Reduced space usage for Moving Least Squares #785
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Moving Least Squares methods. However, a reference to an entry in this vector was needed for calls to computeMLSPointNormal, which is why it was being allocated in full. This commit causes the vector to be resized to 1 for those methods that don't need the full version, and then a reference to entry 0 is passed. The decision was made not to modify computeMLSPointNormal because it needs to be thread-safe and I do not have the means to test the OpenMP version of the code. Identical modifications were made to MovingLeastSquaresOMP::performProcessing as to MovingLeastSquares::performProcessing. Tests which do not depend on OpenMP still pass.
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Looks good to me. |
jspricke
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Jul 31, 2014
Reduced space usage for Moving Least Squares
jspricke
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Aug 1, 2014
import missing variables from super class MovingLeastSquares. Fixes compiler error introduced in PointCloudLibrary#785.
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The
mls_results_vector did not need to be allocated for most of the Moving Least Squares methods. However, a reference to an entry in this vector was needed for calls tocomputeMLSPointNormal, which is why it was being allocated in full. This commit causes the vector to be resized to 1 for those methods that don't need the full version, and then a reference to entry 0 is passed. The decision was made not to modifycomputeMLSPointNormalbecause it needs to be thread-safe and I do not have the means to test the OpenMP version of the code. Identical modifications were made toMovingLeastSquaresOMP::performProcessingas toMovingLeastSquares::performProcessing.Tests which do not depend on OpenMP still pass. I cannot speak to those tests which require OpenMP.
While this requires to additional comparisons per loop iteration, I believe these will be optimized out.