Docker updated artful image. Memory: fixed 2x icp correspondence rati…

…o error (>1.0) when creating registration for icp proximity detection
introlab · Mar 22, 2018 · 420feca · 420feca
1 parent ef017c9
commit 420feca
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Showing 2 changed files with 15 additions and 16 deletions.
diff --git a/corelib/src/Memory.cpp b/corelib/src/Memory.cpp
@@ -121,7 +121,13 @@ Memory::Memory(const ParametersMap & parameters) :
 	float corRatio = Parameters::defaultIcpCorrespondenceRatio();
 	Parameters::parse(parameters, Parameters::kIcpCorrespondenceRatio(), corRatio);
 	ParametersMap paramsMulti = parameters;
-	paramsMulti.insert(ParametersPair(Parameters::kIcpCorrespondenceRatio(), uNumber2Str(corRatio*2.0f)));
+	paramsMulti.insert(ParametersPair(Parameters::kIcpCorrespondenceRatio(), uNumber2Str(corRatio>=0.5f?1.0f:corRatio*2.0f)));
+	if(corRatio >= 0.5)
+	{
+		UWARN(	"%s is >=0.5, which sets correspondence ratio for proximity detection using "
+			"laser scans to 100% (2 x Ratio). You may lower the ratio to accept proximity "
+			"detection with not full scans overlapping.");
+	}
 	_registrationIcpMulti = new RegistrationIcp(paramsMulti);
 
 	_occupancy = new OccupancyGrid(parameters);
@@ -569,12 +575,17 @@ void Memory::parseParameters(const ParametersMap & parameters)
 	{
 		if(uContains(params, Parameters::kIcpCorrespondenceRatio()))
 		{
-			// for local scan matching, correspondences ratio should be two times higher as we expect more matches
 			// for local scan matching, correspondences ratio should be two times higher as we expect more matches
 			float corRatio = Parameters::defaultIcpCorrespondenceRatio();
 			Parameters::parse(parameters, Parameters::kIcpCorrespondenceRatio(), corRatio);
 			ParametersMap paramsMulti = params;
-			paramsMulti.at(Parameters::kIcpCorrespondenceRatio()) = uNumber2Str(corRatio*2.0f);
+			paramsMulti.insert(ParametersPair(Parameters::kIcpCorrespondenceRatio(), uNumber2Str(corRatio>=0.5f?1.0f:corRatio*2.0f)));
+			if(corRatio >= 0.5)
+			{
+				UWARN(	"%s is >=0.5, which sets correspondence ratio for proximity detection using "
+					"laser scans to 100% (2 x Ratio). You may lower the ratio to accept proximity "
+					"detection with not full scans overlapping.");
+			}
 			_registrationIcpMulti->parseParameters(paramsMulti);
 		}
 		else

diff --git a/docker/artful/Dockerfile b/docker/artful/Dockerfile
@@ -8,6 +8,7 @@ RUN apt-get update && apt-get install -y \
       libpcl-dev \
       git \
       cmake \
+      libopencv-dev \
       libproj-dev \
       libqt5svg5-dev \
       libfreenect-dev \
@@ -17,19 +18,6 @@ RUN apt-get update && apt-get install -y \
 
 WORKDIR /root/
 
-# using OpenCV from source because ffmpeg (libavutil..) error with opencv binaries:
-# rtabmap: symbol lookup error: /usr/lib/x86_64-linux-gnu/libavutil.so.55: undefined symbol: vdp_device_create_x11
-# ffmpeg above should be installed before building opencv
-
-RUN git clone https://github.com/opencv/opencv_contrib.git
-RUN git clone https://github.com/opencv/opencv.git
-RUN cd opencv && mkdir build && cd build && \
-    cmake -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF .. && \
-    make -j$(nproc) && \
-    make install && \
-    cd ../.. && \
-    rm -rf opencv opencv_contrib
-
 # Clone source code
 RUN git clone https://github.com/introlab/rtabmap.git