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Increased version to 0.9.0. Refactoring: Split util3d.h into multiple files util3d_****.h to reduce compilation time. Also removed all PCL templates to reduce memory used while compiling.

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This commit is contained in:
Mathieu Labbe
2015-05-13 19:54:23 -04:00
parent b54ff8547e
commit 9fde57843f
39 changed files with 4819 additions and 3644 deletions
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corelib/src/Memory.cpp
+21 -16
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@@ -40,9 +40,14 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/EpipolarGeometry.h>
#include "VisualWord.h"
#include "rtabmap/core/Features2d.h"
#include "rtabmap/core/util3d.h"
#include "DBDriverSqlite3.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util3d_conversions.h"
#include "rtabmap/core/util3d_features.h"
#include "rtabmap/core/util3d_filtering.h"
#include "rtabmap/core/util3d_correspondences.h"
#include "rtabmap/core/util3d_registration.h"
#include "rtabmap/core/util3d_surface.h"
#include "rtabmap/core/util2d.h"
#include "rtabmap/core/Statistics.h"
#include "rtabmap/core/Compression.h"
#include "rtabmap/core/Graph.h"
@@ -1954,7 +1959,7 @@ Transform Memory::computeVisualTransform(
UDEBUG("Forcing 2D...");
float x,y,z,r,p,yaw;
transform.getTranslationAndEulerAngles(x,y,z, r,p,yaw);
transform = Transform::fromEigen3f(pcl::getTransformation(x,y,0, 0, 0, yaw));
transform = Transform(x,y,0, 0, 0, yaw);
}
}
else
@@ -2022,7 +2027,7 @@ Transform Memory::computeVisualTransform(
UDEBUG("Forcing 2D...");
float x,y,z,r,p,yaw;
transform.getTranslationAndEulerAngles(x,y,z, r,p,yaw);
transform = Transform::fromEigen3f(pcl::getTransformation(x,y,0, 0, 0, yaw));
transform = Transform(x,y,0, 0, 0, yaw);
}
}
else if(inliersCount < _bowMinInliers)
@@ -2236,8 +2241,8 @@ Transform Memory::computeIcpTransform(
pcl::PointCloud<pcl::PointNormal>::Ptr newCloud = util3d::computeNormals(newCloudXYZ, _icpPointToPlaneNormalNeighbors);
std::vector<int> indices;
newCloud = util3d::removeNaNNormalsFromPointCloud<pcl::PointNormal>(newCloud);
oldCloud = util3d::removeNaNNormalsFromPointCloud<pcl::PointNormal>(oldCloud);
newCloud = util3d::removeNaNNormalsFromPointCloud(newCloud);
oldCloud = util3d::removeNaNNormalsFromPointCloud(oldCloud);
if(newCloud->size() && oldCloud->size())
{
@@ -2335,7 +2340,7 @@ Transform Memory::computeIcpTransform(
// We are 2D here, make sure the guess has only YAW rotation
float x,y,z,r,p,yaw;
guess.getTranslationAndEulerAngles(x,y,z, r,p,yaw);
guess = Transform::fromEigen3f(pcl::getTransformation(x,y,0, 0, 0, yaw));
guess = Transform(x,y,0, 0, 0, yaw);
if(r!=0 || p!=0)
{
UINFO("2D ICP: Dropping z (%f), roll (%f) and pitch (%f) rotation!", z, r, p);
@@ -2350,8 +2355,8 @@ Transform Memory::computeIcpTransform(
//voxelize
if(_icp2VoxelSize > _laserScanVoxelSize)
{
oldCloud = util3d::voxelize<pcl::PointXYZ>(oldCloud, _icp2VoxelSize);
newCloud = util3d::voxelize<pcl::PointXYZ>(newCloud, _icp2VoxelSize);
oldCloud = util3d::voxelize(oldCloud, _icp2VoxelSize);
newCloud = util3d::voxelize(newCloud, _icp2VoxelSize);
}
if(newCloud->size() && oldCloud->size())
@@ -2517,7 +2522,7 @@ Transform Memory::computeScanMatchingTransform(
//voxelize
if(assembledOldClouds->size() && _icp2VoxelSize > 0.0f)
{
assembledOldClouds = util3d::voxelize<pcl::PointXYZ>(assembledOldClouds, _icp2VoxelSize);
assembledOldClouds = util3d::voxelize(assembledOldClouds, _icp2VoxelSize);
}
// get the new cloud
@@ -2530,7 +2535,7 @@ Transform Memory::computeScanMatchingTransform(
//voxelize
if(newCloud->size() && _icp2VoxelSize > _laserScanVoxelSize)
{
newCloud = util3d::voxelize<pcl::PointXYZ>(newCloud, _icp2VoxelSize);
newCloud = util3d::voxelize(newCloud, _icp2VoxelSize);
}
Transform transform;
@@ -3664,7 +3669,7 @@ Signature * Memory::createSignature(const SensorData & data, Statistics * stats)
}
//generate a disparity map
disparity = util3d::disparityFromStereoImages(
disparity = util2d::disparityFromStereoImages(
imageMono,
data.rightImage(),
leftCorners,
@@ -3834,7 +3839,7 @@ Signature * Memory::createSignature(const SensorData & data, Statistics * stats)
//generate a disparity map
std::vector<cv::Point2f> leftCorners;
cv::KeyPoint::convert(keypoints, leftCorners);
cv::Mat disparity = util3d::disparityFromStereoImages(
cv::Mat disparity = util2d::disparityFromStereoImages(
imageMono,
data.rightImage(),
leftCorners,
@@ -3983,8 +3988,8 @@ Signature * Memory::createSignature(const SensorData & data, Statistics * stats)
// apply decimation?
if((this->isBinDataKept() || this->isRawDataKept()) && _imageDecimation > 1)
{
image = util3d::decimate(image, _imageDecimation);
depthOrRightImage = util3d::decimate(depthOrRightImage, _imageDecimation);
image = util2d::decimate(image, _imageDecimation);
depthOrRightImage = util2d::decimate(depthOrRightImage, _imageDecimation);
cx/=float(_imageDecimation);
cy/=float(_imageDecimation);
fx/=float(_imageDecimation);
@@ -3998,7 +4003,7 @@ Signature * Memory::createSignature(const SensorData & data, Statistics * stats)
cv::Mat laserScan = data.laserScan();
if(!laserScan.empty() && _laserScanVoxelSize > 0.0f)
{
laserScan = util3d::laserScanFromPointCloud(*util3d::voxelize<pcl::PointXYZ>(util3d::laserScanToPointCloud(laserScan), _laserScanVoxelSize));
laserScan = util3d::laserScanFromPointCloud(*util3d::voxelize(util3d::laserScanToPointCloud(laserScan), _laserScanVoxelSize));
}
Signature * s;