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Version 0.10.1: user_data is now a cv::Mat to avoid a deep copy when SensorData is copied

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This commit is contained in:
matlabbe
2015-06-28 19:22:18 -04:00
parent 7d3a3317b7
commit 4f96fd3530
22 changed files with 516 additions and 640 deletions
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9
corelib/include/rtabmap/core/DBDriver.h
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@@ -95,9 +95,9 @@ public:
void loadWords(const std::set<int> & wordIds, std::list<VisualWord *> & vws);
// Specific queries...
void loadNodeData(std::list<Signature *> & signatures, bool loadMetricData) const;
void loadNodeData(std::list<Signature *> & signatures) const;
void getNodeData(int signatureId, SensorData & data) const;
bool getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, std::vector<unsigned char> & userData) const;
bool getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp) const;
void loadLinks(int signatureId, std::map<int, Link> & links, Link::Type type = Link::kUndef) const;
void getWeight(int signatureId, int & weight) const;
void getAllNodeIds(std::set<int> & ids, bool ignoreChildren = false) const;
@@ -134,9 +134,8 @@ private:
virtual void loadWordsQuery(const std::set<int> & wordIds, std::list<VisualWord *> & vws) const = 0;
virtual void loadLinksQuery(int signatureId, std::map<int, Link> & links, Link::Type type = Link::kUndef) const = 0;
virtual void loadNodeDataQuery(std::list<Signature *> & signatures, bool loadMetricData) const = 0;
virtual void getNodeDataQuery(int signatureId, SensorData & data) const = 0;
virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, std::vector<unsigned char> & userData) const = 0;
virtual void loadNodeDataQuery(std::list<Signature *> & signatures) const = 0;
virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp) const = 0;
virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren) const = 0;
virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks) const = 0;
virtual void getLastIdQuery(const std::string & tableName, int & id) const = 0;

3
corelib/include/rtabmap/core/Memory.h
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@@ -127,7 +127,7 @@ public:
int getSignatureIdByLabel(const std::string & label, bool lookInDatabase = true) const;
bool labelSignature(int id, const std::string & label);
std::map<int, std::string> getAllLabels() const;
bool setUserData(int id, const std::vector<unsigned char> & data);
bool setUserData(int id, const cv::Mat & data);
int getDatabaseMemoryUsed() const; // in bytes
double getDbSavingTime() const;
Transform getOdomPose(int signatureId, bool lookInDatabase = false) const;
@@ -137,7 +137,6 @@ public:
int & weight,
std::string & label,
double & stamp,
std::vector<unsigned char> & userData,
bool lookInDatabase = false) const;
cv::Mat getImageCompressed(int signatureId) const;
SensorData getNodeData(int nodeId, bool uncompressedData = false);

2
corelib/include/rtabmap/core/Rtabmap.h
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@@ -106,7 +106,7 @@ public:
int triggerNewMap();
bool labelLocation(int id, const std::string & label);
bool setUserData(int id, const std::vector<unsigned char> & data);
bool setUserData(int id, const cv::Mat & data);
void generateDOTGraph(const std::string & path, int id=0, int margin=5);
void generateTOROGraph(const std::string & path, bool optimized, bool global);
void exportPoses(const std::string & path, bool optimized, bool global);

2
corelib/include/rtabmap/core/RtabmapThread.h
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@@ -120,7 +120,7 @@ private:
double _rotVariance;
double _transVariance;
std::vector<unsigned char> _userData;
cv::Mat _userData;
UMutex _userDataMutex;
};

