d", _libpointmatcher?1:0);
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UDEBUG("libpointmatcher=%d (outlier ratio=%f)", _libpointmatcher?1:0, _libpointmatcherOutlierRatio);
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UTimer timer;
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std::string msg;
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@@ -862,6 +862,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->groupBox_libpointmatcher->setObjectName(Parameters::kIcpPM().c_str());
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_ui->lineEdit_IcpPMConfigPath->setObjectName(Parameters::kIcpPMConfig().c_str());
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connect(_ui->toolButton_IcpConfigPath, SIGNAL(clicked()), this, SLOT(changeIcpPMConfigPath()));
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_ui->doubleSpinBox_icpPMOutlierRatio->setObjectName(Parameters::kIcpPMOutlierRatio().c_str());
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// Occupancy grid
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_ui->groupBox_grid_3d->setObjectName(Parameters::kGrid3D().c_str());
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@@ -63,16 +63,25 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-310</y>
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<y>0</y>
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<width>678</width>
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<height>2736</height>
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<height>2739</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_16">
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<property name="spacing">
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<number>0</number>
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</property>
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<property name="margin">
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<property name="leftMargin">
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<number>0</number>
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</property>
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<property name="topMargin">
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<number>0</number>
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</property>
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<property name="rightMargin">
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<number>0</number>
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</property>
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<property name="bottomMargin">
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<number>0</number>
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</property>
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<item>
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@@ -4521,7 +4530,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<string>Directory of images (optional settings)</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_93">
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<property name="margin">
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<property name="leftMargin">
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<number>0</number>
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</property>
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<property name="topMargin">
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<number>0</number>
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</property>
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<property name="rightMargin">
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<number>0</number>
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</property>
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<property name="bottomMargin">
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<number>0</number>
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</property>
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<item>
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@@ -12473,7 +12491,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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<widget class="QWidget" name="page_54">
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<layout class="QVBoxLayout" name="verticalLayout_85">
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<property name="margin">
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<property name="leftMargin">
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<number>0</number>
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</property>
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<property name="topMargin">
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<number>0</number>
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</property>
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<property name="rightMargin">
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<number>0</number>
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</property>
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<property name="bottomMargin">
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<number>0</number>
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</property>
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<item>
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@@ -12613,7 +12640,16 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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</widget>
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<widget class="QWidget" name="page_55">
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<layout class="QVBoxLayout" name="verticalLayout_86">
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<property name="margin">
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<property name="leftMargin">
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<number>0</number>
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</property>
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<property name="topMargin">
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<number>0</number>
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</property>
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<property name="rightMargin">
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<number>0</number>
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</property>
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<property name="bottomMargin">
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<number>0</number>
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</property>
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<item>
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@@ -12771,7 +12807,16 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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<property name="spacing">
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<number>0</number>
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</property>
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<property name="margin">
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<property name="leftMargin">
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<number>0</number>
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</property>
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<property name="topMargin">
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<number>0</number>
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</property>
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<property name="rightMargin">
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<number>0</number>
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</property>
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<property name="bottomMargin">
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<number>0</number>
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</property>
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<item>
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@@ -12851,7 +12896,16 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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<property name="spacing">
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<number>0</number>
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</property>
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<property name="margin">
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<property name="leftMargin">
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<number>0</number>
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</property>
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<property name="topMargin">
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<number>0</number>
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</property>
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<property name="rightMargin">
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<number>0</number>
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</property>
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<property name="bottomMargin">
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<number>0</number>
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</property>
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<item>
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@@ -12963,7 +13017,16 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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<property name="spacing">
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<number>0</number>
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</property>
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<property name="margin">
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<property name="leftMargin">
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<number>0</number>
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</property>
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<property name="topMargin">
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<number>0</number>
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</property>
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<property name="rightMargin">
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<number>0</number>
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</property>
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<property name="bottomMargin">
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<number>0</number>
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</property>
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<item>
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@@ -13640,7 +13703,10 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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<number>3</number>
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</property>
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<property name="minimum">
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<double>0.010000000000000</double>
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<double>0.001000000000000</double>
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</property>
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<property name="maximum">
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<double>9999.989999999999782</double>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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@@ -13752,6 +13818,45 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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</item>
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</layout>
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</item>
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<item>
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<layout class="QHBoxLayout" name="horizontalLayout_12" stretch="0,1">
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<item>
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<widget class="QDoubleSpinBox" name="doubleSpinBox_icpPMOutlierRatio">
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<property name="suffix">
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<string/>
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</property>
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<property name="decimals">
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<number>2</number>
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</property>
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<property name="minimum">
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<double>0.010000000000000</double>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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<property name="value">
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<double>0.850000000000000</double>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QLabel" name="label_424">
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<property name="text">
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<string>TrimmedDistOutlierFilter/ratio: For convenience when configuration file is not set. For kinect-like point cloud, use 0.65.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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</layout>
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</widget>
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</item>
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