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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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47
guilib/src/DatabaseViewer.cpp
View File

@@ -279,6 +279,14 @@ void DatabaseViewer::closeEvent(QCloseEvent* event)
}
}
void DatabaseViewer::showEvent(QShowEvent* anEvent)
{
ui_->graphicsView_A->fitInView(ui_->graphicsView_A->sceneRect(), Qt::KeepAspectRatio);
ui_->graphicsView_B->fitInView(ui_->graphicsView_B->sceneRect(), Qt::KeepAspectRatio);
ui_->graphicsView_A->resetZoom();
ui_->graphicsView_B->resetZoom();
}
void DatabaseViewer::resizeEvent(QResizeEvent* anEvent)
{
ui_->graphicsView_A->fitInView(ui_->graphicsView_A->sceneRect(), Qt::KeepAspectRatio);
@@ -350,8 +358,8 @@ void DatabaseViewer::extractImages()
for(int i=0; i<ids_.size(); i+=1)
{
int id = ids_.at(i);
std::vector<unsigned char> compressedRgb = memory_->getImage(id);
if(compressedRgb.size())
cv::Mat compressedRgb = memory_->getImageCompressed(id);
if(!compressedRgb.empty())
{
cv::Mat imageMat = rtabmap::util3d::uncompressImage(compressedRgb);
cv::imwrite(QString("%1/%2.png").arg(path).arg(id).toStdString(), imageMat);
@@ -1300,31 +1308,16 @@ void DatabaseViewer::updateConstraintView(const rtabmap::Link & link,
bool updateB = false;
ui_->horizontalSlider_A->blockSignals(true);
ui_->horizontalSlider_B->blockSignals(true);
if(ui_->horizontalSlider_A->value() == idToIndex_.value(link.from()))
{
ui_->horizontalSlider_B->setValue(idToIndex_.value(link.to()));
updateB=true;
}
else if(ui_->horizontalSlider_A->value() == idToIndex_.value(link.to()))
{
ui_->horizontalSlider_B->setValue(idToIndex_.value(link.from()));
updateB=true;
}
else if(ui_->horizontalSlider_B->value() == idToIndex_.value(link.from()))
{
ui_->horizontalSlider_A->setValue(idToIndex_.value(link.to()));
updateA = true;
}
else if(ui_->horizontalSlider_B->value() == idToIndex_.value(link.to()))
// set from on left and to on right
if(ui_->horizontalSlider_A->value() != idToIndex_.value(link.from()))
{
ui_->horizontalSlider_A->setValue(idToIndex_.value(link.from()));
updateA=true;
}
else
if(ui_->horizontalSlider_B->value() != idToIndex_.value(link.to()))
{
ui_->horizontalSlider_A->setValue(idToIndex_.value(link.from()));
ui_->horizontalSlider_B->setValue(idToIndex_.value(link.to()));
updateA=updateB=true;
updateB=true;
}
ui_->horizontalSlider_A->blockSignals(false);
ui_->horizontalSlider_B->blockSignals(false);
@@ -1505,10 +1498,10 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
for(int i=0; i<ids_.size(); ++i)
{
Signature data = memory_->getSignatureData(ids_.at(i), false);
if(data.getDepth2D().size())
if(!data.getDepth2DCompressed().empty())
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
cv::Mat depth2d = rtabmap::util3d::uncompressData(data.getDepth2D());
cv::Mat depth2d = rtabmap::util3d::uncompressData(data.getDepth2DCompressed());
cloud = rtabmap::util3d::depth2DToPointCloud(depth2d);
scans_.insert(std::make_pair(ids_.at(i), cloud));
}
@@ -1681,8 +1674,8 @@ void DatabaseViewer::refineConstraint(int from, int to)
if(ui_->checkBox_icp_2d->isChecked())
{
//2D
cv::Mat oldDepth2D = util3d::uncompressData(dataFrom.getDepth2D());
cv::Mat newDepth2D = util3d::uncompressData(dataTo.getDepth2D());
cv::Mat oldDepth2D = util3d::uncompressData(dataFrom.getDepth2DCompressed());
cv::Mat newDepth2D = util3d::uncompressData(dataTo.getDepth2DCompressed());
if(!oldDepth2D.empty() && !newDepth2D.empty())
{
@@ -1711,8 +1704,8 @@ void DatabaseViewer::refineConstraint(int from, int to)
else
{
//3D
cv::Mat depthA = rtabmap::util3d::uncompressImage(dataFrom.getDepth());
cv::Mat depthB = rtabmap::util3d::uncompressImage(dataTo.getDepth());
cv::Mat depthA = rtabmap::util3d::uncompressImage(dataFrom.getDepthCompressed());
cv::Mat depthB = rtabmap::util3d::uncompressImage(dataTo.getDepthCompressed());
if(depthA.type() == CV_8UC1 || depthB.type() == CV_8UC1)
{

11
guilib/src/MainWindow.cpp
View File

@@ -928,7 +928,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
// update clouds
if(stat.poses().size())
{
// update pose only if a odometry is not received
// update pose only if odometry is not received
updateMapCloud(stat.poses(),
_odometryReceived||stat.poses().size()==0?Transform():stat.poses().rbegin()->second,
stat.constraints());
@@ -986,11 +986,12 @@ void MainWindow::updateMapCloud(
if(posesIn.size())
{
_currentPosesMap = posesIn;
_currentLinksMap = constraints;
if(_currentPosesMap.size())
{
if(!_ui->actionSave_point_cloud->isEnabled() &&
_cachedSignatures.size() &&
(--_cachedSignatures.end())->getDepth().size())
!(--_cachedSignatures.end())->getDepthCompressed().empty())
{
//enable save cloud action
_ui->actionSave_point_cloud->setEnabled(true);
@@ -999,7 +1000,7 @@ void MainWindow::updateMapCloud(
if(!_ui->actionView_scans->isEnabled() &&
_cachedSignatures.size() &&
(--_cachedSignatures.end())->getDepth2D().size())
!(--_cachedSignatures.end())->getDepth2DCompressed().empty())
{
_ui->actionExport_2D_scans_ply_pcd->setEnabled(true);
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(true);
@@ -1065,7 +1066,7 @@ void MainWindow::updateMapCloud(
else if(_cachedSignatures.contains(iter->first))
{
QMap<int, Signature>::iterator jter = _cachedSignatures.find(iter->first);
if(jter->getImage().size() && jter->getDepth().size())
if(!jter->getImageCompressed().empty() && !jter->getDepthCompressed().empty())
{
this->createAndAddCloudToMap(iter->first, iter->second);
}
@@ -1100,7 +1101,7 @@ void MainWindow::updateMapCloud(
else if(_cachedSignatures.contains(iter->first))
{
QMap<int, Signature>::iterator jter = _cachedSignatures.find(iter->first);
if(jter->getDepth2D().size())
if(!jter->getDepth2DCompressed().empty())
{
this->createAndAddScanToMap(iter->first, iter->second);
}

2
guilib/src/PdfPlot.cpp
View File

@@ -70,7 +70,7 @@ void PdfPlotItem::showDescription(bool shown)
{
QImage img;
QMap<int, Signature>::const_iterator iter = _signaturesRef->find(int(this->data().x()));
if(iter != _signaturesRef->constEnd() && !iter.value().getImage().empty())
if(iter != _signaturesRef->constEnd() && !iter.value().getImageCompressed().empty())
{
cv::Mat image;
iter.value().uncompressData(&image, 0, 0);