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Parameters: added Icp/PMOutlierRatio for convenience

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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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corelib/include/rtabmap/core/Parameters.h
+2
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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, 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.");
corelib/include/rtabmap/core/RegistrationIcp.h
+1
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@@ -67,6 +67,7 @@ private:
int _pointToPlaneNormalNeighbors;
bool _libpointmatcher;
std::string _libpointmatcherConfig;
float _libpointmatcherOutlierRatio;
void * _libpointmatcherICP;
};
corelib/src/RegistrationIcp.cpp
+5 -2
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@@ -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;