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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pro-methods">Protected Member Functions</a> &#124;
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<p>Background thread to compress or uncompress images and generic matrices.
<a href="classrtabmap_1_1CompressionThread.html#details">More...</a></p>
<p><code>#include &lt;<a class="el" href="Compression_8h_source.html">Compression.h</a>&gt;</code></p>
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Inheritance diagram for rtabmap::CompressionThread:</div>
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Collaboration diagram for rtabmap::CompressionThread:</div>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a6bdec4c44e47774291bc9f98b3b5c146" id="r_a6bdec4c44e47774291bc9f98b3b5c146"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1CompressionThread.html#a6bdec4c44e47774291bc9f98b3b5c146">CompressionThread</a> (const cv::Mat &amp;mat, const std::string &amp;format=&quot;&quot;)</td></tr>
<tr class="memdesc:a6bdec4c44e47774291bc9f98b3b5c146"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructs a thread in compress mode. <br /></td></tr>
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<tr class="memdesc:a8cfe0e3d632c888c143b4e7902145fde"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructs a thread in uncompress mode. <br /></td></tr>
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<tr class="inherit_header pub_methods_classUThread"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classUThread')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classUThread.html">UThread</a></td></tr>
<tr class="memitem:a05a92f95e2a8900f27b09ddf907b97be inherit pub_methods_classUThread" id="r_a05a92f95e2a8900f27b09ddf907b97be"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a05a92f95e2a8900f27b09ddf907b97be">UThread</a> (<a class="el" href="classUThread.html#a731ef4dd5a8d15abcc06e7cfa53cd153">Priority</a> priority=kPNormal)</td></tr>
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<tr class="memitem:acf33c0e4b656af76da100e7d4f69ed1d inherit pub_methods_classUThread" id="r_acf33c0e4b656af76da100e7d4f69ed1d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#acf33c0e4b656af76da100e7d4f69ed1d">join</a> (bool killFirst=false)</td></tr>
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<tr class="separator:a40e8ea82c06ed20bb6266a6a42a8f51f inherit pub_methods_classUThread"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classUThreadC_3_01void_01_4"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classUThreadC_3_01void_01_4')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classUThreadC_3_01void_01_4.html">UThreadC&lt; void &gt;</a></td></tr>
<tr class="memitem:a724a5919ea1f1e74b69a9073d532e400 inherit pub_methods_classUThreadC_3_01void_01_4" id="r_a724a5919ea1f1e74b69a9073d532e400"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a724a5919ea1f1e74b69a9073d532e400">Create</a> (Handle *const &amp;H=0, const bool &amp;CreateDetached=false, const unsigned int &amp;StackSize=0, const bool &amp;CancelEnable=false, const bool &amp;CancelAsync=false) const</td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-methods" name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr class="memitem:a4948c2a9c84ee4e15699f08c2d4bac22" id="r_a4948c2a9c84ee4e15699f08c2d4bac22"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1CompressionThread.html#a4948c2a9c84ee4e15699f08c2d4bac22">mainLoop</a> ()</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pub_types_classUThread"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classUThread')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classUThread.html">UThread</a></td></tr>
<tr class="memitem:a731ef4dd5a8d15abcc06e7cfa53cd153 inherit pub_types_classUThread" id="r_a731ef4dd5a8d15abcc06e7cfa53cd153"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a731ef4dd5a8d15abcc06e7cfa53cd153">Priority</a> { <br />
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&#160;&#160;<b>kPRealTime</b>
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<tr class="inherit_header pro_static_methods_classUThreadC_3_01void_01_4"><td colspan="2" onclick="javascript:toggleInherit('pro_static_methods_classUThreadC_3_01void_01_4')"><img src="closed.png" alt="-"/>&#160;Static Protected Member Functions inherited from <a class="el" href="classUThreadC_3_01void_01_4.html">UThreadC&lt; void &gt;</a></td></tr>
<tr class="memitem:afc1715cfa1d5ae88f57ba2fe983bb9e5 inherit pro_static_methods_classUThreadC_3_01void_01_4" id="r_afc1715cfa1d5ae88f57ba2fe983bb9e5"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#afc1715cfa1d5ae88f57ba2fe983bb9e5">Exit</a> ()</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Background thread to compress or uncompress images and generic matrices. </p>
