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Reduce memcpy in point cloud transform #216

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merged 4 commits into from
Jan 2, 2019

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at-wat
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@at-wat at-wat commented Jan 1, 2019

@at-wat at-wat self-assigned this Jan 1, 2019
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at-wat commented Jan 1, 2019

[#555] PASSED on indigo

All tests passed
build/test_results/mcl_3dl/gtest-test_chunked_kdtree.xml: 1 tests
build/test_results/mcl_3dl/gtest-test_filter.xml: 3 tests
build/test_results/mcl_3dl/gtest-test_nd.xml: 2 tests
build/test_results/mcl_3dl/gtest-test_pf.xml: 5 tests
build/test_results/mcl_3dl/gtest-test_point_cloud_random_sampler.xml: 1 tests
build/test_results/mcl_3dl/gtest-test_quat.xml: 4 tests
build/test_results/mcl_3dl/gtest-test_raycast.xml: 3 tests
build/test_results/mcl_3dl/gtest-test_vec3.xml: 5 tests
build/test_results/mcl_3dl/roslint-mcl_3dl.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_expansion_resetting_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_global_localization_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_localization_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_mcl_3dl_compat_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_tf_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_transform_rostest.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_pose.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_tf.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_expansion_resetting.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_global_localization.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_mcl_3dl_compat.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_transform_failure.xml: 1 tests
Summary: 37 tests, 0 errors, 0 failures, 0 skipped

[#555] PASSED on kinetic

All tests passed
build/test_results/mcl_3dl/gtest-test_chunked_kdtree.xml: 1 tests
build/test_results/mcl_3dl/gtest-test_filter.xml: 3 tests
build/test_results/mcl_3dl/gtest-test_nd.xml: 2 tests
build/test_results/mcl_3dl/gtest-test_pf.xml: 5 tests
build/test_results/mcl_3dl/gtest-test_point_cloud_random_sampler.xml: 1 tests
build/test_results/mcl_3dl/gtest-test_quat.xml: 4 tests
build/test_results/mcl_3dl/gtest-test_raycast.xml: 3 tests
build/test_results/mcl_3dl/gtest-test_vec3.xml: 5 tests
build/test_results/mcl_3dl/roslint-mcl_3dl.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_expansion_resetting_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_global_localization_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_localization_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_mcl_3dl_compat_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_tf_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_transform_rostest.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_pose.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_tf.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_expansion_resetting.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_global_localization.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_mcl_3dl_compat.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_transform_failure.xml: 1 tests
Summary: 37 tests, 0 errors, 0 failures, 0 skipped

[#555] PASSED on melodic

All tests passed
build/test_results/mcl_3dl/gtest-test_chunked_kdtree.xml: 1 tests
build/test_results/mcl_3dl/gtest-test_filter.xml: 3 tests
build/test_results/mcl_3dl/gtest-test_nd.xml: 2 tests
build/test_results/mcl_3dl/gtest-test_pf.xml: 5 tests
build/test_results/mcl_3dl/gtest-test_point_cloud_random_sampler.xml: 1 tests
build/test_results/mcl_3dl/gtest-test_quat.xml: 4 tests
build/test_results/mcl_3dl/gtest-test_raycast.xml: 3 tests
build/test_results/mcl_3dl/gtest-test_vec3.xml: 5 tests
build/test_results/mcl_3dl/roslint-mcl_3dl.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_expansion_resetting_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_global_localization_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_localization_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_mcl_3dl_compat_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_tf_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_transform_rostest.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_pose.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_tf.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_expansion_resetting.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_global_localization.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_mcl_3dl_compat.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_transform_failure.xml: 1 tests
Summary: 37 tests, 0 errors, 0 failures, 0 skipped

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codecov-io commented Jan 1, 2019

Codecov Report

Merging #216 into master will increase coverage by 0.12%.
The diff coverage is 100%.

