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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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72
guilib/src/DatabaseViewer.cpp
View File

@@ -49,6 +49,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/gui/KeypointItem.h"
#include "rtabmap/gui/UCv2Qt.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util3d_conversions.h"
#include "rtabmap/core/util3d_transforms.h"
#include "rtabmap/core/util3d_filtering.h"
#include "rtabmap/core/util3d_surface.h"
#include "rtabmap/core/util3d_registration.h"
#include "rtabmap/core/util3d_mapping.h"
#include "rtabmap/core/util2d.h"
#include "rtabmap/core/Signature.h"
#include "rtabmap/core/Features2d.h"
#include "rtabmap/core/Compression.h"
@@ -61,6 +68,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/io/pcd_io.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/common/transforms.h>
#include <pcl/common/common.h>
namespace rtabmap {
@@ -1078,7 +1086,7 @@ void DatabaseViewer::view3DMap()
}
cloud = rtabmap::util3d::cloudFromDisparityRGB(
data.getImageRaw(),
util3d::disparityFromStereoImages(leftImg, data.getDepthRaw()),
util2d::disparityFromStereoImages(leftImg, data.getDepthRaw()),
data.getCx(), data.getCy(),
data.getFx(), data.getFy(),
decimation);
@@ -1095,10 +1103,10 @@ void DatabaseViewer::view3DMap()
if(maxDepth)
{
cloud = rtabmap::util3d::passThrough<pcl::PointXYZRGB>(cloud, "z", 0, maxDepth);
cloud = rtabmap::util3d::passThrough(cloud, "z", 0, maxDepth);
}
cloud = rtabmap::util3d::transformPointCloud<pcl::PointXYZRGB>(cloud, data.getLocalTransform());
cloud = rtabmap::util3d::transformPointCloud(cloud, data.getLocalTransform());
QColor color = Qt::red;
int mapId, weight;
@@ -1188,7 +1196,7 @@ void DatabaseViewer::generate3DMap()
}
cloud = rtabmap::util3d::cloudFromDisparityRGB(
data.getImageRaw(),
util3d::disparityFromStereoImages(leftImg, data.getDepthRaw()),
util2d::disparityFromStereoImages(leftImg, data.getDepthRaw()),
data.getCx(), data.getCy(),
data.getFx(), data.getFy(),
decimation);
@@ -1205,10 +1213,10 @@ void DatabaseViewer::generate3DMap()
if(maxDepth)
{
cloud = rtabmap::util3d::passThrough<pcl::PointXYZRGB>(cloud, "z", 0, maxDepth);
cloud = rtabmap::util3d::passThrough(cloud, "z", 0, maxDepth);
}
cloud = rtabmap::util3d::transformPointCloud<pcl::PointXYZRGB>(cloud, pose*data.getLocalTransform());
cloud = rtabmap::util3d::transformPointCloud(cloud, pose*data.getLocalTransform());
std::string name = uFormat("%s/node%d.pcd", path.toStdString().c_str(), iter->first);
pcl::io::savePCDFile(name, *cloud);
UINFO("Saved %s (%d points)", name.c_str(), cloud->size());
@@ -2032,8 +2040,8 @@ void DatabaseViewer::updateConstraintView(
1);
}
cloudFrom = rtabmap::util3d::removeNaNFromPointCloud<pcl::PointXYZRGB>(cloudFrom);
cloudFrom = rtabmap::util3d::transformPointCloud<pcl::PointXYZRGB>(cloudFrom, dataFrom.getLocalTransform());
cloudFrom = rtabmap::util3d::removeNaNFromPointCloud(cloudFrom);
cloudFrom = rtabmap::util3d::transformPointCloud(cloudFrom, dataFrom.getLocalTransform());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudTo;
if(dataTo.getDepthRaw().type() == CV_8UC1)
@@ -2055,8 +2063,8 @@ void DatabaseViewer::updateConstraintView(
1);
}
cloudTo = rtabmap::util3d::removeNaNFromPointCloud<pcl::PointXYZRGB>(cloudTo);
