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Using ICP inspectors in ethzasl_icp_mapper package.

asked 2013-08-06 22:22:59 -0500

arp gravatar image

Hi, I have been using the package ethzasl_icp_mapper to build 3D maps. Now I would like to use the inspector provided in the package. But when I enable the PerformanceInspector in the icp.yaml file like this:

readingDataPointsFilters:
  - RandomSamplingDataPointsFilter:
      prob: 0.2

matcher:
  KDTreeMatcher:
    maxDist: 0.3
    epsilon: 3.16

outlierFilters:
  - TrimmedDistOutlierFilter:
      ratio: 0.75

errorMinimizer:
  PointToPlaneErrorMinimizer

transformationCheckers:
  - DifferentialTransformationChecker:
      minDiffRotErr: 0.001
      minDiffTransErr: 0.01
      smoothLength: 4
  - CounterTransformationChecker:
      maxIterationCount: 40
  - BoundTransformationChecker:
      maxRotationNorm: 0.8
      maxTranslationNorm: 0.4

inspector:
#  VTKFileInspector
#  NullInspector
   PerformanceInspector:
      baseFileName: matcher-output
#      dumpPerfOnExit: 1

I get the error saying:

terminate called after throwing an instance of 'PointMatcherSupport::Parametrizable::InvalidParameter'
 what(): Parameter baseFileName for module PerformanceInspector was set but is not used

Then the roslaunch exits.

When I enable the VTKInspector it works and the terminal shows the message that it is writing the data to some files which begin with baseFileName: point-matcher-output but I am not able to find out the location of these file written.

Regards

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answered 2013-08-16 01:48:34 -0500

Francois gravatar image

The full answer was posted on GitHub: https://github.com/ethz-asl/ethzasl_icp_mapping/issues/12

Cheers!

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Asked: 2013-08-06 22:22:59 -0500

Seen: 235 times

Last updated: Aug 16 '13