diff --git a/corelib/include/rtabmap/core/Parameters.h b/corelib/include/rtabmap/core/Parameters.h
index d007fbe0..affcb602 100644
--- a/corelib/include/rtabmap/core/Parameters.h
+++ b/corelib/include/rtabmap/core/Parameters.h
@@ -512,8 +512,10 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Icp, PointToPlane, bool, false, "Use point to plane ICP.");
RTABMAP_PARAM(Icp, PointToPlaneNormalNeighbors, int, 20, "Number of neighbors to compute normals for point to plane.");
+ // libpointmatcher
RTABMAP_PARAM(Icp, PM, bool, false, "Use libpointmatcher for ICP registration instead of PCL's implementation.");
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, PMOutlierRatio, float, 0.85, "TrimmedDistOutlierFilter/ratio: For convenience when configuration file is not set. For kinect-like point cloud, use 0.65.");
// Stereo disparity
RTABMAP_PARAM(Stereo, WinWidth, int, 15, "Window width.");
diff --git a/corelib/include/rtabmap/core/RegistrationIcp.h b/corelib/include/rtabmap/core/RegistrationIcp.h
index ecebb16d..546292c7 100644
--- a/corelib/include/rtabmap/core/RegistrationIcp.h
+++ b/corelib/include/rtabmap/core/RegistrationIcp.h
@@ -67,6 +67,7 @@ private:
int _pointToPlaneNormalNeighbors;
bool _libpointmatcher;
std::string _libpointmatcherConfig;
+ float _libpointmatcherOutlierRatio;
void * _libpointmatcherICP;
};
diff --git a/corelib/src/RegistrationIcp.cpp b/corelib/src/RegistrationIcp.cpp
index eb818dd1..c6f1e2a2 100644
--- a/corelib/src/RegistrationIcp.cpp
+++ b/corelib/src/RegistrationIcp.cpp
@@ -228,6 +228,7 @@ RegistrationIcp::RegistrationIcp(const ParametersMap & parameters, Registration
_pointToPlaneNormalNeighbors(Parameters::defaultIcpPointToPlaneNormalNeighbors()),
_libpointmatcher(Parameters::defaultIcpPM()),
_libpointmatcherConfig(Parameters::defaultIcpPMConfig()),
+ _libpointmatcherOutlierRatio(Parameters::defaultIcpPMOutlierRatio()),
_libpointmatcherICP(0)
{
this->parseParameters(parameters);
@@ -260,6 +261,8 @@ void RegistrationIcp::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kIcpPM(), _libpointmatcher);
Parameters::parse(parameters, Parameters::kIcpPMConfig(), _libpointmatcherConfig);
+ Parameters::parse(parameters, Parameters::kIcpPMOutlierRatio(), _libpointmatcherOutlierRatio);
+
#ifndef RTABMAP_POINTMATCHER
if(_libpointmatcher)
{
@@ -312,7 +315,7 @@ void RegistrationIcp::parseParameters(const ParametersMap & parameters)
icp->matcher.reset(PM::get().MatcherRegistrar.create("KDTreeMatcher", params));
params.clear();
- params["ratio"] = uNumber2Str(0.65); // For kinect cloud, 0.65 is better than 0.85
+ params["ratio"] = uNumber2Str(_libpointmatcherOutlierRatio);
icp->outlierFilters.clear();
icp->outlierFilters.push_back(PM::get().OutlierFilterRegistrar.create("TrimmedDistOutlierFilter", params));
params.clear();
@@ -358,7 +361,7 @@ Transform RegistrationIcp::computeTransformationImpl(
UDEBUG("Max translation=%f", _maxTranslation);
UDEBUG("Max rotation=%f", _maxRotation);
UDEBUG("Downsampling step=%d", _downsamplingStep);
- UDEBUG("libpointmatcher=%d", _libpointmatcher?1:0);
+ UDEBUG("libpointmatcher=%d (outlier ratio=%f)", _libpointmatcher?1:0, _libpointmatcherOutlierRatio);
UTimer timer;
std::string msg;
diff --git a/guilib/src/PreferencesDialog.cpp b/guilib/src/PreferencesDialog.cpp
index f693eb17..cce1694c 100644
--- a/guilib/src/PreferencesDialog.cpp
+++ b/guilib/src/PreferencesDialog.cpp
@@ -862,6 +862,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_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());
// Occupancy grid
_ui->groupBox_grid_3d->setObjectName(Parameters::kGrid3D().c_str());
diff --git a/guilib/src/ui/preferencesDialog.ui b/guilib/src/ui/preferencesDialog.ui
index 945f21a3..50c96e14 100644
--- a/guilib/src/ui/preferencesDialog.ui
+++ b/guilib/src/ui/preferencesDialog.ui
@@ -63,16 +63,25 @@
0
- -310
+ 0
678
- 2736
+ 2739
0
-
+
+ 0
+
+
+ 0
+
+
+ 0
+
+
0
-
@@ -4521,7 +4530,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
Directory of images (optional settings)
-
+
+ 0
+
+
+ 0
+
+
+ 0
+
+
0
-
@@ -12473,7 +12491,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
-
+
+ 0
+
+
+ 0
+
+
+ 0
+
+
0
-
@@ -12613,7 +12640,16 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
-
+
+ 0
+
+
+ 0
+
+
+ 0
+
+
0
-
@@ -12771,7 +12807,16 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
0
-
+
+ 0
+
+
+ 0
+
+
+ 0
+
+
0
-
@@ -12851,7 +12896,16 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
0
-
+
+ 0
+
+
+ 0
+
+
+ 0
+
+
0
-
@@ -12963,7 +13017,16 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
0
-
+
+ 0
+
+
+ 0
+
+
+ 0
+
+
0
-
@@ -13640,7 +13703,10 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
3
- 0.010000000000000
+ 0.001000000000000
+
+
+ 9999.989999999999782
0.010000000000000
@@ -13752,6 +13818,45 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
+ -
+
+
-
+
+
+
+
+
+ 2
+
+
+ 0.010000000000000
+
+
+ 1.000000000000000
+
+
+ 0.100000000000000
+
+
+ 0.850000000000000
+
+
+
+ -
+
+
+ TrimmedDistOutlierFilter/ratio: For convenience when configuration file is not set. For kinect-like point cloud, use 0.65.
+
+
+ true
+
+
+ Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse
+
+
+
+
+