cloudTo = rtabmap::util3d::transformPointCloud<pcl::PointXYZRGB>(cloudTo, t*dataTo.getLocalTransform());
cloudTo = rtabmap::util3d::removeNaNFromPointCloud(cloudTo);
cloudTo = rtabmap::util3d::transformPointCloud(cloudTo, t*dataTo.getLocalTransform());
if(cloudFrom->size())
{
@@ -2094,14 +2102,14 @@ void DatabaseViewer::updateConstraintView(
if(cloudFrom->size())
{
cloudFrom = rtabmap::util3d::removeNaNFromPointCloud<pcl::PointXYZ>(cloudFrom);
cloudFrom = rtabmap::util3d::removeNaNFromPointCloud(cloudFrom);
}
if(cloudTo->size())
{
cloudTo = rtabmap::util3d::removeNaNFromPointCloud<pcl::PointXYZ>(cloudTo);
cloudTo = rtabmap::util3d::removeNaNFromPointCloud(cloudTo);
if(cloudTo->size())
{
cloudTo = rtabmap::util3d::transformPointCloud<pcl::PointXYZ>(cloudTo, t);
cloudTo = rtabmap::util3d::transformPointCloud(cloudTo, t);
}
}
@@ -2150,7 +2158,7 @@ void DatabaseViewer::updateConstraintView(
pcl::PointCloud<pcl::PointXYZ>::Ptr scanA, scanB;
scanA = rtabmap::util3d::laserScanToPointCloud(dataFrom.getLaserScanRaw());
scanB = rtabmap::util3d::laserScanToPointCloud(dataTo.getLaserScanRaw());
scanB = rtabmap::util3d::transformPointCloud<pcl::PointXYZ>(scanB, t);
scanB = rtabmap::util3d::transformPointCloud(scanB, t);
if(scanA->size())
{
ui_->constraintsViewer->addOrUpdateCloud("scan0", scanA, Transform::getIdentity(), Qt::yellow);
@@ -2268,7 +2276,7 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
if(data.getDepthRaw().type() == CV_8UC1)
{
cloud = rtabmap::util3d::cloudFromDisparity(
util3d::disparityFromStereoImages(data.getImageRaw(), data.getDepthRaw()),
util2d::disparityFromStereoImages(data.getImageRaw(), data.getDepthRaw()),
data.getCx(),
data.getCy(),
data.getFx(),
@@ -2287,13 +2295,13 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
}
if(cloud->size())
{
cloud = util3d::passThrough<pcl::PointXYZ>(cloud, "z", 0, ui_->doubleSpinBox_projMaxDepth->value());
cloud = util3d::passThrough(cloud, "z", 0, ui_->doubleSpinBox_projMaxDepth->value());
}
if(cloud->size())
{
cloud = util3d::voxelize<pcl::PointXYZ>(cloud, ui_->doubleSpinBox_gridCellSize->value());
cloud = util3d::transformPointCloud<pcl::PointXYZ>(cloud, data.getLocalTransform());
cloud = util3d::voxelize(cloud, ui_->doubleSpinBox_gridCellSize->value());
cloud = util3d::transformPointCloud(cloud, data.getLocalTransform());
UTimer timer;
float cellSize = ui_->doubleSpinBox_gridCellSize->value();
@@ -2583,8 +2591,8 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent, bool update
//voxelize
if(ui_->doubleSpinBox_icp_voxel->value() > 0.0f)
{
scanA = util3d::voxelize<pcl::PointXYZ>(scanA, ui_->doubleSpinBox_icp_voxel->value());
scanB = util3d::voxelize<pcl::PointXYZ>(scanB, ui_->doubleSpinBox_icp_voxel->value());
scanA = util3d::voxelize(scanA, ui_->doubleSpinBox_icp_voxel->value());
scanB = util3d::voxelize(scanB, ui_->doubleSpinBox_icp_voxel->value());
}
if(scanB->size() && scanA->size())
@@ -2629,16 +2637,16 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent, bool update
{
leftMono = left;
}
cloudA = util3d::cloudFromDisparity(util3d::disparityFromStereoImages(leftMono, depthA), dataFrom.getCx(), dataFrom.getCy(), dataFrom.getFx(), dataFrom.getFy(), ui_->spinBox_icp_decimation->value());
cloudA = util3d::cloudFromDisparity(util2d::disparityFromStereoImages(leftMono, depthA), dataFrom.getCx(), dataFrom.getCy(), dataFrom.getFx(), dataFrom.getFy(), ui_->spinBox_icp_decimation->value());
