i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
matlabbe
2016-09-07 19:59:25 -04:00
parent 4a072b3dfc
commit d3173d8533
13 changed files with 255 additions and 153 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
corelib/src/GainCompensator.cpp
View File

@@ -268,8 +268,7 @@ void GainCompensator::apply(
pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud)
{
pcl::IndicesPtr indices(new std::vector<int>);
UASSERT_MSG(uContains(idToIndex_, id), uFormat("id=%d idToIndex_.size()=%d", id, (int)idToIndex_.size()).c_str());
apply(idToIndex_.at(id), cloud, indices);
apply(id, cloud, indices);
}
void GainCompensator::apply(
int id,

16
corelib/src/util3d_surface.cpp
View File

@@ -266,7 +266,7 @@ void appendMesh(
}
}
std::map<int, int> filterNotUsedVerticesFromMesh(
std::vector<int> filterNotUsedVerticesFromMesh(
const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud,
const std::vector<pcl::Vertices> & polygons,
pcl::PointCloud<pcl::PointXYZRGBNormal> & outputCloud,
@@ -274,7 +274,8 @@ std::map<int, int> filterNotUsedVerticesFromMesh(
{
UDEBUG("size=%d polygons=%d", (int)cloud.size(), (int)polygons.size());
std::map<int, int> addedVertices; //<oldIndex, newIndex>
std::map<int, int> output; //<newIndex, oldIndex>
std::vector<int> output; //<oldIndex>
output.resize(cloud.size());
outputCloud.resize(cloud.size());
outputCloud.is_dense = true;
outputPolygons.resize(polygons.size());
@@ -290,7 +291,7 @@ std::map<int, int> filterNotUsedVerticesFromMesh(
{
outputCloud[oi] = cloud.at(polygons[i].vertices[j]);
addedVertices.insert(std::make_pair(polygons[i].vertices[j], oi));
output.insert(std::make_pair(oi, polygons[i].vertices[j]));
output[oi] = polygons[i].vertices[j];
v.vertices[j] = oi++;
}
else
@@ -300,11 +301,12 @@ std::map<int, int> filterNotUsedVerticesFromMesh(
}
}
outputCloud.resize(oi);
output.resize(oi);
return output;
}
std::map<int, int> filterNotUsedVerticesFromMesh(
std::vector<int> filterNotUsedVerticesFromMesh(
const pcl::PointCloud<pcl::PointXYZRGB> & cloud,
const std::vector<pcl::Vertices> & polygons,
pcl::PointCloud<pcl::PointXYZRGB> & outputCloud,
@@ -312,7 +314,8 @@ std::map<int, int> filterNotUsedVerticesFromMesh(
{
UDEBUG("size=%d polygons=%d", (int)cloud.size(), (int)polygons.size());
std::map<int, int> addedVertices; //<oldIndex, newIndex>
std::map<int, int> output; //<newIndex, oldIndex>
std::vector<int> output; //<oldIndex>
output.resize(cloud.size());
outputCloud.resize(cloud.size());
outputCloud.is_dense = true;
outputPolygons.resize(polygons.size());
@@ -328,7 +331,7 @@ std::map<int, int> filterNotUsedVerticesFromMesh(
{
outputCloud[oi] = cloud.at(polygons[i].vertices[j]);
addedVertices.insert(std::make_pair(polygons[i].vertices[j], oi));
output.insert(std::make_pair(oi, polygons[i].vertices[j]));
output[oi] = polygons[i].vertices[j];
v.vertices[j] = oi++;
}
else
@@ -338,6 +341,7 @@ std::map<int, int> filterNotUsedVerticesFromMesh(
}
}
outputCloud.resize(oi);
output.resize(oi);
return output;
}