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Added util3d::occupancy2DFromCloud3D() and util3d::create2DMapFromOccupancyLocalMaps() methods to create 2D occupancy maps from 3D clouds

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1899 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-10-20 02:14:31 +00:00
parent b97426c83d
commit d0325f3171
11 changed files with 910 additions and 91 deletions
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corelib/include/rtabmap/core/Statistics.h
+9
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@@ -99,6 +99,15 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(TimingMem, Pre_update, ms);
RTABMAP_STATS(TimingMem, Signature_creation, ms);
RTABMAP_STATS(TimingMem, Rehearsal, ms);
RTABMAP_STATS(TimingMem, Keypoints_detection, ms);
RTABMAP_STATS(TimingMem, Stereo_subpixel, ms);
RTABMAP_STATS(TimingMem, Stereo_correspondences, ms);
RTABMAP_STATS(TimingMem, Keypoints_filtering, ms);
RTABMAP_STATS(TimingMem, Descriptors_extraction, ms);
RTABMAP_STATS(TimingMem, Keypoints_3D, ms);
RTABMAP_STATS(TimingMem, Joining_dictionary_update, ms);
RTABMAP_STATS(TimingMem, Add_new_words, ms);
RTABMAP_STATS(TimingMem, Compressing_data, ms);
RTABMAP_STATS(Keypoint, Dictionary_size, words);
RTABMAP_STATS(Keypoint, Response_threshold,);