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Parameters: added Icp/PMOutlierRatio for convenience

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This commit is contained in:
matlabbe
2017-08-23 12:22:58 -04:00
parent 268c92a1af
commit 317aa3b6ed
5 changed files with 124 additions and 12 deletions
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2
corelib/include/rtabmap/core/Parameters.h
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@@ -512,8 +512,10 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Icp, PointToPlane, bool, false, "Use point to plane ICP."); 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."); 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(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_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 // Stereo disparity
RTABMAP_PARAM(Stereo, WinWidth, int, 15, "Window width."); RTABMAP_PARAM(Stereo, WinWidth, int, 15, "Window width.");

1
corelib/include/rtabmap/core/RegistrationIcp.h
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@@ -67,6 +67,7 @@ private:
int _pointToPlaneNormalNeighbors; int _pointToPlaneNormalNeighbors;
bool _libpointmatcher; bool _libpointmatcher;
std::string _libpointmatcherConfig; std::string _libpointmatcherConfig;
float _libpointmatcherOutlierRatio;
void * _libpointmatcherICP; void * _libpointmatcherICP;
}; };

7
corelib/src/RegistrationIcp.cpp
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@@ -228,6 +228,7 @@ RegistrationIcp::RegistrationIcp(const ParametersMap & parameters, Registration
_pointToPlaneNormalNeighbors(Parameters::defaultIcpPointToPlaneNormalNeighbors()), _pointToPlaneNormalNeighbors(Parameters::defaultIcpPointToPlaneNormalNeighbors()),
_libpointmatcher(Parameters::defaultIcpPM()), _libpointmatcher(Parameters::defaultIcpPM()),
_libpointmatcherConfig(Parameters::defaultIcpPMConfig()), _libpointmatcherConfig(Parameters::defaultIcpPMConfig()),
_libpointmatcherOutlierRatio(Parameters::defaultIcpPMOutlierRatio()),
_libpointmatcherICP(0) _libpointmatcherICP(0)
{ {
this->parseParameters(parameters); this->parseParameters(parameters);
@@ -260,6 +261,8 @@ void RegistrationIcp::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kIcpPM(), _libpointmatcher); Parameters::parse(parameters, Parameters::kIcpPM(), _libpointmatcher);
Parameters::parse(parameters, Parameters::kIcpPMConfig(), _libpointmatcherConfig); Parameters::parse(parameters, Parameters::kIcpPMConfig(), _libpointmatcherConfig);
Parameters::parse(parameters, Parameters::kIcpPMOutlierRatio(), _libpointmatcherOutlierRatio);
#ifndef RTABMAP_POINTMATCHER #ifndef RTABMAP_POINTMATCHER
if(_libpointmatcher) if(_libpointmatcher)
{ {
@@ -312,7 +315,7 @@ void RegistrationIcp::parseParameters(const ParametersMap & parameters)
icp->matcher.reset(PM::get().MatcherRegistrar.create("KDTreeMatcher", params)); icp->matcher.reset(PM::get().MatcherRegistrar.create("KDTreeMatcher", params));
params.clear(); 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.clear();
icp->outlierFilters.push_back(PM::get().OutlierFilterRegistrar.create("TrimmedDistOutlierFilter", params)); icp->outlierFilters.push_back(PM::get().OutlierFilterRegistrar.create("TrimmedDistOutlierFilter", params));
params.clear(); params.clear();
@@ -358,7 +361,7 @@ Transform RegistrationIcp::computeTransformationImpl(
UDEBUG("Max translation=%f", _maxTranslation); UDEBUG("Max translation=%f", _maxTranslation);
UDEBUG("Max rotation=%f", _maxRotation); UDEBUG("Max rotation=%f", _maxRotation);
UDEBUG("Downsampling step=%d", _downsamplingStep); UDEBUG("Downsampling step=%d", _downsamplingStep);
UDEBUG("libpointmatcher=%d", _libpointmatcher?1:0); UDEBUG("libpointmatcher=%d (outlier ratio=%f)", _libpointmatcher?1:0, _libpointmatcherOutlierRatio);
UTimer timer; UTimer timer;
std::string msg; std::string msg;

1
guilib/src/PreferencesDialog.cpp
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@@ -862,6 +862,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->groupBox_libpointmatcher->setObjectName(Parameters::kIcpPM().c_str()); _ui->groupBox_libpointmatcher->setObjectName(Parameters::kIcpPM().c_str());
_ui->lineEdit_IcpPMConfigPath->setObjectName(Parameters::kIcpPMConfig().c_str()); _ui->lineEdit_IcpPMConfigPath->setObjectName(Parameters::kIcpPMConfig().c_str());
connect(_ui->toolButton_IcpConfigPath, SIGNAL(clicked()), this, SLOT(changeIcpPMConfigPath())); connect(_ui->toolButton_IcpConfigPath, SIGNAL(clicked()), this, SLOT(changeIcpPMConfigPath()));
_ui->doubleSpinBox_icpPMOutlierRatio->setObjectName(Parameters::kIcpPMOutlierRatio().c_str());
// Occupancy grid // Occupancy grid
_ui->groupBox_grid_3d->setObjectName(Parameters::kGrid3D().c_str()); _ui->groupBox_grid_3d->setObjectName(Parameters::kGrid3D().c_str());

125
guilib/src/ui/preferencesDialog.ui
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@@ -63,16 +63,25 @@
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>-310</y> <y>0</y>
<width>678</width> <width>678</width>
<height>2736</height> <height>2739</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_16"> <layout class="QVBoxLayout" name="verticalLayout_16">
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="margin"> <property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -4521,7 +4530,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Directory of images (optional settings)</string> <string>Directory of images (optional settings)</string>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_93"> <layout class="QVBoxLayout" name="verticalLayout_93">
<property name="margin"> <property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -12473,7 +12491,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
<widget class="QWidget" name="page_54"> <widget class="QWidget" name="page_54">
<layout class="QVBoxLayout" name="verticalLayout_85"> <layout class="QVBoxLayout" name="verticalLayout_85">
<property name="margin"> <property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -12613,7 +12640,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</widget> </widget>
<widget class="QWidget" name="page_55"> <widget class="QWidget" name="page_55">
<layout class="QVBoxLayout" name="verticalLayout_86"> <layout class="QVBoxLayout" name="verticalLayout_86">
<property name="margin"> <property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -12771,7 +12807,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="margin"> <property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -12851,7 +12896,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="margin"> <property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -12963,7 +13017,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="margin"> <property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -13640,7 +13703,10 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<number>3</number> <number>3</number>
</property> </property>
<property name="minimum"> <property name="minimum">
<double>0.010000000000000</double> <double>0.001000000000000</double>
</property>
<property name="maximum">
<double>9999.989999999999782</double>
</property> </property>
<property name="singleStep"> <property name="singleStep">
<double>0.010000000000000</double> <double>0.010000000000000</double>
@@ -13752,6 +13818,45 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</item> </item>
</layout> </layout>
</item> </item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_12" stretch="0,1">
<item>
<widget class="QDoubleSpinBox" name="doubleSpinBox_icpPMOutlierRatio">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.010000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.850000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_424">
<property name="text">
<string>TrimmedDistOutlierFilter/ratio: For convenience when configuration file is not set. For kinect-like point cloud, use 0.65.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</item>
</layout> </layout>
</widget> </widget>
</item> </item>