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Tango: Optimized memory for created meshes (keeping dense clouds instead of organized clouds)

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matlabbe
2016-09-07 19:59:25 -04:00
parent 4a072b3dfc
commit d3173d8533
13 changed files with 255 additions and 153 deletions
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4
corelib/include/rtabmap/core/util3d_surface.h
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@@ -89,12 +89,12 @@ void RTABMAP_EXP appendMesh(
const std::vector<pcl::Vertices> & polygonsB);
// return map from new to old polygon indices
std::map<int, int> RTABMAP_EXP filterNotUsedVerticesFromMesh(
std::vector<int> RTABMAP_EXP filterNotUsedVerticesFromMesh(
const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud,
const std::vector<pcl::Vertices> & polygons,
pcl::PointCloud<pcl::PointXYZRGBNormal> & outputCloud,
std::vector<pcl::Vertices> & outputPolygons);
std::map<int, int> RTABMAP_EXP filterNotUsedVerticesFromMesh(
std::vector<int> RTABMAP_EXP filterNotUsedVerticesFromMesh(
const pcl::PointCloud<pcl::PointXYZRGB> & cloud,
const std::vector<pcl::Vertices> & polygons,
pcl::PointCloud<pcl::PointXYZRGB> & outputCloud,