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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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12
corelib/src/DBDriver.cpp
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@@ -404,9 +404,9 @@ void DBDriver::loadNodeData(std::list<Signature *> & signatures, bool loadMetric
//TODO Check also in the trash ?
void DBDriver::getNodeData(
int signatureId,
std::vector<unsigned char> & image,
std::vector<unsigned char> & depth,
std::vector<unsigned char> & depth2d,
cv::Mat & imageCompressed,
cv::Mat & depthCompressed,
cv::Mat & depth2dCompressed,
float & fx,
float & fy,
float & cx,
@@ -414,15 +414,15 @@ void DBDriver::getNodeData(
Transform & localTransform) const
{
_dbSafeAccessMutex.lock();
this->getNodeDataQuery(signatureId, image, depth, depth2d, fx, fy, cx, cy, localTransform);
this->getNodeDataQuery(signatureId, imageCompressed, depthCompressed, depth2dCompressed, fx, fy, cx, cy, localTransform);
_dbSafeAccessMutex.unlock();
}
//TODO Check also in the trash ?
void DBDriver::getNodeData(int signatureId, std::vector<unsigned char> & image) const
void DBDriver::getNodeData(int signatureId, cv::Mat & imageCompressed) const
{
_dbSafeAccessMutex.lock();
this->getNodeDataQuery(signatureId, image);
this->getNodeDataQuery(signatureId, imageCompressed);
_dbSafeAccessMutex.unlock();
}