if(ui_->doubleSpinBox_icp_maxDepth->value() > 0)
{
cloudA = util3d::passThrough<pcl::PointXYZ>(cloudA, "z", 0, ui_->doubleSpinBox_icp_maxDepth->value());
cloudA = util3d::passThrough(cloudA, "z", 0, ui_->doubleSpinBox_icp_maxDepth->value());
}
if(ui_->doubleSpinBox_icp_voxel->value() > 0)
{
cloudA = util3d::voxelize<pcl::PointXYZ>(cloudA, ui_->doubleSpinBox_icp_voxel->value());
cloudA = util3d::voxelize(cloudA, ui_->doubleSpinBox_icp_voxel->value());
}
cloudA = util3d::transformPointCloud<pcl::PointXYZ>(cloudA, dataFrom.getLocalTransform());
cloudA = util3d::transformPointCloud(cloudA, dataFrom.getLocalTransform());
}
else
{
@@ -2662,16 +2670,16 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent, bool update
{
leftMono = left;
}
cloudB = util3d::cloudFromDisparity(util3d::disparityFromStereoImages(leftMono, depthB), dataTo.getCx(), dataTo.getCy(), dataTo.getFx(), dataTo.getFy(), ui_->spinBox_icp_decimation->value());
cloudB = util3d::cloudFromDisparity(util2d::disparityFromStereoImages(leftMono, depthB), dataTo.getCx(), dataTo.getCy(), dataTo.getFx(), dataTo.getFy(), ui_->spinBox_icp_decimation->value());
if(ui_->doubleSpinBox_icp_maxDepth->value() > 0)
{
cloudB = util3d::passThrough<pcl::PointXYZ>(cloudB, "z", 0, ui_->doubleSpinBox_icp_maxDepth->value());
cloudB = util3d::passThrough(cloudB, "z", 0, ui_->doubleSpinBox_icp_maxDepth->value());
}
if(ui_->doubleSpinBox_icp_voxel->value() > 0)
{
cloudB = util3d::voxelize<pcl::PointXYZ>(cloudB, ui_->doubleSpinBox_icp_voxel->value());
cloudB = util3d::voxelize(cloudB, ui_->doubleSpinBox_icp_voxel->value());
}
cloudB = util3d::transformPointCloud<pcl::PointXYZ>(cloudB, t * dataTo.getLocalTransform());
cloudB = util3d::transformPointCloud(cloudB, t * dataTo.getLocalTransform());
}
else
{
@@ -2689,13 +2697,13 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent, bool update
pcl::PointCloud<pcl::PointNormal>::Ptr cloudANormals = util3d::computeNormals(cloudA, ui_->spinBox_icp_normalKSearch->value());
pcl::PointCloud<pcl::PointNormal>::Ptr cloudBNormals = util3d::computeNormals(cloudB, ui_->spinBox_icp_normalKSearch->value());
cloudANormals = util3d::removeNaNNormalsFromPointCloud<pcl::PointNormal>(cloudANormals);
cloudANormals = util3d::removeNaNNormalsFromPointCloud(cloudANormals);
if(cloudA->size() != cloudANormals->size())
{
UWARN("removed nan normals...");
}
cloudBNormals = util3d::removeNaNNormalsFromPointCloud<pcl::PointNormal>(cloudBNormals);
cloudBNormals = util3d::removeNaNNormalsFromPointCloud(cloudBNormals);
if(cloudB->size() != cloudBNormals->size())
{
UWARN("removed nan normals...");
@@ -2765,8 +2773,8 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent, bool update
if(ui_->dockWidget_constraints->isVisible())
{
cloudB = util3d::transformPointCloud<pcl::PointXYZ>(cloudB, transform);
scanB = util3d::transformPointCloud<pcl::PointXYZ>(scanB, transform);
cloudB = util3d::transformPointCloud(cloudB, transform);
scanB = util3d::transformPointCloud(scanB, transform);
this->updateConstraintView(newLink, true, cloudA, cloudB, scanA, scanB);
}
}

6
guilib/src/ImageView.cpp
View File

@@ -38,7 +38,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QVBoxLayout>
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/gui/KeypointItem.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util2d.h"
