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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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95
corelib/src/util3d.cpp
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@@ -66,7 +66,6 @@ namespace util3d
// format : ".png" ".jpg" "" (empty is general)
CompressionThread::CompressionThread(const cv::Mat & mat, const std::string & format) :
constCompressedData_(0),
uncompressedData_(mat),
format_(format),
image_(!format.empty()),
@@ -75,8 +74,8 @@ CompressionThread::CompressionThread(const cv::Mat & mat, const std::string & fo
UASSERT(format.empty() || format.compare(".png") == 0 || format.compare(".jpg") == 0);
}
// assume image
CompressionThread::CompressionThread(const std::vector<unsigned char> * bytes, bool isImage) :
constCompressedData_(bytes),
CompressionThread::CompressionThread(const cv::Mat & bytes, bool isImage) :
compressedData_(bytes),
image_(isImage),
compressMode_(false)
{}
@@ -88,25 +87,25 @@ void CompressionThread::mainLoop()
{
if(image_)
{
compressedData_ = compressImage(uncompressedData_, format_);
compressedData_ = compressImage2(uncompressedData_, format_);
}
else
{
compressedData_ = compressData(uncompressedData_);
compressedData_ = compressData2(uncompressedData_);
}
}
}
else // uncompress
{
if(constCompressedData_ && constCompressedData_->size())
if(!compressedData_.empty())
{
if(image_)
{
uncompressedData_ = uncompressImage(*constCompressedData_);
uncompressedData_ = uncompressImage(compressedData_);
}
else
{
uncompressedData_ = uncompressData(*constCompressedData_);
uncompressedData_ = uncompressData(compressedData_);
}
}
}
@@ -1105,6 +1104,31 @@ std::vector<unsigned char> compressImage(const cv::Mat & image, const std::strin
return bytes;
}
// ".png" or ".jpg"
cv::Mat compressImage2(const cv::Mat & image, const std::string & format)
{
std::vector<unsigned char> bytes = compressImage(image, format);
if(bytes.size())
{
return cv::Mat(1, bytes.size(), CV_8UC1, bytes.data()).clone();
}
return cv::Mat();
}
cv::Mat uncompressImage(const cv::Mat & bytes)
{
cv::Mat image;
if(!bytes.empty())
{
#if CV_MAJOR_VERSION >=2 && CV_MINOR_VERSION >=4
image = cv::imdecode(bytes, cv::IMREAD_UNCHANGED);
#else
image = cv::imdecode(bytes, -1);
#endif
}
return image;
}
cv::Mat uncompressImage(const std::vector<unsigned char> & bytes)
{
cv::Mat image;
@@ -1150,20 +1174,61 @@ std::vector<unsigned char> compressData(const cv::Mat & data)
return bytes;
}
cv::Mat compressData2(const cv::Mat & data)
{
cv::Mat bytes;
if(!data.empty())
{
uLong sourceLen = uLong(data.total())*uLong(data.elemSize());
uLong destLen = compressBound(sourceLen);
bytes = cv::Mat(1, destLen+3*sizeof(int), CV_8UC1);
int errCode = compress(
(Bytef *)bytes.data,
&destLen,
(const Bytef *)data.data,
sourceLen);
bytes = cv::Mat(bytes, cv::Rect(0,0, destLen+3*sizeof(int), 1));
*((int*)&bytes.data[destLen]) = data.rows;
*((int*)&bytes.data[destLen+sizeof(int)]) = data.cols;
*((int*)&bytes.data[destLen+2*sizeof(int)]) = data.type();
if(errCode == Z_MEM_ERROR)
{
UERROR("Z_MEM_ERROR : Insufficient memory.");
}
else if(errCode == Z_BUF_ERROR)
{
UERROR("Z_BUF_ERROR : The buffer dest was not large enough to hold the uncompressed data.");
}
}
return bytes;
}
cv::Mat uncompressData(const cv::Mat & bytes)
{
UASSERT(bytes.empty() || bytes.type() == CV_8UC1);
return uncompressData(bytes.data, bytes.cols*bytes.rows);
}
cv::Mat uncompressData(const std::vector<unsigned char> & bytes)
{
return uncompressData(bytes.data(), bytes.size());
}
cv::Mat uncompressData(const unsigned char * bytes, unsigned long size)
{
cv::Mat data;
if(bytes.size()>=3*sizeof(int))
if(bytes && size>=3*sizeof(int))
{
//last 3 int elements are matrix size and type
int height = *((int*)&bytes[bytes.size()-3*sizeof(int)]);
int width = *((int*)&bytes[bytes.size()-2*sizeof(int)]);
int type = *((int*)&bytes[bytes.size()-1*sizeof(int)]);
int height = *((int*)&bytes[size-3*sizeof(int)]);
int width = *((int*)&bytes[size-2*sizeof(int)]);
int type = *((int*)&bytes[size-1*sizeof(int)]);
// If the size is higher, it may be a wrong data format.
UASSERT_MSG(height>=0 && height<10000 &&
width>=0 && width<10000,
uFormat("size=%d, height=%d width=%d type=%d", bytes.size(), height, width, type).c_str());
uFormat("size=%d, height=%d width=%d type=%d", size, height, width, type).c_str());
data = cv::Mat(height, width, type);
uLongf totalUncompressed = uLongf(data.total())*uLongf(data.elemSize());
@@ -1171,8 +1236,8 @@ cv::Mat uncompressData(const std::vector<unsigned char> & bytes)
int errCode = uncompress(
(Bytef*)data.data,
&totalUncompressed,
(const Bytef*)bytes.data(),
uLong(bytes.size()));
(const Bytef*)bytes,
uLong(size));
if(errCode == Z_MEM_ERROR)
{