i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

14
corelib/src/DBDriverSqlite3.h
View File

@@ -77,15 +77,15 @@ private:
virtual void loadNodeDataQuery(std::list<Signature *> & signatures, bool loadMetricData) const;
virtual void 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,
float & cy,
Transform & localTransform) const;
virtual void getNodeDataQuery(int signatureId, std::vector<unsigned char> & image) const;
virtual void getNodeDataQuery(int signatureId, cv::Mat & imageCompressed) const;
virtual void getPoseQuery(int signatureId, Transform & pose, int & mapId) const;
virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren) const;
virtual void getLastIdQuery(const std::string & tableName, int & id) const;
@@ -102,12 +102,12 @@ private:
void stepImage(
sqlite3_stmt * ppStmt,
int id,
const std::vector<unsigned char> & image) const;
const cv::Mat & imageBytes) const;
void 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,