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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/Rtabmap.cpp
+2 -2
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@@ -858,7 +858,7 @@ bool Rtabmap::process(const SensorData & data)
//============================================================
if(_scanMatchingSize>0 &&
signature->getNeighbors().size() == 1 &&
signature->getDepth2D().size() &&
!signature->getDepth2DCompressed().empty() &&
rehearsedId == 0) // don't do it if rehearsal happened
{
UINFO("Odometry correction by scan matching (size=%d)...", _scanMatchingSize);
@@ -1382,7 +1382,7 @@ bool Rtabmap::process(const SensorData & data)
int localSpaceNearestId = 0;
if(_lcHypothesisId == 0 &&
_localLoopClosureDetectionSpace &&
signature->getDepth2D().size())
!signature->getDepth2DCompressed().empty())
{
//============================================================
// Scan matching LOCAL LOOP CLOSURE SPACE