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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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11
guilib/src/MainWindow.cpp
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@@ -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);
}