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Improved DatabaseViewer memory usage (by not keeping uncompressed data in cache)

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This commit is contained in:
matlabbe
2015-10-14 11:02:36 -04:00
parent a8d83c895c
commit 9bd649009c
5 changed files with 37 additions and 20 deletions
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2
corelib/include/rtabmap/core/Graph.h
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@@ -61,7 +61,7 @@ public:
static void getConnectedGraph(
int fromId,
const std::map<int, Transform> & posesIn,
const std::multimap<int, Link> & linksIn,
const std::multimap<int, Link> & linksIn, // only one link between two poses
std::map<int, Transform> & posesOut,
std::multimap<int, Link> & linksOut,
int depth = 0);

2
corelib/include/rtabmap/core/Memory.h
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@@ -141,7 +141,7 @@ public:
double & stamp,
bool lookInDatabase = false) const;
cv::Mat getImageCompressed(int signatureId) const;
SensorData getNodeData(int nodeId, bool uncompressedData = false);
SensorData getNodeData(int nodeId, bool uncompressedData = false, bool keepLoadedDataInMemory = true);
void getNodeWords(int nodeId,
std::multimap<int, cv::KeyPoint> & words,
std::multimap<int, pcl::PointXYZ> & words3);