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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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guilib/include/rtabmap/gui/DatabaseViewer.h
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@@ -63,6 +63,7 @@ public:
bool openDatabase(const QString & path);
protected:
virtual void showEvent(QShowEvent* anEvent);
virtual void resizeEvent(QResizeEvent* anEvent);
virtual void closeEvent(QCloseEvent* event);

1
guilib/include/rtabmap/gui/MainWindow.h
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@@ -260,6 +260,7 @@ private:
QMap<int, Signature> _cachedSignatures;
QMap<int, int> _mapIds;
std::map<int, Transform> _currentPosesMap;
std::multimap<int, Link> _currentLinksMap;
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > _createdClouds;
std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > _createdScans;
std::map<int, std::pair<cv::Mat, cv::Mat> > _occupancyLocalMaps; // <ground, obstacles>