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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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corelib/src/DBDriverSqlite3.cpp
+32 -40
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@@ -515,9 +515,7 @@ void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures, boo
//Create the image
if(dataSize>4 && data)
{
std::vector<unsigned char> image(dataSize);
memcpy(image.data(), data, dataSize);
(*iter)->setImage(image);
(*iter)->setImageCompressed(cv::Mat(1, dataSize, CV_8UC1, (void *)data).clone());
}
if(loadMetricData)
@@ -526,17 +524,16 @@ void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures, boo
dataSize = sqlite3_column_bytes(ppStmt, index++);
//Create the depth image
std::vector<unsigned char> depth;
cv::Mat depthCompressed;
if(dataSize>4 && data)
{
depth.resize(dataSize);
memcpy(depth.data(), data, dataSize);
depthCompressed = cv::Mat(1, dataSize, CV_8UC1, (void *)data).clone();
}
if(uStrNumCmp(_version, "0.7.0") < 0)
{
float depthConstant = sqlite3_column_double(ppStmt, index++);
(*iter)->setDepth(depth, 1.0f/depthConstant, 1.0f/depthConstant, 0, 0);
(*iter)->setDepthCompressed(depthCompressed, 1.0f/depthConstant, 1.0f/depthConstant, 0, 0);
}
else
{
@@ -544,7 +541,7 @@ void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures, boo
float fy = sqlite3_column_double(ppStmt, index++);
float cx = sqlite3_column_double(ppStmt, index++);
float cy = sqlite3_column_double(ppStmt, index++);
(*iter)->setDepth(depth, fx, fy, cx, cy);
(*iter)->setDepthCompressed(depthCompressed, fx, fy, cx, cy);
}
data = sqlite3_column_blob(ppStmt, index); // local transform
@@ -559,13 +556,12 @@ void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures, boo
data = sqlite3_column_blob(ppStmt, index);
dataSize = sqlite3_column_bytes(ppStmt, index++);
//Create the depth2d
std::vector<unsigned char> depth2d;
cv::Mat depth2dCompressed;
if(dataSize>4 && data)
{
depth2d.resize(dataSize);
memcpy(depth2d.data(), data, dataSize);
(*iter)->setDepth2DCompressed(cv::Mat(1, dataSize, CV_8UC1, (void *)data).clone()); // depth2d
}
(*iter)->setDepth2D(depth2d); // depth2d
}
rc = sqlite3_step(ppStmt); // next result...
@@ -586,9 +582,9 @@ void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures, boo
void DBDriverSqlite3::getNodeDataQuery(
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,
@@ -645,8 +641,7 @@ void DBDriverSqlite3::getNodeDataQuery(
//Create the image
if(dataSize>4 && data)
{
image.resize(dataSize);
memcpy(image.data(), data, dataSize);
imageCompressed = cv::Mat(1, dataSize, CV_8UC1).clone();
}
data = sqlite3_column_blob(ppStmt, index);
@@ -655,8 +650,7 @@ void DBDriverSqlite3::getNodeDataQuery(
//Create the depth image
if(dataSize>4 && data)
{
depth.resize(dataSize);
memcpy(depth.data(), data, dataSize);
depthCompressed = cv::Mat(1, dataSize, CV_8UC1).clone();
}
if(uStrNumCmp(_version, "0.7.0") < 0)
@@ -687,11 +681,10 @@ void DBDriverSqlite3::getNodeDataQuery(
//Create the depth2d
if(dataSize>4 && data)
{
depth2d.resize(dataSize);
memcpy(depth2d.data(), data, dataSize);
depth2dCompressed = cv::Mat(1, dataSize, CV_8UC1).clone();
}
if(depth.empty() || fx <= 0 || fy <= 0 || cx < 0 || cy < 0)
if(depthCompressed.empty() || fx <= 0 || fy <= 0 || cx < 0 || cy < 0)
{
UWARN("No metric data loaded!? Consider using getNodeDataQuery() with image only.");
}
@@ -708,7 +701,7 @@ void DBDriverSqlite3::getNodeDataQuery(
}
}
void DBDriverSqlite3::getNodeDataQuery(int signatureId, std::vector<unsigned char> & image) const
void DBDriverSqlite3::getNodeDataQuery(int signatureId, cv::Mat & imageCompressed) const
{
if(_ppDb)
{
@@ -744,8 +737,7 @@ void DBDriverSqlite3::getNodeDataQuery(int signatureId, std::vector<unsigned cha
//Create the image
if(dataSize>4 && data)
{
image.resize(dataSize);
memcpy(image.data(), data, dataSize);
imageCompressed = cv::Mat(1, dataSize, CV_8UC1).clone();
}
rc = sqlite3_step(ppStmt); // next result...
