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Parameters: updated default of Icp/CorrespondenceRatio and Icp/PMOutlierRatio. Fixed OptimizerG2O build with ORB_SLAM2. Fixed seg fault after restarting ORB_SLAM2 odometry.

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This commit is contained in:
matlabbe
2018-03-17 18:20:32 -04:00
parent ecf598e412
commit 436e82653c
3 changed files with 5 additions and 5 deletions
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4
corelib/include/rtabmap/core/Parameters.h
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@@ -553,7 +553,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.1, "Max distance for point correspondences.");
RTABMAP_PARAM(Icp, Iterations, int, 30, "Max iterations.");
RTABMAP_PARAM(Icp, Epsilon, float, 0, "Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution.");
RTABMAP_PARAM(Icp, CorrespondenceRatio, float, 0.2, "Ratio of matching correspondences to accept the transform.");
RTABMAP_PARAM(Icp, CorrespondenceRatio, float, 0.1, "Ratio of matching correspondences to accept the transform.");
RTABMAP_PARAM(Icp, PointToPlane, bool, false, "Use point to plane ICP.");
RTABMAP_PARAM(Icp, PointToPlaneK, int, 5, "Number of neighbors to compute normals for point to plane if the cloud doesn't have already normals.");
RTABMAP_PARAM(Icp, PointToPlaneRadius, float, 1.0, "Search radius to compute normals for point to plane if the cloud doesn't have already normals.");
@@ -568,7 +568,7 @@ class RTABMAP_EXP Parameters
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, PMMatcherKnn, int, 1, "KDTreeMatcher/knn: number of nearest neighbors to consider it the reference. For convenience when configuration file is not set.");
RTABMAP_PARAM(Icp, PMMatcherEpsilon, float, 0.0, "KDTreeMatcher/epsilon: approximation to use for the nearest-neighbor search. For convenience when configuration file is not set.");
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.");
RTABMAP_PARAM(Icp, PMOutlierRatio, float, 0.95, "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.");

2
corelib/src/OdometryORBSLAM2.cpp
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@@ -296,7 +296,7 @@ protected:
// FIXME: Memory leak: ORB_SLAM2 doesn't delete after removing from the map...
// Not sure when it is safe to delete it, as if I delete just
// after setting the bad flag, the app crashes.
iter->second->SetBadFlag();
iter->second->SetErase();
}
else
{

4
corelib/src/OptimizerG2O.cpp
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@@ -790,7 +790,7 @@ std::map<int, Transform> OptimizerG2O::optimizeBA(
{
g2o::SparseOptimizer optimizer;
optimizer.setVerbose(ULogger::level()==ULogger::kDebug);
#ifdef RTABMAP_G2O_CPP11
#if defined(RTABMAP_G2O_CPP11) and not defined(RTABMAP_ORB_SLAM2)
std::unique_ptr<g2o::BlockSolver_6_3::LinearSolverType> linearSolver;
#else
g2o::BlockSolver_6_3::LinearSolverType * linearSolver = 0;
@@ -854,7 +854,7 @@ std::map<int, Transform> OptimizerG2O::optimizeBA(
else
#endif
{
#ifdef RTABMAP_G2O_CPP11
#if defined(RTABMAP_G2O_CPP11) and not defined(RTABMAP_ORB_SLAM2)
optimizer.setAlgorithm(new g2o::OptimizationAlgorithmLevenberg(
g2o::make_unique<g2o::BlockSolver_6_3>(std::move(linearSolver))));
#else