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Fixed superglue deadlock on standalone (#896). Fixed some elemSize opencv asserts in debug build (876)

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matlabbe
2023-09-17 01:19:59 -07:00
parent fb466a6a96
commit f1cd819673
11 changed files with 68 additions and 129 deletions
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corelib/src/SensorData.cpp
+15 -15
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@@ -810,23 +810,23 @@ void SensorData::setFeatures(const std::vector<cv::KeyPoint> & keypoints, const
unsigned long SensorData::getMemoryUsed() const // Return memory usage in Bytes
{
return sizeof(SensorData) +
_imageCompressed.total()*_imageCompressed.elemSize() +
_imageRaw.total()*_imageRaw.elemSize() +
_depthOrRightCompressed.total()*_depthOrRightCompressed.elemSize() +
_depthOrRightRaw.total()*_depthOrRightRaw.elemSize() +
_userDataCompressed.total()*_userDataCompressed.elemSize() +
_userDataRaw.total()*_userDataRaw.elemSize() +
_laserScanCompressed.data().total()*_laserScanCompressed.data().elemSize() +
_laserScanRaw.data().total()*_laserScanRaw.data().elemSize() +
_groundCellsCompressed.total()*_groundCellsCompressed.elemSize() +
_groundCellsRaw.total()*_groundCellsRaw.elemSize() +
_obstacleCellsCompressed.total()*_obstacleCellsCompressed.elemSize() +
_obstacleCellsRaw.total()*_obstacleCellsRaw.elemSize()+
_emptyCellsCompressed.total()*_emptyCellsCompressed.elemSize() +
_emptyCellsRaw.total()*_emptyCellsRaw.elemSize()+
(_imageCompressed.empty()?0:_imageCompressed.total()*_imageCompressed.elemSize()) +
(_imageRaw.empty()?0:_imageRaw.total()*_imageRaw.elemSize()) +
(_depthOrRightCompressed.empty()?0:_depthOrRightCompressed.total()*_depthOrRightCompressed.elemSize()) +
(_depthOrRightRaw.empty()?0:_depthOrRightRaw.total()*_depthOrRightRaw.elemSize()) +
(_userDataCompressed.empty()?0:_userDataCompressed.total()*_userDataCompressed.elemSize()) +
(_userDataRaw.empty()?0:_userDataRaw.total()*_userDataRaw.elemSize()) +
(_laserScanCompressed.empty()?0:_laserScanCompressed.data().total()*_laserScanCompressed.data().elemSize()) +
(_laserScanRaw.empty()?0:_laserScanRaw.data().total()*_laserScanRaw.data().elemSize()) +
(_groundCellsCompressed.empty()?0:_groundCellsCompressed.total()*_groundCellsCompressed.elemSize()) +
(_groundCellsRaw.empty()?0:_groundCellsRaw.total()*_groundCellsRaw.elemSize()) +
(_obstacleCellsCompressed.empty()?0:_obstacleCellsCompressed.total()*_obstacleCellsCompressed.elemSize()) +
(_obstacleCellsRaw.empty()?0:_obstacleCellsRaw.total()*_obstacleCellsRaw.elemSize())+
(_emptyCellsCompressed.empty()?0:_emptyCellsCompressed.total()*_emptyCellsCompressed.elemSize()) +
(_emptyCellsRaw.empty()?0:_emptyCellsRaw.total()*_emptyCellsRaw.elemSize())+
_keypoints.size() * sizeof(cv::KeyPoint) +
_keypoints3D.size() * sizeof(cv::Point3f) +
_descriptors.total()*_descriptors.elemSize();
(_descriptors.empty()?0:_descriptors.total()*_descriptors.elemSize());
}
void SensorData::clearCompressedData(bool images, bool scan, bool userData)