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11 Commits (63e901d2767c1c1815065790895b2cfcb962b764)

Author SHA1 Message Date
catskul f6192e4735 replace implicit use of cartographer::string with explicit use of std::string (#673) 
Fixes #622.
 2017-11-15 10:17:59 +01:00
Holger Rapp 638aee7c2a Fix slow point deletion in RemovePoints. (#608) 
This speeds up the asset writer significantly:

For the 3D sample bag:

~~~
/usr/bin/time roslaunch cartographer_ros assets_writer_backpack_3d.launch \
   bag_filenames:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag \
   pose_graph_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag.pbstream

master:
2100.96user 26.79system 35:43.60elapsed 99%CPU (0avgtext+0avgdata 3657028maxresident)k
17682632inputs+32080outputs (0major+20021051minor)pagefaults 0swaps

this CL:
1937.46user 11.77system 32:22.49elapsed 100%CPU (0avgtext+0avgdata 3659412maxresident)k
1352inputs+32088outputs (0major+7042032minor)pagefaults 0swaps
~~~

So ~10%. For pipelines that do less this can be even 30% or more.
 2017-10-23 10:56:55 +02:00
Holger Rapp 6708930bbf Adds 'offset_seconds' to PointCloudWithIntensities. (#571) 
This is preparing using per-point-unwarping in the `assets_writer` in `cartographer_ros`.

Related to googlecartographer/cartographer_ros#521.

PAIR=@wohe
 2017-10-06 13:21:02 +02:00
damienrg 46c7ce886d Change Color to Uint8Color and FloatColor (#423) 
As almost all computations for color are done in float, use FloatColor
format by default and convert to Uint8Color only when needed.
 2017-07-27 11:03:55 +02:00
Holger Rapp 8dfd650068 Pull some functionality from cartographer_ros into cartographer. (#420) 
- Moved color.h.
- Moved Cairo types.
- Simplifications in XRayPointsProcessor.
 2017-07-24 13:22:06 +02:00
Holger Rapp 9464b38320 Consistency fix: trajectory_index -> trajectory_id. (#360) 2017-06-26 10:02:51 +02:00
William Woodall c78f29fdac Adds #include <array> in files that use std::array (#222) 2017-03-20 08:37:47 +01:00
Holger Rapp 965caf7470 Make intensities a separate channel in PointsBatch. (#187) 
And add a PointsProcessor that translates from intensities to RGB.

Fixes #171.
 2017-01-24 15:08:41 +01:00
Holger Rapp 4a9116a58e PointsProcessor can now ask for another pass over the data. (#69) 
* PointsProcessor can now ask for another pass.
* Added MinMaxFilteringPointsProcessor to have a user for RemovePoints.
 2016-10-19 13:11:13 +02:00
Atsushi Watanabe ccc26a7f4f Add missing <vector> include. (#74) 2016-10-18 14:35:45 +02:00
Holger Rapp c2aed53ce8 Adds a points processing pipeline and a XRay creator. (#66) 
- Adds cairo as required dependency.
- Adds an 'io' module.
 2016-10-14 15:14:46 +02:00