MainWindow: Added statistics about how much size the created clouds take in RAM. Avoid caching data on small movements. Export: Fixed meshing checkbox and pipeline combo box not saved/loaded. PreferencesDialog: Added option to disable caching the point clouds. computeNormals(): added viewpoint parameter. mls(): making sure that all returned normals are normalized.

corelib/src/SensorData.cpp

@@ -448,7 +448,6 @@ void SensorData::setUserDataRaw(const cv::Mat & userDataRaw)
 		return;
 	}
 	_userDataRaw = userDataRaw;
-	_userDataCompressed = cv::Mat();
 }
 
 void SensorData::setUserData(const cv::Mat & userData)
@@ -607,5 +606,17 @@ void SensorData::uncompressDataConst(cv::Mat * imageRaw, cv::Mat * depthRaw, cv:
 	}
 }
 
+long SensorData::getMemoryUsed() const // Return memory usage in Bytes
+{
+	return _imageCompressed.total()*_imageCompressed.elemSize() +
+			_imageRaw.total()*_imageRaw.elemSize() +
+			_depthOrRightCompressed.total()*_depthOrRightCompressed.elemSize() +
+			_depthOrRightRaw.total()*_depthOrRightRaw.elemSize() +
+			_userDataCompressed.total()*_userDataCompressed.elemSize() +
+			_userDataRaw.total()*_userDataRaw.elemSize() +
+			_laserScanCompressed.total()*_laserScanCompressed.elemSize() +
+			_laserScanRaw.total()*_laserScanRaw.elemSize();
+}
+
 } // namespace rtabmap