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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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68
corelib/src/Signature.cpp
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@@ -57,9 +57,9 @@ Signature::Signature(
const std::multimap<int, cv::KeyPoint> & words,
const std::multimap<int, pcl::PointXYZ> & words3, // in base_link frame (localTransform applied)
const Transform & pose,
const std::vector<unsigned char> & depth2D, // in base_link frame
const std::vector<unsigned char> & image, // in camera_link frame
const std::vector<unsigned char> & depth, // in camera_link frame
const cv::Mat & depth2DCompressed, // in base_link frame
const cv::Mat & imageCompressed, // in camera_link frame
const cv::Mat & depthCompressed, // in camera_link frame
float fx,
float fy,
float cx,
@@ -73,9 +73,9 @@ Signature::Signature(
_neighborsModified(true),
_words(words),
_enabled(false),
_image(image),
_depth(depth),
_depth2D(depth2D),
_imageCompressed(imageCompressed),
_depthCompressed(depthCompressed),
_depth2DCompressed(depth2DCompressed),
_fx(fx),
_fy(fy),
_cx(cx),
@@ -88,7 +88,7 @@ Signature::Signature(
Signature::~Signature()
{
//ULOGGER_DEBUG("id=%d", _id);
//UDEBUG("id=%d", _id);
}
void Signature::addNeighbors(const std::map<int, Transform> & neighbors)
@@ -165,10 +165,10 @@ void Signature::changeLoopClosureId(int idFrom, int idTo)
}
float Signature::compareTo(const Signature * s) const
float Signature::compareTo(const Signature & s) const
{
float similarity = 0.0f;
const std::multimap<int, cv::KeyPoint> & words = s->getWords();
const std::multimap<int, cv::KeyPoint> & words = s.getWords();
if(words.size() != 0 && _words.size() != 0)
{
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > pairs;
@@ -217,10 +217,10 @@ void Signature::removeWord(int wordId)
_words3.erase(wordId);
}
void Signature::setDepth(const std::vector<unsigned char> & depth, float fx, float fy, float cx, float cy)
void Signature::setDepthCompressed(const cv::Mat & bytes, float fx, float fy, float cx, float cy)
{
UASSERT_MSG(depth.empty() || (!depth.empty() && fx > 0.0f && fy > 0.0f && cx >= 0.0f && cy >= 0.0f), uFormat("fx=%f fy=%f cx=%f cy=%f",fx,fy,cx,cy).c_str());
_depth = depth;
UASSERT_MSG(bytes.empty() || (!bytes.empty() && fx > 0.0f && fy > 0.0f && cx >= 0.0f && cy >= 0.0f), uFormat("fx=%f fy=%f cx=%f cy=%f",fx,fy,cx,cy).c_str());
_depthCompressed = bytes;
_fx=fx;
_fy=fy;
_cx=cx;
@@ -247,53 +247,53 @@ void Signature::uncompressData()
uncompressData(&_imageRaw, &_depthRaw, &_depth2DRaw);
}
void Signature::uncompressData(cv::Mat * image, cv::Mat * depth, cv::Mat * depth2D) const
void Signature::uncompressData(cv::Mat * imageRaw, cv::Mat * depthRaw, cv::Mat * depth2DRaw) const
{
if(image)
if(imageRaw)
{
*image = _imageRaw;
*imageRaw = _imageRaw;
}
if(depth)
if(depthRaw)
{
*depth = _depthRaw;
*depthRaw = _depthRaw;
}
if(depth2D)
if(depth2DRaw)
{
*depth2D = _depth2DRaw;
*depth2DRaw = _depth2DRaw;
}
if( (image && image->empty()) ||
(depth && depth->empty()) ||
(depth2D && depth2D->empty()))
if( (imageRaw && imageRaw->empty()) ||
(depthRaw && depthRaw->empty()) ||
(depth2DRaw && depth2DRaw->empty()))
{
util3d::CompressionThread ctImage(&_image, true);
util3d::CompressionThread ctDepth(&_depth, true);
util3d::CompressionThread ctDepth2D(&_depth2D, false);
if(image && image->empty())
util3d::CompressionThread ctImage(_imageCompressed, true);
util3d::CompressionThread ctDepth(_depthCompressed, true);
util3d::CompressionThread ctDepth2D(_depth2DCompressed, false);
if(imageRaw && imageRaw->empty())
{
ctImage.start();
}
if(depth && depth->empty())
if(depthRaw && depthRaw->empty())
{
ctDepth.start();
}
if(depth2D && depth2D->empty())
if(depth2DRaw && depth2DRaw->empty())
{
ctDepth2D.start();
}
ctImage.join();
ctDepth.join();
ctDepth2D.join();
if(image && image->empty())
if(imageRaw && imageRaw->empty())
{
*image = ctImage.getUncompressedData();
*imageRaw = ctImage.getUncompressedData();
}
if(depth && depth->empty())
if(depthRaw && depthRaw->empty())
{
*depth = ctDepth.getUncompressedData();
*depthRaw = ctDepth.getUncompressedData();
}
if(depth2D && depth2D->empty())
if(depth2DRaw && depth2DRaw->empty())
{
*depth2D = ctDepth2D.getUncompressedData();
*depth2DRaw = ctDepth2D.getUncompressedData();
}
}
}