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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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21
guilib/src/LoopClosureViewer.cpp
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@@ -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()));