namespace rtabmap {
@@ -551,7 +551,7 @@ void ImageView::setFeatures(const std::multimap<int, cv::KeyPoint> & refWords, c
for(std::multimap<int, cv::KeyPoint>::const_iterator iter = refWords.begin(); iter != refWords.end(); ++iter )
{
addFeature(iter->first, iter->second, depth.empty()?0:util3d::getDepth(depth, iter->second.pt.x, iter->second.pt.y, false), color);
addFeature(iter->first, iter->second, depth.empty()?0:util2d::getDepth(depth, iter->second.pt.x, iter->second.pt.y, false), color);
}
if(!_graphicsView->isVisible())
@@ -567,7 +567,7 @@ void ImageView::setFeatures(const std::vector<cv::KeyPoint> & features, const cv
for(unsigned int i = 0; i< features.size(); ++i )
{
addFeature(i, features[i], depth.empty()?0:util3d::getDepth(depth, features[i].pt.x, features[i].pt.y, false), color);
addFeature(i, features[i], depth.empty()?0:util2d::getDepth(depth, features[i].pt.x, features[i].pt.y, false), color);
}
if(!_graphicsView->isVisible())

21
guilib/src/LoopClosureViewer.cpp
View File

@@ -29,6 +29,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "ui_loopClosureViewer.h"
#include "rtabmap/core/Memory.h"
#include "rtabmap/core/util3d_filtering.h"
#include "rtabmap/core/util3d_transforms.h"
#include "rtabmap/core/util3d_conversions.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/Signature.h"
#include "rtabmap/utilite/ULogger.h"
@@ -123,17 +126,17 @@ void LoopClosureViewer::updateView(const Transform & transform)
sA_.getFx(), sA_.getFy(),
decimation);
}
cloudA = util3d::removeNaNFromPointCloud(cloudA);
if(maxDepth>0.0)
{
{
cloudA = util3d::passThrough(cloudA, "z", 0, maxDepth);
}
if(samples>0 && (int)cloudA->size() > samples)
{
{
cloudA = util3d::sampling(cloudA, samples);
}
}
cloudA = util3d::transformPointCloud(cloudA, sA_.getLocalTransform());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudB;
@@ -155,23 +158,23 @@ void LoopClosureViewer::updateView(const Transform & transform)
sB_.getFx(), sB_.getFy(),
decimation);
}
cloudB = util3d::removeNaNFromPointCloud(cloudB);
if(maxDepth>0.0)
{
{
cloudB = util3d::passThrough(cloudB, "z", 0, maxDepth);
}
if(samples>0 && (int)cloudB->size() > samples)
{
{
cloudB = util3d::sampling(cloudB, samples);
}
}
cloudB = util3d::transformPointCloud(cloudB, t*sB_.getLocalTransform());
//cloud 2d
pcl::PointCloud<pcl::PointXYZ>::Ptr scanA, scanB;
scanA = util3d::laserScanToPointCloud(sA_.getLaserScanRaw());
scanB = util3d::laserScanToPointCloud(sB_.getLaserScanRaw());
scanB = util3d::laserScanToPointCloud(sB_.getLaserScanRaw());
scanB = util3d::transformPointCloud(scanB, t);
ui_->label_idA->setText(QString("[%1 (%2) -> %3 (%4)]").arg(sB_.id()).arg(cloudB->size()).arg(sA_.id()).arg(cloudA->size()));

40
guilib/src/MainWindow.cpp
View File

@@ -84,6 +84,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/OdometryThread.h"
#include "rtabmap/core/OdometryEvent.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util3d_transforms.h"
#include "rtabmap/core/util3d_filtering.h"
#include "rtabmap/core/util3d_conversions.h"
#include "rtabmap/core/util3d_mapping.h"
#include "rtabmap/core/util3d_surface.h"
#include "rtabmap/core/util3d_registration.h"
#include "rtabmap/core/Graph.h"
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/common/transforms.h>
@@ -810,7 +816,7 @@ void MainWindow::processOdometry(const rtabmap::SensorData & data, const rtabmap
