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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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14
corelib/src/Signature.cpp
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@@ -54,14 +54,12 @@ Signature::Signature(
double stamp,
const std::string & label,
const Transform & pose,
const std::vector<unsigned char> & userData,
const SensorData & sensorData):
_id(id),
_mapId(mapId),
_stamp(stamp),
_weight(weight),
_label(label),
_userData(userData),
_saved(false),
_modified(true),
_linksModified(true),
@@ -81,18 +79,6 @@ Signature::~Signature()
//UDEBUG("id=%d", _id);
}
void Signature::setUserData(const std::vector<unsigned char> & data)
{
if(!_userData.empty() && !data.empty())
{
UWARN("Node %d: Current user data (%d bytes) overwritten by new data (%d bytes)",
_id, (int)_userData.size(), (int)data.size());
}
_modified = true;
_userData = data;
}
void Signature::addLinks(const std::list<Link> & links)
{
for(std::list<Link>::const_iterator iter = links.begin(); iter!=links.end(); ++iter)