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Memory efficiency: changed std::vector<unsigned char> bytes arrays to cv::Mat to avoid multiple copies when Signature objects are copied.

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1937 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-28 19:57:21 +00:00
parent eace13b7a8
commit 0f7cc38688
17 changed files with 258 additions and 199 deletions
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8
corelib/include/rtabmap/core/DBDriver.h
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@@ -96,8 +96,8 @@ public:
// Specific queries...
void loadNodeData(std::list<Signature *> & signatures, bool loadMetricData) const;
void getNodeData(int signatureId, std::vector<unsigned char> & image, std::vector<unsigned char> & depth, std::vector<unsigned char> & depth2d, float & fx, float & fy, float & cx, float & cy, Transform & localTransform) const;
void getNodeData(int signatureId, std::vector<unsigned char> & image) const;
void getNodeData(int signatureId, cv::Mat & imageCompressed, cv::Mat & depthCompressed, cv::Mat & depth2dCompressed, float & fx, float & fy, float & cx, float & cy, Transform & localTransform) const;
void getNodeData(int signatureId, cv::Mat & imageCompressed) const;
void getPose(int signatureId, Transform & pose, int & mapId) const;
void loadNeighbors(int signatureId, std::map<int, Transform> & neighbors) const;
void loadLoopClosures(int signatureId, std::map<int, Transform> & loopIds, std::map<int, Transform> & childIds) const;
@@ -135,8 +135,8 @@ private:
virtual void loadLoopClosuresQuery(int signatureId, std::map<int, Transform> & loopIds, std::map<int, Transform> & childIds) const = 0;
virtual void loadNodeDataQuery(std::list<Signature *> & signatures, bool loadMetricData) const = 0;
virtual void getNodeDataQuery(int signatureId, std::vector<unsigned char> & image, std::vector<unsigned char> & depth, std::vector<unsigned char> & depth2d, float & fx, float & fy, float & cx, float & cy, Transform & localTransform) const = 0;
virtual void getNodeDataQuery(int signatureId, std::vector<unsigned char> & image) const = 0;
virtual void getNodeDataQuery(int signatureId, cv::Mat & imageCompressed, cv::Mat & depthCompressed, cv::Mat & depth2dCompressed, float & fx, float & fy, float & cx, float & cy, Transform & localTransform) const = 0;
virtual void getNodeDataQuery(int signatureId, cv::Mat & imageCompressed) const = 0;
virtual void getPoseQuery(int signatureId, Transform & pose, int & mapId) const = 0;
virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren) const = 0;
virtual void getLastIdQuery(const std::string & tableName, int & id) const = 0;

2
corelib/include/rtabmap/core/Memory.h
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@@ -113,7 +113,7 @@ public:
int getDatabaseMemoryUsed() const; // in bytes
double getDbSavingTime() const;
int getMapId(int signatureId) const;
std::vector<unsigned char> getImage(int signatureId) const;
cv::Mat getImageCompressed(int signatureId) const;
Signature getSignatureData(int locationId, bool uncompressedData = false);
std::set<int> getAllSignatureIds() const;
bool memoryChanged() const {return _memoryChanged;}