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
cloud = util3d::laserScanToPointCloud(data.laserScan());
cloud = util3d::transformPointCloud<pcl::PointXYZ>(cloud, pose);
cloud = util3d::transformPointCloud(cloud, pose);
if(!_ui->widget_cloudViewer->addOrUpdateCloud("scanOdom", cloud, _odometryCorrection))
{
UERROR("Adding scanOdom to viewer failed!");
@@ -1585,7 +1591,7 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
pcl::PointCloud<pcl::PointXYZRGB>::Ptr voxelizedCloud = cloud;
if(voxelizedCloud->size())
{
voxelizedCloud = util3d::voxelize<pcl::PointXYZRGB>(cloud, cellSize);
voxelizedCloud = util3d::voxelize(cloud, cellSize);
}
util3d::occupancy2DFromCloud3D<pcl::PointXYZRGB>(
voxelizedCloud,
@@ -3472,13 +3478,13 @@ void MainWindow::postProcessing()
pcl::PointCloud<pcl::PointNormal>::Ptr cloudANormals = util3d::computeNormals(cloudA, pointToPlaneNormalNeighbors);
pcl::PointCloud<pcl::PointNormal>::Ptr cloudBNormals = util3d::computeNormals(cloudB, pointToPlaneNormalNeighbors);
cloudANormals = util3d::removeNaNNormalsFromPointCloud<pcl::PointNormal>(cloudANormals);
cloudANormals = util3d::removeNaNNormalsFromPointCloud(cloudANormals);
if(cloudA->size() != cloudANormals->size())
{
UWARN("removed nan normals...");
}
cloudBNormals = util3d::removeNaNNormalsFromPointCloud<pcl::PointNormal>(cloudBNormals);
cloudBNormals = util3d::removeNaNNormalsFromPointCloud(cloudBNormals);
if(cloudB->size() != cloudBNormals->size())
{
UWARN("removed nan normals...");
@@ -4201,13 +4207,13 @@ bool MainWindow::getExportedScans(std::map<int, pcl::PointCloud<pcl::PointXYZ>::
{
if(assemble)
{
*assembledScans += *util3d::transformPointCloud<pcl::PointXYZ>(scan, iter->second);;
*assembledScans += *util3d::transformPointCloud(scan, iter->second);;
if(count++ % 100 == 0)
{
if(assembledScans->size() && voxel)
{
assembledScans = util3d::voxelize<pcl::PointXYZ>(assembledScans, voxel);
assembledScans = util3d::voxelize(assembledScans, voxel);
}
}
}
@@ -4234,7 +4240,7 @@ bool MainWindow::getExportedScans(std::map<int, pcl::PointCloud<pcl::PointXYZ>::
{
if(voxel && assembledScans->size())
{
assembledScans = util3d::voxelize<pcl::PointXYZ>(assembledScans, voxel);
assembledScans = util3d::voxelize(assembledScans, voxel);
}
if(assembledScans->size())
{
@@ -4560,7 +4566,7 @@ void MainWindow::saveClouds(const std::map<int, pcl::PointCloud<pcl::PointXYZRGB
if(iter->second->size())
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformedCloud;
transformedCloud = util3d::transformPointCloud<pcl::PointXYZRGB>(iter->second, _currentPosesMap.at(iter->first));
transformedCloud = util3d::transformPointCloud(iter->second, _currentPosesMap.at(iter->first));
QString pathFile = path+QDir::separator()+QString("%1%2.%3").arg(prefix).arg(iter->first).arg(suffix);
bool success =false;
@@ -4675,7 +4681,7 @@ void MainWindow::saveMeshes(const std::map<int, pcl::PolygonMesh::Ptr> & meshes,
mesh.polygons = iter->second->polygons;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr tmp(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::fromPCLPointCloud2(iter->second->cloud, *tmp);
tmp = util3d::transformPointCloud<pcl::PointXYZRGB>(tmp, _currentPosesMap.at(iter->first));
tmp = util3d::transformPointCloud(tmp, _currentPosesMap.at(iter->first));
pcl::toPCLPointCloud2(*tmp, mesh.cloud);
