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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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6
guilib/src/OdometryViewer.cpp
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@@ -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())
{