@@ -1823,9 +1815,9 @@ void DBDriverSqlite3::saveQuery(const std::list<Signature *> & signatures) const
for(std::list<Signature *>::const_iterator i=signatures.begin(); i!=signatures.end(); ++i)
{
if((*i)->getImage().size())
if(!(*i)->getImageCompressed().empty())
{
stepImage(ppStmt, (*i)->id(), (*i)->getImage());
stepImage(ppStmt, (*i)->id(), (*i)->getImageCompressed());
}
}
@@ -1841,9 +1833,9 @@ void DBDriverSqlite3::saveQuery(const std::list<Signature *> & signatures) const
for(std::list<Signature *>::const_iterator i=signatures.begin(); i!=signatures.end(); ++i)
{
//metric
if((*i)->getDepth().size() || (*i)->getDepth2D().size())
if(!(*i)->getDepthCompressed().empty() || !(*i)->getDepth2DCompressed().empty())
{
stepDepth(ppStmt, (*i)->id(), (*i)->getDepth(), (*i)->getDepth2D(), (*i)->getDepthFx(), (*i)->getDepthFy(), (*i)->getDepthCx(), (*i)->getDepthCy(), (*i)->getLocalTransform());
stepDepth(ppStmt, (*i)->id(), (*i)->getDepthCompressed(), (*i)->getDepth2DCompressed(), (*i)->getDepthFx(), (*i)->getDepthFy(), (*i)->getDepthCx(), (*i)->getDepthCy(), (*i)->getLocalTransform());
}
}
// Finalize (delete) the statement
@@ -1948,9 +1940,9 @@ std::string DBDriverSqlite3::queryStepImage() const
}
void DBDriverSqlite3::stepImage(sqlite3_stmt * ppStmt,
int id,
const std::vector<unsigned char> & image) const
const cv::Mat & imageBytes) const
{
UDEBUG("Save image %d (size=%d)", id, (int)image.size());
UDEBUG("Save image %d (size=%d)", id, (int)imageBytes.cols);
if(!ppStmt)
{
UFATAL("");
@@ -1962,9 +1954,9 @@ void DBDriverSqlite3::stepImage(sqlite3_stmt * ppStmt,
rc = sqlite3_bind_int(ppStmt, index++, id);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
if(image.size())
if(!imageBytes.empty())
{
rc = sqlite3_bind_blob(ppStmt, index++, image.data(), (int)image.size(), SQLITE_STATIC);
rc = sqlite3_bind_blob(ppStmt, index++, imageBytes.data, (int)imageBytes.cols, SQLITE_STATIC);
}
else
{
@@ -1993,15 +1985,15 @@ std::string DBDriverSqlite3::queryStepDepth() const
}
void DBDriverSqlite3::stepDepth(sqlite3_stmt * ppStmt,
int id,
const std::vector<unsigned char> & depth,
const std::vector<unsigned char> & depth2d,
const cv::Mat & depthBytes,
const cv::Mat & depth2dBytes,
float fx,
float fy,
float cx,
float cy,
const Transform & localTransform) const
{
UDEBUG("Save depth %d (size=%d) depth2d = %d", id, (int)depth.size(), (int)depth2d.size());
UDEBUG("Save depth %d (size=%d) depth2d = %d", id, (int)depthBytes.cols, (int)depth2dBytes.cols);
if(!ppStmt)
{
UFATAL("");
@@ -2013,9 +2005,9 @@ void DBDriverSqlite3::stepDepth(sqlite3_stmt * ppStmt,
rc = sqlite3_bind_int(ppStmt, index++, id);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
if(depth.size())
if(!depthBytes.empty())
{
rc = sqlite3_bind_blob(ppStmt, index++, depth.data(), (int)depth.size(), SQLITE_STATIC);
rc = sqlite3_bind_blob(ppStmt, index++, depthBytes.data, (int)depthBytes.cols, SQLITE_STATIC);
}
else
{
@@ -2043,9 +2035,9 @@ void DBDriverSqlite3::stepDepth(sqlite3_stmt * ppStmt,
rc = sqlite3_bind_blob(ppStmt, index++, localTransform.data(), localTransform.size()*sizeof(float), SQLITE_STATIC);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
if(depth2d.size())
if(!depth2dBytes.empty())
{
rc = sqlite3_bind_blob(ppStmt, index++, depth2d.data(), (int)depth2d.size(), SQLITE_STATIC);
rc = sqlite3_bind_blob(ppStmt, index++, depth2dBytes.data, (int)depth2dBytes.cols, SQLITE_STATIC);
}
else
{