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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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16
guilib/src/DatabaseViewer.cpp
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@@ -767,8 +767,7 @@ void DatabaseViewer::exportDatabase()
int mapId = -1;
std::string label;
double stamp = 0;
std::vector<unsigned char> userData;
if(memory_->getNodeInfo(ids_[i], odomPose, mapId, weight, label, stamp, userData, true))
if(memory_->getNodeInfo(ids_[i], odomPose, mapId, weight, label, stamp, true))
{
if(frameRate == 0 ||
previousStamp == 0 ||
@@ -832,7 +831,7 @@ void DatabaseViewer::exportDatabase()
data.cameraModels(),
data.id(),
data.stamp(),
dialog.isUserDataExported()?data.userData():std::vector<unsigned char>());
dialog.isUserDataExported()?data.userDataRaw():cv::Mat());
}
else
{
@@ -844,7 +843,7 @@ void DatabaseViewer::exportDatabase()
data.stereoCameraModel(),
data.id(),
data.stamp(),
dialog.isUserDataExported()?data.userData():std::vector<unsigned char>());
dialog.isUserDataExported()?data.userDataRaw():cv::Mat());
}
recorder.addData(sensorData, dialog.isOdomExported()?poses.at(id):Transform(), covariance);
@@ -966,9 +965,8 @@ void DatabaseViewer::updateIds()
int w;
std::string l;
double s;
std::vector<unsigned char> d;
int mapId;
memory_->getNodeInfo(ids_[i], p, mapId, w, l, s, d, true);
memory_->getNodeInfo(ids_[i], p, mapId, w, l, s, true);
mapIds_.insert(std::make_pair(ids_[i], mapId));
}
@@ -1235,8 +1233,7 @@ void DatabaseViewer::view3DMap()
Transform odomPose;
std::string label;
double stamp;
std::vector<unsigned char> userData;
if(memory_->getNodeInfo(iter->first, odomPose, mapId, weight, label, stamp, userData, true))
if(memory_->getNodeInfo(iter->first, odomPose, mapId, weight, label, stamp, true))
{
color = (Qt::GlobalColor)(mapId % 12 + 7 );
}
@@ -1592,8 +1589,7 @@ void DatabaseViewer::update(int value,
int w;
std::string l;
double s;
std::vector<unsigned char> d;
memory_->getNodeInfo(id, odomPose, mapId, w, l, s, d, true);
memory_->getNodeInfo(id, odomPose, mapId, w, l, s, true);
weight->setNum(w);
label->setText(l.c_str());