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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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40
guilib/src/MainWindow.cpp
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@@ -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;