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0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)

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This commit is contained in:
matlabbe
2017-03-12 21:21:09 -04:00
parent c12980ee91
commit d21ae76fff
56 changed files with 1869 additions and 662 deletions
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corelib/src/Memory.cpp
+74 -40
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@@ -85,6 +85,7 @@ Memory::Memory(const ParametersMap & parameters) :
_mapLabelsAdded(Parameters::defaultMemMapLabelsAdded()),
_imagePreDecimation(Parameters::defaultMemImagePreDecimation()),
_imagePostDecimation(Parameters::defaultMemImagePostDecimation()),
_compressionParallelized(Parameters::defaultMemCompressionParallelized()),
_laserScanDownsampleStepSize(Parameters::defaultMemLaserScanDownsampleStepSize()),
_laserScanNormalK(Parameters::defaultMemLaserScanNormalK()),
_reextractLoopClosureFeatures(Parameters::defaultRGBDLoopClosureReextractFeatures()),
@@ -429,6 +430,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kMemSTMSize(), _maxStMemSize);
Parameters::parse(parameters, Parameters::kMemImagePreDecimation(), _imagePreDecimation);
Parameters::parse(parameters, Parameters::kMemImagePostDecimation(), _imagePostDecimation);
Parameters::parse(parameters, Parameters::kMemCompressionParallelized(), _compressionParallelized);
Parameters::parse(parameters, Parameters::kMemLaserScanDownsampleStepSize(), _laserScanDownsampleStepSize);
Parameters::parse(parameters, Parameters::kMemLaserScanNormalK(), _laserScanNormalK);
Parameters::parse(parameters, Parameters::kRGBDLoopClosureReextractFeatures(), _reextractLoopClosureFeatures);
@@ -3679,30 +3681,49 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
depthOrRightImage = util2d::cvtDepthFromFloat(depthOrRightImage);
}
rtabmap::CompressionThread ctImage(image, std::string(".jpg"));
rtabmap::CompressionThread ctDepth(depthOrRightImage, std::string(".png"));
rtabmap::CompressionThread ctLaserScan(laserScan);
rtabmap::CompressionThread ctUserData(data.userDataRaw());
if(!image.empty())
cv::Mat compressedImage;
cv::Mat compressedDepth;
cv::Mat compressedScan;
cv::Mat compressedUserData;
if(_compressionParallelized)
{
ctImage.start();
rtabmap::CompressionThread ctImage(image, std::string(".jpg"));
rtabmap::CompressionThread ctDepth(depthOrRightImage, std::string(".png"));
rtabmap::CompressionThread ctLaserScan(laserScan);
rtabmap::CompressionThread ctUserData(data.userDataRaw());
if(!image.empty())
{
ctImage.start();
}
if(!depthOrRightImage.empty())
{
ctDepth.start();
}
if(!laserScan.empty())
{
ctLaserScan.start();
}
if(!data.userDataRaw().empty())
{
ctUserData.start();
}
ctImage.join();
ctDepth.join();
ctLaserScan.join();
ctUserData.join();
compressedImage = ctImage.getCompressedData();
compressedDepth = ctDepth.getCompressedData();
compressedScan = ctLaserScan.getCompressedData();
compressedUserData = ctUserData.getCompressedData();
}
if(!depthOrRightImage.empty())
else
{
ctDepth.start();
compressedImage = compressImage2(image, std::string(".jpg"));
compressedDepth = compressImage2(depthOrRightImage, depthOrRightImage.type() == CV_32FC1 || depthOrRightImage.type() == CV_16UC1?std::string(".png"):std::string(".jpg"));
compressedScan = compressData2(laserScan);
compressedUserData = compressData2(data.userDataRaw());
}
if(!laserScan.empty())
{
ctLaserScan.start();
}
if(!data.userDataRaw().empty())
{
ctUserData.start();
}
ctImage.join();
ctDepth.join();
ctLaserScan.join();
ctUserData.join();
s = new Signature(id,
_idMapCount,
@@ -3713,23 +3734,23 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
data.groundTruth(),
stereoCameraModel.isValidForProjection()?
SensorData(
ctLaserScan.getCompressedData(),
compressedScan,
LaserScanInfo(maxLaserScanMaxPts, data.laserScanInfo().maxRange(), data.laserScanInfo().localTransform()),
ctImage.getCompressedData(),
ctDepth.getCompressedData(),
compressedImage,
compressedDepth,
stereoCameraModel,
id,
0,
ctUserData.getCompressedData()):
compressedUserData):
SensorData(
ctLaserScan.getCompressedData(),
compressedScan,
LaserScanInfo(maxLaserScanMaxPts, data.laserScanInfo().maxRange(), data.laserScanInfo().localTransform()),
ctImage.getCompressedData(),
ctDepth.getCompressedData(),
compressedImage,
compressedDepth,
cameraModels,
id,
0,
ctUserData.getCompressedData()));
compressedUserData));
}
else
{
@@ -3738,18 +3759,31 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
data.userDataRaw().empty()?0:1);
// just compress user data and laser scan (scans can be used for local scan matching)
rtabmap::CompressionThread ctUserData(data.userDataRaw());
rtabmap::CompressionThread ctLaserScan(laserScan);
if(!data.userDataRaw().empty() && !isIntermediateNode)
cv::Mat compressedScan;
cv::Mat compressedUserData;
if(_compressionParallelized)
{
ctUserData.start();
rtabmap::CompressionThread ctUserData(data.userDataRaw());
rtabmap::CompressionThread ctLaserScan(laserScan);
if(!data.userDataRaw().empty() && !isIntermediateNode)
{
ctUserData.start();
}
if(!laserScan.empty() && !isIntermediateNode)
{
ctLaserScan.start();
}
ctUserData.join();
ctLaserScan.join();
compressedScan = ctLaserScan.getCompressedData();
compressedUserData = ctUserData.getCompressedData();
}
if(!laserScan.empty() && !isIntermediateNode)
else
{
ctLaserScan.start();
compressedScan = compressData2(laserScan);
compressedUserData = compressData2(data.userDataRaw());
}
ctUserData.join();
ctLaserScan.join();
s = new Signature(id,
_idMapCount,
@@ -3760,23 +3794,23 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
data.groundTruth(),
stereoCameraModel.isValidForProjection()?
SensorData(
ctLaserScan.getCompressedData(),
compressedScan,
LaserScanInfo(maxLaserScanMaxPts, data.laserScanInfo().maxRange(), data.laserScanInfo().localTransform()),
cv::Mat(),
cv::Mat(),
stereoCameraModel,
id,
0,
ctUserData.getCompressedData()):
compressedUserData):
SensorData(
ctLaserScan.getCompressedData(),
compressedScan,
LaserScanInfo(maxLaserScanMaxPts, data.laserScanInfo().maxRange(), data.laserScanInfo().localTransform()),
cv::Mat(),
cv::Mat(),
cameraModels,
id,
0,
ctUserData.getCompressedData()));
compressedUserData));
}
s->setWords(words);