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Tango: 0.12.0 (performance optimization, time and memory)

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This commit is contained in:
matlabbe
2017-02-22 09:48:45 -05:00
parent 595ac49552
commit a9b03bb39e
19 changed files with 1238 additions and 625 deletions
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6
corelib/src/DBDriverSqlite3.cpp
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@@ -1992,7 +1992,7 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
// Prepare the query... Get the map from signature and visual words
std::stringstream query2;
if(uStrNumCmp(_version, "0.11.15") >= 0)
if(uStrNumCmp(_version, "0.12.0") >= 0)
{
query2 << "SELECT word_id, pos_x, pos_y, size, dir, response, octave, depth_x, depth_y, depth_z, descriptor_size, descriptor "
"FROM Map_Node_Word "
@@ -2045,7 +2045,7 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
kpt.size = sqlite3_column_int(ppStmt, index++);
kpt.angle = sqlite3_column_double(ppStmt, index++);
kpt.response = sqlite3_column_double(ppStmt, index++);
if(uStrNumCmp(_version, "0.11.15") >= 0)
if(uStrNumCmp(_version, "0.12.0") >= 0)
{
kpt.octave = sqlite3_column_int(ppStmt, index++);
}
@@ -3867,7 +3867,7 @@ void DBDriverSqlite3::stepWordsChanged(sqlite3_stmt * ppStmt, int nodeId, int ol
std::string DBDriverSqlite3::queryStepKeypoint() const
{
if(uStrNumCmp(_version, "0.11.15") >= 0)
if(uStrNumCmp(_version, "0.12.0") >= 0)
{
return "INSERT INTO Map_Node_Word(node_id, word_id, pos_x, pos_y, size, dir, response, octave, depth_x, depth_y, depth_z, descriptor_size, descriptor) VALUES(?,?,?,?,?,?,?,?,?,?,?,?,?);";
}

1
corelib/src/Memory.cpp
View File

@@ -2106,6 +2106,7 @@ void Memory::removeLink(int oldId, int newId)
void Memory::removeRawData(int id, bool image, bool scan, bool userData)
{
UDEBUG("id=%d image=%d scan=%d userData=%d", id, image?1:0, scan?1:0, userData?1:0);
Signature * s = this->_getSignature(id);
if(s)
{