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DatabaseViewer: reading database on hard drive for each image instead of loading the whole database in RAM.

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1064 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-01-15 21:01:37 +00:00
parent b8c6014ed2
commit 2489397b49
2 changed files with 17 additions and 50 deletions
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2
guilib/include/rtabmap/gui/DatabaseViewer.h
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@@ -73,8 +73,6 @@ private:
private:
Ui_DatabaseViewer * ui_;
QMap<int, QByteArray> imagesMap_;
QMap<int, QByteArray> depthImagesMap_;
QList<int> ids_;
rtabmap::Memory * memory_;
QString pathDatabase_;

65
guilib/src/DatabaseViewer.cpp
View File

@@ -103,8 +103,6 @@ bool DatabaseViewer::openDatabase(const QString & path)
{
delete memory_;
memory_ = 0;
imagesMap_.clear();
depthImagesMap_.clear();
ids_.clear();
}
@@ -112,9 +110,9 @@ bool DatabaseViewer::openDatabase(const QString & path)
rtabmap::ParametersMap parameters;
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kDbSqlite3InMemory(), "false"));
memory_ = new rtabmap::Memory(parameters);
memory_ = new rtabmap::Memory();
if(!memory_->init(path.toStdString()))
if(!memory_->init(path.toStdString(), false, parameters))
{
QMessageBox::warning(this, "Database error", tr("Can't open database \"%1\"").arg(path));
}
@@ -357,54 +355,25 @@ void DatabaseViewer::update(int value,
//image
QImage img;
QImage imgDepth;
QMap<int, QByteArray>::iterator iter = imagesMap_.find(id);
QMap<int, QByteArray>::iterator iterDepth = depthImagesMap_.find(id);
if(iter == imagesMap_.end())
if(memory_)
{
if(memory_)
std::vector<unsigned char> image, depth, depth2d;
float depthConstant;
rtabmap::Transform localTransform;
memory_->getImageDepth(id, image, depth, depth2d, depthConstant, localTransform);
cv::Mat imageMat = rtabmap::util3d::uncompressImage(image);
cv::Mat depthMat = rtabmap::util3d::uncompressImage(depth);
UINFO("loaded image(%d/%d) depth(%d/%d) depthConstant(%f)",
imageMat.cols, imageMat.rows,
depthMat.cols, depthMat.rows,
depthConstant);
if(!image.empty())
{
std::vector<unsigned char> image, depth, depth2d;
float depthConstant;
rtabmap::Transform localTransform;
memory_->getImageDepth(id, image, depth, depth2d, depthConstant, localTransform);
cv::Mat imageMat = rtabmap::util3d::uncompressImage(image);
cv::Mat depthMat = rtabmap::util3d::uncompressImage(depth);
UINFO("loaded image(%d/%d) depth(%d/%d) depthConstant(%f)",
imageMat.cols, imageMat.rows,
depthMat.cols, depthMat.rows,
depthConstant);
if(!image.empty())
{
img = uCvMat2QImage(imageMat);
if(!img.isNull())
{
QByteArray ba;
QBuffer buffer(&ba);
buffer.open(QIODevice::WriteOnly);
img.save(&buffer, "BMP"); // writes image into ba in BMP format
imagesMap_.insert(id, ba);
}
}
if(!depth.empty())
{
imgDepth = uCvMat2QImage(depthMat);
if(!imgDepth.isNull())
{
QByteArray ba;
QBuffer buffer(&ba);
buffer.open(QIODevice::WriteOnly);
QPixmap::fromImage(imgDepth).save(&buffer, "PGM"); // writes image into ba in PGM format
depthImagesMap_.insert(id, ba);
}
}
img = uCvMat2QImage(imageMat);
}
}
else
{
img.loadFromData(iter.value(), "BMP");
if(iterDepth != depthImagesMap_.end())
if(!depth.empty())
{
imgDepth.loadFromData(iterDepth.value(), "PGM");
imgDepth = uCvMat2QImage(depthMat);
}
}