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Code Issues Packages Projects Releases Wiki Activity

-Updated File menu with new actions "New database...", "Open database", "Close database" and "Edit database". Each new session will be automatically saved when closing the database. The "play" action cannot be activated until a new database is created or a previous session database is opened.

Browse Source 
-  Memory usage reviewed for the GUI: we don't uncompress data for downloaded nodes from "Download all clouds" action.
- Odometry: added optional argument "initialPose" to reset() method

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1930 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-28 01:20:57 +00:00
parent 457c068e0f
commit b56e03b463
30 changed files with 632 additions and 424 deletions
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59
corelib/src/Signature.cpp
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@@ -88,7 +88,7 @@ Signature::Signature(
Signature::~Signature()
{
ULOGGER_DEBUG("id=%d", _id);
//ULOGGER_DEBUG("id=%d", _id);
}
void Signature::addNeighbors(const std::map<int, Transform> & neighbors)
@@ -247,9 +247,9 @@ void Signature::uncompressData()
if(_imageRaw.empty() && _image.size())
{
//uncompress data
util3d::CompressionThread ctImage(_image, true);
util3d::CompressionThread ctDepth(_depth, true);
util3d::CompressionThread ctDepth2D(_depth2D, false);
util3d::CompressionThread ctImage(&_image, true);
util3d::CompressionThread ctDepth(&_depth, true);
util3d::CompressionThread ctDepth2D(&_depth2D, false);
ctImage.start();
ctDepth.start();
ctDepth2D.start();
@@ -262,4 +262,55 @@ void Signature::uncompressData()
}
}
void Signature::uncompressData(cv::Mat * image, cv::Mat * depth, cv::Mat * depth2D) const
{
if(image)
{
*image = _imageRaw;
}
if(depth)
{
*depth = _depthRaw;
}
if(depth2D)
{
*depth2D = _depth2DRaw;
}
if( (image && image->empty()) ||
(depth && depth->empty()) ||
(depth2D && depth2D->empty()))
{
util3d::CompressionThread ctImage(&_image, true);
util3d::CompressionThread ctDepth(&_depth, true);
util3d::CompressionThread ctDepth2D(&_depth2D, false);
if(image && image->empty())
{
ctImage.start();
}
if(depth && depth->empty())
{
ctDepth.start();
}
if(depth2D && depth2D->empty())
{
ctDepth2D.start();
}
ctImage.join();
ctDepth.join();
ctDepth2D.join();
if(image)
{
*image = ctImage.getUncompressedData();
}
if(depth)
{
*depth = ctDepth.getUncompressedData();
}
if(depth2D)
{
*depth2D = ctDepth2D.getUncompressedData();
}
}
}
} //namespace rtabmap