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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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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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examples/RGBDMapping/MapBuilder.h
+6 -4
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@@ -35,6 +35,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#ifndef Q_MOC_RUN // Mac OS X issue
#include "rtabmap/gui/CloudViewer.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util3d_filtering.h"
#include "rtabmap/core/util3d_transforms.h"
#include "rtabmap/core/RtabmapEvent.h"
#endif
#include "rtabmap/utilite/UStl.h"
@@ -140,10 +142,10 @@ protected slots:
2); // decimation // high definition
if(cloud->size())
{
cloud = util3d::passThrough<pcl::PointXYZRGB>(cloud, "z", 0, 4.0f);
cloud = util3d::passThrough(cloud, "z", 0, 4.0f);
if(cloud->size())
{
cloud = util3d::transformPointCloud<pcl::PointXYZRGB>(cloud, data.localTransform());
cloud = util3d::transformPointCloud(cloud, data.localTransform());
}
}
if(!cloudViewer_->addOrUpdateCloud("cloudOdom", cloud, odometryCorrection_*pose))
@@ -211,10 +213,10 @@ protected slots:
if(cloud->size())
{
cloud = util3d::passThrough<pcl::PointXYZRGB>(cloud, "z", 0, 4.0f);
cloud = util3d::passThrough(cloud, "z", 0, 4.0f);
if(cloud->size())
{
cloud = util3d::transformPointCloud<pcl::PointXYZRGB>(cloud, stats.getSignature().getLocalTransform());
cloud = util3d::transformPointCloud(cloud, stats.getSignature().getLocalTransform());
}
}
if(!cloudViewer_->addOrUpdateCloud(cloudName, cloud, iter->second))