Impacted file tree graph

@@            Coverage Diff             @@
##           master     #216      +/-   ##
==========================================
+ Coverage   89.72%   89.84%   +0.12%     
==========================================
  Files          17       17              
  Lines        1469     1477       +8     
==========================================
+ Hits         1318     1327       +9     
+ Misses        151      150       -1
Impacted Files Coverage Δ
src/mcl_3dl.cpp 86.59% <100%> (+0.14%) ⬆️
include/mcl_3dl/pf.h 99.23% <0%> (+0.76%) ⬆️

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
Powered by Codecov. Last update 93da0c0...9d057b7. Read the comment docs.

@at-wat at-wat changed the title Fix cost-ineffective transform Fix computation-cost-ineffective transform Jan 1, 2019
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at-wat commented Jan 1, 2019

[#556] PASSED on indigo

All tests passed
build/test_results/mcl_3dl/gtest-test_chunked_kdtree.xml: 1 tests
build/test_results/mcl_3dl/gtest-test_filter.xml: 3 tests
build/test_results/mcl_3dl/gtest-test_nd.xml: 2 tests
build/test_results/mcl_3dl/gtest-test_pf.xml: 5 tests
build/test_results/mcl_3dl/gtest-test_point_cloud_random_sampler.xml: 1 tests
build/test_results/mcl_3dl/gtest-test_quat.xml: 4 tests
build/test_results/mcl_3dl/gtest-test_raycast.xml: 3 tests
build/test_results/mcl_3dl/gtest-test_vec3.xml: 5 tests
build/test_results/mcl_3dl/roslint-mcl_3dl.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_expansion_resetting_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_global_localization_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_localization_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_mcl_3dl_compat_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_tf_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_transform_rostest.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_pose.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_tf.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_expansion_resetting.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_global_localization.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_mcl_3dl_compat.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_transform_failure.xml: 1 tests
Summary: 37 tests, 0 errors, 0 failures, 0 skipped

[#556] PASSED on kinetic

All tests passed
build/test_results/mcl_3dl/gtest-test_chunked_kdtree.xml: 1 tests
build/test_results/mcl_3dl/gtest-test_filter.xml: 3 tests
build/test_results/mcl_3dl/gtest-test_nd.xml: 2 tests
build/test_results/mcl_3dl/gtest-test_pf.xml: 5 tests
build/test_results/mcl_3dl/gtest-test_point_cloud_random_sampler.xml: 1 tests
build/test_results/mcl_3dl/gtest-test_quat.xml: 4 tests
build/test_results/mcl_3dl/gtest-test_raycast.xml: 3 tests
build/test_results/mcl_3dl/gtest-test_vec3.xml: 5 tests
build/test_results/mcl_3dl/roslint-mcl_3dl.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_expansion_resetting_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_global_localization_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_localization_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_mcl_3dl_compat_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_tf_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_transform_rostest.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_pose.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_tf.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_expansion_resetting.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_global_localization.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_mcl_3dl_compat.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_transform_failure.xml: 1 tests
Summary: 37 tests, 0 errors, 0 failures, 0 skipped

[#556] PASSED on melodic

All tests passed
build/test_results/mcl_3dl/gtest-test_chunked_kdtree.xml: 1 tests
build/test_results/mcl_3dl/gtest-test_filter.xml: 3 tests
build/test_results/mcl_3dl/gtest-test_nd.xml: 2 tests
build/test_results/mcl_3dl/gtest-test_pf.xml: 5 tests
build/test_results/mcl_3dl/gtest-test_point_cloud_random_sampler.xml: 1 tests
build/test_results/mcl_3dl/gtest-test_quat.xml: 4 tests
build/test_results/mcl_3dl/gtest-test_raycast.xml: 3 tests
build/test_results/mcl_3dl/gtest-test_vec3.xml: 5 tests
build/test_results/mcl_3dl/roslint-mcl_3dl.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_expansion_resetting_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_global_localization_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_localization_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_mcl_3dl_compat_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_tf_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_transform_rostest.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_pose.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_tf.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_expansion_resetting.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_global_localization.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_mcl_3dl_compat.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_transform_failure.xml: 1 tests
Summary: 37 tests, 0 errors, 0 failures, 0 skipped

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at-wat commented Jan 2, 2019

[#557] FAILED on indigo

catkin_make failed


[#557] FAILED on kinetic

catkin_make failed


[#557] FAILED on melodic

catkin_make failed

@at-wat
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at-wat commented Jan 2, 2019

