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ethzasl_icp_mapper service Minimal Example

asked 2015-03-11 18:39:25 -0500

David Lu gravatar image

I'm trying to use the ethzasl_icp_mapper service to match some very simple point clouds. However, I get errors like: ICP failed to converge: no outlier to filter

I create two simple point clouds and try to line them up using the MatchClouds service. http://pastebin.com/2seS1jUq

Is this example too simple? Am I missing something?

(currently using groovy_released, but have tried other versions with similar results)

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answered 2015-03-12 09:06:46 -0500

Francois gravatar image

It all depend on your YAML file used when launching the node ethzasl_icp_mapper. The default launch files of the repository are made for large point clouds with a lot of redundant information. The default ICP solution (trigger if no YAML file is given) also assume many points.

I suspect that in your case, the chosen configuration is too aggressive on the downsample and on the outlier filter. We've made the registration solution highly configurable to suit a large range of applications. The downside of that is that you need to tune for your needs.

Here some suggestion to start:

  • remove all data filters
  • remove all outlier filters
  • use point-to-point error

For more information on all module available, you can use the pmicp -l. I think you should find that in the bin folder of the node. This executable can also take two point clouds from disk and a yaml configuration to register point clouds. It might be useful for your tests.

This node rely on libpointmatcher, a library independent of ROS. Lately, I'm putting more effort on maintaining that part. The node ethzasl_icp_mapper is mainly a showcase for it. Don't hesitate to read our tutorial page.

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Excellent. Thanks Francois. The tutorial page you linked to was very helpful. I had previously only looked at the documentation on this page which doesn't specify exactly how to build the yaml file. Also, the point-to-point reference was super-useful.

David Lu gravatar imageDavid Lu ( 2015-03-12 18:18:34 -0500 )edit

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Asked: 2015-03-11 18:39:25 -0500

Seen: 288 times

Last updated: Mar 12 '15