34
corelib/include/rtabmap/core/Signature.h
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@@ -56,9 +56,9 @@ public:
const std::multimap<int, cv::KeyPoint> & words,
const std::multimap<int, pcl::PointXYZ> & words3,
const Transform & pose = Transform(),
const std::vector<unsigned char> & depth2D = std::vector<unsigned char>(),
const std::vector<unsigned char> & image = std::vector<unsigned char>(),
const std::vector<unsigned char> & depth = std::vector<unsigned char>(),
const cv::Mat & depth2D = cv::Mat(),
const cv::Mat & image = cv::Mat(),
const cv::Mat & depth = cv::Mat(),
float fx = 0.0f,
float fy = 0.0f,
float cx = 0.0f,
@@ -69,7 +69,7 @@ public:
/**
* Must return a value between >=0 and <=1 (1 means 100% similarity).
*/
float compareTo(const Signature * signature) const;
float compareTo(const Signature & signature) const;
bool isBadSignature() const;
int id() const {return _id;}
@@ -113,20 +113,20 @@ public:
void setEnabled(bool enabled) {_enabled = enabled;}
const std::multimap<int, cv::KeyPoint> & getWords() const {return _words;}
const std::map<int, int> & getWordsChanged() const {return _wordsChanged;}
void setImage(const std::vector<unsigned char> & image) {_image = image;}
const std::vector<unsigned char> & getImage() const {return _image;}
void setImageCompressed(const cv::Mat & bytes) {_imageCompressed = bytes;}
const cv::Mat & getImageCompressed() const {return _imageCompressed;}
void setImageRaw(const cv::Mat & image) {_imageRaw = image;}
const cv::Mat & getImageRaw() const {return _imageRaw;}
//metric stuff
void setWords3(const std::multimap<int, pcl::PointXYZ> & words3) {_words3 = words3;}
void setDepth(const std::vector<unsigned char> & depth, float fx, float fy, float cx, float cy);
void setDepth2D(const std::vector<unsigned char> & depth2D) {_depth2D = depth2D;}
void setDepthCompressed(const cv::Mat & bytes, float fx, float fy, float cx, float cy);
void setDepth2DCompressed(const cv::Mat & bytes) {_depth2DCompressed = bytes;}
void setLocalTransform(const Transform & t) {_localTransform = t;}
void setPose(const Transform & pose) {_pose = pose;}
const std::multimap<int, pcl::PointXYZ> & getWords3() const {return _words3;}
const std::vector<unsigned char> & getDepth() const {return _depth;}
const std::vector<unsigned char> & getDepth2D() const {return _depth2D;}
const cv::Mat & getDepthCompressed() const {return _depthCompressed;}
const cv::Mat & getDepth2DCompressed() const {return _depth2DCompressed;}
float getDepthFx() const {return _fx;}
float getDepthFy() const {return _fy;}
float getDepthCx() const {return _cx;}
@@ -140,7 +140,7 @@ public:
SensorData toSensorData();
void uncompressData();
void uncompressData(cv::Mat * image, cv::Mat * depth, cv::Mat * depth2D) const;
void uncompressData(cv::Mat * imageRaw, cv::Mat * depthRaw, cv::Mat * depth2DRaw) const;
private:
int _id;
@@ -159,10 +159,10 @@ private:
std::multimap<int, cv::KeyPoint> _words; // word <id, keypoint>
std::map<int, int> _wordsChanged; // <oldId, newId>
bool _enabled;
std::vector<unsigned char> _image; //compressed image CV_8UC1 or CV_8UC3
cv::Mat _imageCompressed; // compressed image
std::vector<unsigned char> _depth; // compressed image CV_16UC1
std::vector<unsigned char> _depth2D; // compressed data CV_32FC2
cv::Mat _depthCompressed; // compressed image
cv::Mat _depth2DCompressed; // compressed data
float _fx;
float _fy;
float _cx;
@@ -171,9 +171,9 @@ private:
Transform _localTransform; // camera_link -> base_link
std::multimap<int, pcl::PointXYZ> _words3; // word <id, keypoint>
cv::Mat _imageRaw;
cv::Mat _depthRaw;
cv::Mat _depth2DRaw;
cv::Mat _imageRaw; // CV_8UC1 or CV_8UC3
cv::Mat _depthRaw; // depth CV_16UC1 or CV_32FC1, right image CV_8UC1
cv::Mat _depth2DRaw; // CV_32FC2
};
} // namespace rtabmap

14
corelib/include/rtabmap/core/util3d.h
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@@ -71,14 +71,13 @@ class RTABMAP_EXP CompressionThread : public UThread
public:
// format : ".png" ".jpg" "" (empty is general)
CompressionThread(const cv::Mat & mat, const std::string & format = "");
CompressionThread(const std::vector<unsigned char> * bytes, bool isImage);
const std::vector<unsigned char> & getCompressedData() const {return compressedData_;}
CompressionThread(const cv::Mat & bytes, bool isImage);
const cv::Mat & getCompressedData() const {return compressedData_;}
cv::Mat & getUncompressedData() {return uncompressedData_;}
protected:
virtual void mainLoop();
private:
const std::vector<unsigned char> * constCompressedData_;
std::vector<unsigned char> compressedData_;
cv::Mat compressedData_;
cv::Mat uncompressedData_;
std::string format_;
bool image_;
@@ -235,10 +234,17 @@ cv::Mat RTABMAP_EXP depth2DFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> &
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP depth2DToPointCloud(const cv::Mat & depth2D);
std::vector<unsigned char> RTABMAP_EXP compressImage(const cv::Mat & image, const std::string & format = ".png");
cv::Mat RTABMAP_EXP compressImage2(const cv::Mat & image, const std::string & format = ".png");
cv::Mat RTABMAP_EXP uncompressImage(const cv::Mat & bytes);
cv::Mat RTABMAP_EXP uncompressImage(const std::vector<unsigned char> & bytes);
std::vector<unsigned char> RTABMAP_EXP compressData(const cv::Mat & data);
cv::Mat RTABMAP_EXP compressData2(const cv::Mat & data);
cv::Mat RTABMAP_EXP uncompressData(const cv::Mat & bytes);
cv::Mat RTABMAP_EXP uncompressData(const std::vector<unsigned char> & bytes);
cv::Mat RTABMAP_EXP uncompressData(const unsigned char * bytes, unsigned long size);
// remove depth by z axis
void RTABMAP_EXP extractXYZCorrespondences(const std::multimap<int, pcl::PointXYZ> & words1,