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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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4
guilib/include/rtabmap/gui/MainWindow.h
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@@ -281,12 +281,14 @@ private:
int _waypointsIndex;
QMap<int, Signature> _cachedSignatures;
long _cachedMemoryUsage;
std::map<int, Transform> _currentPosesMap; // <nodeId, pose>
std::map<int, Transform> _currentGTPosesMap; // <nodeId, pose>
std::multimap<int, Link> _currentLinksMap; // <nodeFromId, link>
std::map<int, int> _currentMapIds; // <nodeId, mapId>
std::map<int, std::string> _currentLabels; // <nodeId, label>
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > _createdClouds;
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > _cachedClouds;
long _createdCloudsMemoryUsage;
std::pair<int, std::pair<std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr>, pcl::IndicesPtr> > _previousCloud; // used for subtraction
std::map<int, cv::Mat> _createdScans;

1
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -224,6 +224,7 @@ public:
//
bool isImagesKept() const;
bool isCloudsKept() const;
float getTimeLimit() const;
float getDetectionRate() const;
bool isSLAMMode() const;