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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/DBReader.cpp
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@@ -207,9 +207,9 @@ void DBReader::getNextImage(
if(!this->isKilled() && _currentId != _ids.end())
{
std::vector<unsigned char> imageBytes;
std::vector<unsigned char> depthBytes;
std::vector<unsigned char> depth2dBytes;
cv::Mat imageBytes;
cv::Mat depthBytes;
cv::Mat depth2dBytes;
int mapId;
_dbDriver->getNodeData(*_currentId, imageBytes, depthBytes, depth2dBytes, fx, fy, cx, cy, localTransform);
_dbDriver->getPose(*_currentId, pose, mapId);
@@ -220,9 +220,9 @@ void DBReader::getNextImage(
UWARN("No image loaded from the database for id=%d!", *_currentId);
}
util3d::CompressionThread ctImage(&imageBytes, true);
util3d::CompressionThread ctDepth(&depthBytes, true);
util3d::CompressionThread ctDepth2D(&depth2dBytes, false);
util3d::CompressionThread ctImage(imageBytes, true);
util3d::CompressionThread ctDepth(depthBytes, true);
util3d::CompressionThread ctDepth2D(depth2dBytes, false);
ctImage.start();
ctDepth.start();
ctDepth2D.start();