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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/Memory.cpp
+30 -30
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@@ -1129,7 +1129,7 @@ std::map<int, float> Memory::computeLikelihood(const Signature * signature, cons
{
UFATAL("Signature %d not found in WM ?!?", *iter);
}
sim = signature->compareTo(sB);
sim = signature->compareTo(*sB);
}
likelihood.insert(likelihood.end(), std::pair<int, float>(*iter, sim));
@@ -1809,12 +1809,12 @@ Transform Memory::computeIcpTransform(int oldId, int newId, Transform guess, boo
if(icp3D)
{
//Depth required, if not in RAM, load it from LTM
if(oldS->getDepth().empty())
if(oldS->getDepthCompressed().empty())
{
depthToLoad.push_back(oldS);
added.insert(oldS->id());
}
if(newS->getDepth().empty())
if(newS->getDepthCompressed().empty())
{
depthToLoad.push_back(newS);
added.insert(newS->id());
@@ -1823,11 +1823,11 @@ Transform Memory::computeIcpTransform(int oldId, int newId, Transform guess, boo
else
{
//Depth required, if not in RAM, load it from LTM
if(oldS->getDepth2D().size() == 0 && added.find(oldS->id()) == added.end())
if(oldS->getDepth2DCompressed().empty() && added.find(oldS->id()) == added.end())
{
depthToLoad.push_back(oldS);
}
if(newS->getDepth2D().size() == 0 && added.find(newS->id()) == added.end())
if(newS->getDepth2DCompressed().empty() && added.find(newS->id()) == added.end())
{
depthToLoad.push_back(newS);
}
@@ -1846,22 +1846,22 @@ Transform Memory::computeIcpTransform(int oldId, int newId, Transform guess, boo
{
if(oldS->getDepthRaw().empty())
{
oldS->setDepthRaw(util3d::uncompressImage(oldS->getDepth()));
oldS->setDepthRaw(util3d::uncompressImage(oldS->getDepthCompressed()));
}
if(newS->getDepthRaw().empty())
{
newS->setDepthRaw(util3d::uncompressImage(newS->getDepth()));
newS->setDepthRaw(util3d::uncompressImage(newS->getDepthCompressed()));
}
}
else
{
if(oldS->getDepth2DRaw().empty())
{
oldS->setDepth2DRaw(util3d::uncompressData(oldS->getDepth2D()));
oldS->setDepth2DRaw(util3d::uncompressData(oldS->getDepth2DCompressed()));
}
if(newS->getDepth2DRaw().empty())
{
newS->setDepth2DRaw(util3d::uncompressData(newS->getDepth2D()));
newS->setDepth2DRaw(util3d::uncompressData(newS->getDepth2DCompressed()));
}
}
@@ -2089,7 +2089,7 @@ Transform Memory::computeScanMatchingTransform(
{
Signature * s = _getSignature(iter->first);
UASSERT(s != 0);
if(s->getDepth2D().size() == 0)
if(s->getDepth2DCompressed().empty())
{
depthToLoad.push_back(s);
}
@@ -2106,9 +2106,9 @@ Transform Memory::computeScanMatchingTransform(
if(iter->first != newId)
{
const Signature * s = this->getSignature(iter->first);
if(s->getDepth2D().size())
if(!s->getDepth2DCompressed().empty())
{
*assembledOldClouds += *util3d::cvMat2Cloud(util3d::uncompressData(s->getDepth2D()), iter->second);
*assembledOldClouds += *util3d::cvMat2Cloud(util3d::uncompressData(s->getDepth2DCompressed()), iter->second);
}
else
{
@@ -2127,7 +2127,7 @@ Transform Memory::computeScanMatchingTransform(
const Signature * newS = getSignature(newId);
pcl::PointCloud<pcl::PointXYZ>::Ptr newCloud;
UASSERT(uContains(poses, newId));
