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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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9
tools/CameraRGBD/main.cpp
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@@ -27,7 +27,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/CameraRGBD.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util3d_conversions.h"
#include "rtabmap/core/util3d_transforms.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UMath.h"
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <pcl/visualization/cloud_viewer.h>
@@ -183,13 +186,13 @@ int main(int argc, char * argv[])
if(rgb.cols == depth.cols && rgb.rows == depth.rows && fx && fy)
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = rtabmap::util3d::cloudFromDepthRGB(rgb, depth, cx, cy, fx, fy);
cloud = rtabmap::util3d::transformPointCloud<pcl::PointXYZRGB>(cloud, t);
cloud = rtabmap::util3d::transformPointCloud(cloud, t);
viewer.showCloud(cloud, "cloud");
}
else if(!depth.empty() && fx && fy)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = rtabmap::util3d::cloudFromDepth(depth, cx, cy, fx, fy);
cloud = rtabmap::util3d::transformPointCloud<pcl::PointXYZ>(cloud, t);
cloud = rtabmap::util3d::transformPointCloud(cloud, t);
viewer.showCloud(cloud, "cloud");
}
@@ -214,7 +217,7 @@ int main(int argc, char * argv[])
cv::cvtColor(depth, depth, CV_BGR2GRAY);
}
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = rtabmap::util3d::cloudFromStereoImages(rgb, depth, cx, cy, fx, fy);
cloud = rtabmap::util3d::transformPointCloud<pcl::PointXYZRGB>(cloud, t);
cloud = rtabmap::util3d::transformPointCloud(cloud, t);
viewer.showCloud(cloud, "cloud");
}
}