32
corelib/include/rtabmap/core/SensorData.h
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@@ -52,7 +52,7 @@ public:
const cv::Mat & image,
int id = 0,
double stamp = 0.0,
const std::vector<unsigned char> & userData = std::vector<unsigned char>());
const cv::Mat & userData = cv::Mat());
// Mono constructor
SensorData(
@@ -60,7 +60,7 @@ public:
const CameraModel & cameraModel,
int id = 0,
double stamp = 0.0,
const std::vector<unsigned char> & userData = std::vector<unsigned char>());
const cv::Mat & userData = cv::Mat());
// RGB-D constructor
SensorData(
@@ -69,7 +69,7 @@ public:
const CameraModel & cameraModel,
int id = 0,
double stamp = 0.0,
const std::vector<unsigned char> & userData = std::vector<unsigned char>());
const cv::Mat & userData = cv::Mat());
// RGB-D constructor + 2d laser scan
SensorData(
@@ -80,7 +80,7 @@ public:
const CameraModel & cameraModel,
int id = 0,
double stamp = 0.0,
const std::vector<unsigned char> & userData = std::vector<unsigned char>());
const cv::Mat & userData = cv::Mat());
// Multi-cameras RGB-D constructor
SensorData(
@@ -89,7 +89,7 @@ public:
const std::vector<CameraModel> & cameraModels,
int id = 0,
double stamp = 0.0,
const std::vector<unsigned char> & userData = std::vector<unsigned char>());
const cv::Mat & userData = cv::Mat());
// Multi-cameras RGB-D constructor + 2d laser scan
SensorData(
@@ -100,7 +100,7 @@ public:
const std::vector<CameraModel> & cameraModels,
int id = 0,
double stamp = 0.0,
const std::vector<unsigned char> & userData = std::vector<unsigned char>());
const cv::Mat & userData = cv::Mat());
// Stereo constructor
SensorData(
@@ -109,7 +109,7 @@ public:
const StereoCameraModel & cameraModel,
int id = 0,
double stamp = 0.0,
const std::vector<unsigned char> & userData = std::vector<unsigned char>());
const cv::Mat & userData = cv::Mat());
// Stereo constructor + 2d laser scan
SensorData(
@@ -120,7 +120,7 @@ public:
const StereoCameraModel & cameraModel,
int id = 0,
double stamp = 0.0,
const std::vector<unsigned char> & userData = std::vector<unsigned char>());
const cv::Mat & userData = cv::Mat());
virtual ~SensorData() {}
@@ -136,7 +136,8 @@ public:
_laserScanCompressed.empty() &&
_cameraModels.size() == 0 &&
!_stereoCameraModel.isValid() &&
_userData.size() == 0 &&
!_userDataRaw.empty() &&
!_userDataCompressed.empty() &&
_keypoints.size() == 0 &&
_descriptors.empty());
}
@@ -166,14 +167,16 @@ public:
cv::Mat rightRaw() const {return _depthOrRightRaw.type()==CV_8UC1?_depthOrRightRaw:cv::Mat();}
void uncompressData();
void uncompressData(cv::Mat * imageRaw, cv::Mat * depthOrRightRaw, cv::Mat * laserScanRaw);
void uncompressDataConst(cv::Mat * imageRaw, cv::Mat * depthOrRightRaw, cv::Mat * laserScanRaw) const;
void uncompressData(cv::Mat * imageRaw, cv::Mat * depthOrRightRaw, cv::Mat * laserScanRaw = 0, cv::Mat * userDataRaw = 0);
void uncompressDataConst(cv::Mat * imageRaw, cv::Mat * depthOrRightRaw, cv::Mat * laserScanRaw = 0, cv::Mat * userDataRaw = 0) const;
const std::vector<CameraModel> & cameraModels() const {return _cameraModels;}
const StereoCameraModel & stereoCameraModel() const {return _stereoCameraModel;}
void setUserData(const std::vector<unsigned char> & data) {_userData = data;}
const std::vector<unsigned char> & userData() const {return _userData;}
void setUserDataRaw(const cv::Mat & userDataRaw); // only set raw
void setUserData(const cv::Mat & userData); // detect automatically if raw or compressed. If raw, the data is compressed too.
const cv::Mat & userDataRaw() const {return _userDataRaw;}
const cv::Mat & userDataCompressed() const {return _userDataCompressed;}
void setFeatures(const std::vector<cv::KeyPoint> & keypoints, const cv::Mat & descriptors)
{
@@ -200,7 +203,8 @@ private:
StereoCameraModel _stereoCameraModel;
// user data
std::vector<unsigned char> _userData;
cv::Mat _userDataCompressed; // compressed data
cv::Mat _userDataRaw;
// features
std::vector<cv::KeyPoint> _keypoints;

5
corelib/include/rtabmap/core/Signature.h
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@@ -58,7 +58,6 @@ public:
double stamp = 0.0,
const std::string & label = std::string(),
const Transform & pose = Transform(),
const std::vector<unsigned char> & userData = std::vector<unsigned char>(),
const SensorData & sensorData = SensorData());
virtual ~Signature();
@@ -77,9 +76,6 @@ public:
void setLabel(const std::string & label) {_modified=_label.compare(label)!=0;_label = label;}
const std::string & getLabel() const {return _label;}
void setUserData(const std::vector<unsigned char> & data);
const std::vector<unsigned char> & getUserData() const {return _userData;}
double getStamp() const {return _stamp;}
void addLinks(const std::list<Link> & links);
@@ -130,7 +126,6 @@ private:
std::map<int, Link> _links; // id, transform
int _weight;
std::string _label;
std::vector<unsigned char> _userData;
bool _saved; // If it's saved to bd
bool _modified;
bool _linksModified; // Optimization when updating signatures in database

6
corelib/include/rtabmap/core/UserDataEvent.h
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@@ -40,17 +40,17 @@ namespace rtabmap
class UserDataEvent : public UEvent
{
public:
UserDataEvent(const std::vector<unsigned char> & data) :
UserDataEvent(const cv::Mat & data) :
UEvent(0),
data_(data)
{}
~UserDataEvent() {}
virtual std::string getClassName() const {return "UserDataEvent";}
const std::vector<unsigned char> & data() const {return data_;}
const cv::Mat & data() const {return data_;}
private:
std::vector<unsigned char> data_;
cv::Mat data_;
};
}