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MainWindow: avoid uncompressing images/scans if they are not shown

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This commit is contained in:
matlabbe
2020-11-03 16:12:43 -05:00
parent e269067d4c
commit 92b1dabf1c
1 changed files with 32 additions and 2 deletions
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34
guilib/src/MainWindow.cpp
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@@ -1701,7 +1701,26 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
if(stat.getLastSignatureData().id() == stat.refImageId())
{
signature = stat.getLastSignatureData();
signature.sensorData().uncompressData(); // make sure data are uncompressed
// make sure data are uncompressed
// We don't need to uncompress images if we don't show them
bool uncompressImages =
_ui->imageView_source->isVisible() ||
(_loopClosureViewer->isVisible() &&
!signature.sensorData().depthOrRightCompressed().empty()) ||
(_cloudViewer->isVisible() &&
_preferencesDialog->isCloudsShown(0) &&
!signature.sensorData().depthOrRightCompressed().empty());
bool uncompressScan =
_loopClosureViewer->isVisible() ||
(_cloudViewer->isVisible() && _preferencesDialog->isScansShown(0));
cv::Mat tmpRgb, tmpDepth, tmpG, tmpO, tmpE;
LaserScan tmpScan;
signature.sensorData().uncompressData(
uncompressImages?&tmpRgb:0,
uncompressImages?&tmpDepth:0,
uncompressScan?&tmpScan:0,
0, &tmpG, &tmpO, &tmpE);
if( uStr2Bool(_preferencesDialog->getParameter(Parameters::kMemIncrementalMemory())) &&
signature.getWeight()>=0) // ignore intermediate nodes for the cache
@@ -1868,7 +1887,18 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
{
// uncompress after copy to avoid keeping uncompressed data in memory
loopSignature = iter.value();
loopSignature.sensorData().uncompressData();
bool uncompressImages = _ui->imageView_source->isVisible() ||
(_loopClosureViewer->isVisible() && !signature.sensorData().depthOrRightCompressed().empty());
bool uncompressScan = _loopClosureViewer->isVisible() && !signature.sensorData().laserScanCompressed().isEmpty();
if(uncompressImages || uncompressScan)
{
cv::Mat tmpRGB, tmpDepth;
LaserScan tmpScan;
loopSignature.sensorData().uncompressData(
uncompressImages?&tmpRGB:0,
uncompressImages?&tmpDepth:0,
uncompressScan?&tmpScan:0);
}
}
}
}