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MainWindow: Added statistics about how much size the created clouds take in RAM. Avoid caching data on small movements. Export: Fixed meshing checkbox and pipeline combo box not saved/loaded. PreferencesDialog: Added option to disable caching the point clouds. computeNormals(): added viewpoint parameter. mls(): making sure that all returned normals are normalized.

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This commit is contained in:
matlabbe
2016-06-12 17:53:35 -04:00
parent cb7c76889d
commit 543b8df045
12 changed files with 288 additions and 97 deletions
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2
corelib/include/rtabmap/core/SensorData.h
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@@ -194,6 +194,8 @@ public:
void setGroundTruth(const Transform & pose) {groundTruth_ = pose;}
const Transform & groundTruth() const {return groundTruth_;}
long getMemoryUsed() const; // Return memory usage in Bytes
private:
int _id;
double _stamp;

18
corelib/include/rtabmap/core/util3d_surface.h
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@@ -126,28 +126,34 @@ pcl::TextureMesh::Ptr RTABMAP_EXP createTextureMesh(
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
int normalKSearch = 20);
int normalKSearch = 20,
const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
int normalKSearch = 20);
int normalKSearch = 20,
const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const pcl::IndicesPtr & indices,
int normalKSearch = 20);
int normalKSearch = 20,
const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices,
int normalKSearch = 20);
int normalKSearch = 20,
const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
pcl::PointCloud<pcl::Normal>::Ptr computeFastOrganizedNormals(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
float maxDepthChangeFactor = 0.02f,
float normalSmoothingSize = 10.0f);
float normalSmoothingSize = 10.0f,
const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
pcl::PointCloud<pcl::Normal>::Ptr computeFastOrganizedNormals(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices,
float maxDepthChangeFactor = 0.02f,
float normalSmoothingSize = 10.0f);
float normalSmoothingSize = 10.0f,
const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP mls(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,