QString pathFile = path+QDir::separator()+QString("%1%2.%3").arg(prefix).arg(iter->first).arg(suffix);
@@ -4788,7 +4794,7 @@ void MainWindow::saveScans(const std::map<int, pcl::PointCloud<pcl::PointXYZ>::P
if(iter->second->size())
{
pcl::PointCloud<pcl::PointXYZ>::Ptr transformedCloud;
transformedCloud = util3d::transformPointCloud<pcl::PointXYZ>(iter->second, _currentPosesMap.at(iter->first));
transformedCloud = util3d::transformPointCloud(iter->second, _currentPosesMap.at(iter->first));
QString pathFile = path+QDir::separator()+QString("%1%2.%3").arg(prefix).arg(iter->first).arg(suffix);
bool success =false;
@@ -4866,24 +4872,24 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr MainWindow::createCloud(
bool filtered = false;
if(cloud->size() && maxDepth)
{
cloud = util3d::passThrough<pcl::PointXYZRGB>(cloud, "z", 0, maxDepth);
cloud = util3d::passThrough(cloud, "z", 0, maxDepth);
filtered = true;
}
if(cloud->size() && voxelSize)
{
cloud = util3d::voxelize<pcl::PointXYZRGB>(cloud, voxelSize);
cloud = util3d::voxelize(cloud, voxelSize);
filtered = true;
}
if(cloud->size() && !filtered)
{
cloud = util3d::removeNaNFromPointCloud<pcl::PointXYZRGB>(cloud);
cloud = util3d::removeNaNFromPointCloud(cloud);
}
if(cloud->size())
{
cloud = util3d::transformPointCloud<pcl::PointXYZRGB>(cloud, pose * localTransform);
cloud = util3d::transformPointCloud(cloud, pose * localTransform);
}
}
UDEBUG("Generated cloud %d (pts=%d) time=%fs", id, (int)cloud->size(), timer.ticks());
@@ -4952,7 +4958,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr MainWindow::getAssembledCloud(
}
else if(uContains(_createdClouds, iter->first))
{
cloud = util3d::transformPointCloud<pcl::PointXYZRGB>(_createdClouds.at(iter->first), iter->second);
cloud = util3d::transformPointCloud(_createdClouds.at(iter->first), iter->second);
}
if(cloud->size())
@@ -4976,7 +4982,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr MainWindow::getAssembledCloud(
{
if(assembledCloud->size() && assembledVoxelSize)
{
assembledCloud = util3d::voxelize<pcl::PointXYZRGB>(assembledCloud, assembledVoxelSize);
assembledCloud = util3d::voxelize(assembledCloud, assembledVoxelSize);
}
}
}
@@ -4990,7 +4996,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr MainWindow::getAssembledCloud(
if(assembledCloud->size() && assembledVoxelSize)
{
assembledCloud = util3d::voxelize<pcl::PointXYZRGB>(assembledCloud, assembledVoxelSize);
assembledCloud = util3d::voxelize(assembledCloud, assembledVoxelSize);
}
return assembledCloud;

6
guilib/src/OdometryViewer.cpp
View File

@@ -27,6 +27,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/gui/OdometryViewer.h"
#include "rtabmap/core/util3d_transforms.h"
#include "rtabmap/core/util3d_filtering.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/OdometryEvent.h"
#include "rtabmap/utilite/ULogger.h"
@@ -214,12 +216,12 @@ void OdometryViewer::processData(const rtabmap::SensorData & data, const rtabmap
if(voxelSpin_->value() > 0.0f && cloud->size())
{
cloud = util3d::voxelize<pcl::PointXYZRGB>(cloud, voxelSpin_->value());
cloud = util3d::voxelize(cloud, voxelSpin_->value());
}
if(cloud->size())
{
cloud = util3d::transformPointCloud<pcl::PointXYZRGB>(cloud, data.localTransform());
cloud = util3d::transformPointCloud(cloud, data.localTransform());
if(!data.pose().isNull())
{