[#558] PASSED on kinetic

All tests passed
build/test_results/mcl_3dl/gtest-test_chunked_kdtree.xml: 1 tests
build/test_results/mcl_3dl/gtest-test_filter.xml: 3 tests
build/test_results/mcl_3dl/gtest-test_nd.xml: 2 tests
build/test_results/mcl_3dl/gtest-test_pf.xml: 5 tests
build/test_results/mcl_3dl/gtest-test_point_cloud_random_sampler.xml: 1 tests
build/test_results/mcl_3dl/gtest-test_quat.xml: 4 tests
build/test_results/mcl_3dl/gtest-test_raycast.xml: 3 tests
build/test_results/mcl_3dl/gtest-test_vec3.xml: 5 tests
build/test_results/mcl_3dl/roslint-mcl_3dl.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_expansion_resetting_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_global_localization_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_localization_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_mcl_3dl_compat_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_tf_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_transform_rostest.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_pose.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_tf.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_expansion_resetting.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_global_localization.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_mcl_3dl_compat.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_transform_failure.xml: 1 tests
Summary: 37 tests, 0 errors, 0 failures, 0 skipped

[#558] PASSED on melodic

All tests passed
build/test_results/mcl_3dl/gtest-test_chunked_kdtree.xml: 1 tests
build/test_results/mcl_3dl/gtest-test_filter.xml: 3 tests
build/test_results/mcl_3dl/gtest-test_nd.xml: 2 tests
build/test_results/mcl_3dl/gtest-test_pf.xml: 5 tests
build/test_results/mcl_3dl/gtest-test_point_cloud_random_sampler.xml: 1 tests
build/test_results/mcl_3dl/gtest-test_quat.xml: 4 tests
build/test_results/mcl_3dl/gtest-test_raycast.xml: 3 tests
build/test_results/mcl_3dl/gtest-test_vec3.xml: 5 tests
build/test_results/mcl_3dl/roslint-mcl_3dl.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_expansion_resetting_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_global_localization_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_localization_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_mcl_3dl_compat_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_tf_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_transform_rostest.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_pose.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_tf.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_expansion_resetting.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_global_localization.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_mcl_3dl_compat.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_transform_failure.xml: 1 tests
Summary: 37 tests, 0 errors, 0 failures, 0 skipped

[#558] PASSED on indigo

All tests passed
build/test_results/mcl_3dl/gtest-test_chunked_kdtree.xml: 1 tests
build/test_results/mcl_3dl/gtest-test_filter.xml: 3 tests
build/test_results/mcl_3dl/gtest-test_nd.xml: 2 tests
build/test_results/mcl_3dl/gtest-test_pf.xml: 5 tests
build/test_results/mcl_3dl/gtest-test_point_cloud_random_sampler.xml: 1 tests
build/test_results/mcl_3dl/gtest-test_quat.xml: 4 tests
build/test_results/mcl_3dl/gtest-test_raycast.xml: 3 tests
build/test_results/mcl_3dl/gtest-test_vec3.xml: 5 tests
build/test_results/mcl_3dl/roslint-mcl_3dl.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_expansion_resetting_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_global_localization_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_localization_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_mcl_3dl_compat_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_tf_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_transform_rostest.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_pose.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_tf.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_expansion_resetting.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_global_localization.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_mcl_3dl_compat.xml: 1 tests
build/test_results/mcl_3dl/rosunit-test_transform_failure.xml: 1 tests
Summary: 37 tests, 0 errors, 0 failures, 0 skipped

@at-wat at-wat changed the title Fix computation-cost-ineffective transform Fix computation-cost-inefficient transform Jan 2, 2019
@at-wat at-wat changed the title Fix computation-cost-inefficient transform Reduce memcopy in point cloud transform Jan 2, 2019
@at-wat at-wat changed the title Reduce memcopy in point cloud transform Reduce memcpy in point cloud transform Jan 2, 2019
@at-wat at-wat merged commit e30ce56 into master Jan 2, 2019
@at-wat at-wat deleted the fix-cost-ineffective-transform branch January 2, 2019 08:57
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