newCloud = util3d::cvMat2Cloud(util3d::uncompressData(newS->getDepth2D()), poses.at(newId));
newCloud = util3d::cvMat2Cloud(util3d::uncompressData(newS->getDepth2DCompressed()), poses.at(newId));
//voxelize
if(newCloud->size() && _icp2VoxelSize > 0.0f)
@@ -2394,7 +2394,7 @@ void Memory::rehearsal(Signature * signature, Statistics * stats)
{
UFATAL("Signature %d null?!?", id);
}
float sim = signature->compareTo(sB);
float sim = signature->compareTo(*sB);
int merged = 0;
if(sim >= _similarityThreshold)
@@ -2556,13 +2556,13 @@ int Memory::getMapId(int signatureId) const
return mapId;
}
std::vector<unsigned char> Memory::getImage(int signatureId) const
cv::Mat Memory::getImageCompressed(int signatureId) const
{
std::vector<unsigned char> image;
cv::Mat image;
const Signature * s = this->getSignature(signatureId);
if(s)
{
image = s->getImage();
image = s->getImageCompressed();
}
if(image.empty() && this->isRawDataKept() && _dbDriver)
{
@@ -2576,7 +2576,7 @@ Signature Memory::getSignatureData(int locationId, bool uncompressedData)
UDEBUG("");
Signature r;
Signature * s = this->_getSignature(locationId);
if(s && s->getImage().size())
if(s && !s->getImageCompressed().empty())
{
r = *s;
}
@@ -2600,7 +2600,7 @@ Signature Memory::getSignatureData(int locationId, bool uncompressedData)
if(signatures.size())
{
Signature * sTmp = signatures.front();
if(sTmp->getImage().size() == 0)
if(sTmp->getImageCompressed().empty())
{
_dbDriver->loadNodeData(signatures, !sTmp->getPose().isNull());
}
@@ -2619,7 +2619,7 @@ Signature Memory::getSignatureData(int locationId, bool uncompressedData)
}
UDEBUG("");
if(uncompressedData && r.getImageRaw().empty() && r.getImage().size())
if(uncompressedData && r.getImageRaw().empty() && !r.getImageCompressed().empty())
{
//uncompress data
if(s)
@@ -2961,25 +2961,25 @@ void Memory::copyData(const Signature * from, Signature * to)
if(from->isSaved() && _dbDriver)
{
std::vector<unsigned char> image;
std::vector<unsigned char> depth;
std::vector<unsigned char> depth2d;
cv::Mat image;
cv::Mat depth;
cv::Mat depth2d;
float fx, fy, cx, cy;
Transform localTransform;
_dbDriver->getNodeData(from->id(), image, depth, depth2d, fx, fy, cx, cy, localTransform);
to->setImage(image);
to->setDepth(depth, fx, fy, cx, cy);
to->setDepth2D(depth2d);
to->setImageCompressed(image);
to->setDepthCompressed(depth, fx, fy, cx, cy);
to->setDepth2DCompressed(depth2d);
to->setLocalTransform(localTransform);
UDEBUG("Loaded image data from database");
}
else
{
to->setImage(from->getImage());
to->setDepth(from->getDepth(), from->getDepthFx(), from->getDepthFy(), from->getDepthCx(), from->getDepthCy());
to->setDepth2D(from->getDepth2D());
to->setImageCompressed(from->getImageCompressed());
to->setDepthCompressed(from->getDepthCompressed(), from->getDepthFx(), from->getDepthFy(), from->getDepthCx(), from->getDepthCy());
to->setDepth2DCompressed(from->getDepth2DCompressed());
to->setLocalTransform(from->getLocalTransform());
}
@@ -3400,7 +3400,7 @@ Signature * Memory::createSignature(const SensorData & data, bool keepRawData, S
words,
words3D,
data.pose(),
util3d::compressData(data.depth2d()));
util3d::compressData2(data.depth2d()));
}