<p>In compress mode, pass a source matrix to the constructor with an optional image format (".png", ".jpg", ".rvl", or empty for zlib data). In uncompress mode, pass compressed bytes and set <code>isImage</code> accordingly. Call <a class="el" href="classUThread.html#a051e9adcf24f92b9c8e31acd06bad88c">UThread::start()</a> then <a class="el" href="classUThread.html#acf33c0e4b656af76da100e7d4f69ed1d">UThread::join()</a> to obtain the result from <a class="el" href="classrtabmap_1_1CompressionThread.html#a6908afb16364f91c7d0744decf6c970d">getCompressedData()</a> or <a class="el" href="classrtabmap_1_1CompressionThread.html#aafdc57cad744cbe94b30a8abfe7711a4">getUncompressedData()</a>.</p>
<p>Example compression: </p><div class="fragment"><div class="line">cv::Mat image;</div>
<div class="line"><a class="code hl_class" href="classrtabmap_1_1CompressionThread.html">CompressionThread</a> ct(image, <span class="stringliteral">&quot;.png&quot;</span>);</div>
<div class="line">ct.start();</div>
<div class="line">ct.join();</div>
<div class="line">cv::Mat bytes = ct.getCompressedData();</div>
<div class="ttc" id="aclassrtabmap_1_1CompressionThread_html"><div class="ttname"><a href="classrtabmap_1_1CompressionThread.html">rtabmap::CompressionThread</a></div><div class="ttdoc">Background thread to compress or uncompress images and generic matrices.</div><div class="ttdef"><b>Definition</b> <a href="Compression_8h_source.html#l00067">Compression.h:68</a></div></div>
</div><!-- fragment --><p>Example uncompression: </p><div class="fragment"><div class="line">cv::Mat bytes;</div>
<div class="line"><a class="code hl_class" href="classrtabmap_1_1CompressionThread.html">CompressionThread</a> ct(bytes, <span class="keyword">true</span>);</div>
<div class="line">ct.start();</div>
<div class="line">ct.join();</div>
<div class="line">cv::Mat image = ct.getUncompressedData();</div>
</div><!-- fragment -->
<p class="definition">Definition at line <a class="el" href="Compression_8h_source.html#l00067">67</a> of file <a class="el" href="Compression_8h_source.html">Compression.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="a6bdec4c44e47774291bc9f98b3b5c146" name="a6bdec4c44e47774291bc9f98b3b5c146"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6bdec4c44e47774291bc9f98b3b5c146">&#9670;&#160;</a></span>CompressionThread() <span class="overload">[1/2]</span></h2>
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<td class="memname">rtabmap::CompressionThread::CompressionThread </td>
<td>(</td>
<td class="paramtype">const cv::Mat &amp;&#160;</td>
<td class="paramname"><em>mat</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const std::string &amp;&#160;</td>
<td class="paramname"><em>format</em> = <code>&quot;&quot;</code>&#160;</td>
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<p>Constructs a thread in compress mode. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">mat</td><td>Source image or data matrix to compress. </td></tr>
<tr><td class="paramname">format</td><td>Image format: <code>".png"</code>, <code>".jpg"</code>, <code>".rvl"</code>, or empty for zlib (<a class="el" href="namespacertabmap.html#aca82ee9efc46461c648c7ab8999e1d5b">compressData2</a>). </td></tr>
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</dd>
</dl>
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<a id="a8cfe0e3d632c888c143b4e7902145fde" name="a8cfe0e3d632c888c143b4e7902145fde"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8cfe0e3d632c888c143b4e7902145fde">&#9670;&#160;</a></span>CompressionThread() <span class="overload">[2/2]</span></h2>
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<td class="memname">rtabmap::CompressionThread::CompressionThread </td>
<td>(</td>
<td class="paramtype">const cv::Mat &amp;&#160;</td>
<td class="paramname"><em>bytes</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool&#160;</td>
<td class="paramname"><em>isImage</em>&#160;</td>
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<td></td>
<td>)</td>
<td></td><td></td>
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<p>Constructs a thread in uncompress mode. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">bytes</td><td>Compressed bytes (<code>CV_8UC1</code>). </td></tr>
<tr><td class="paramname">isImage</td><td>If true, decode as image; otherwise decode as zlib data. </td></tr>
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</dd>
</dl>
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<h2 class="groupheader">Member Function Documentation</h2>
<a id="a6908afb16364f91c7d0744decf6c970d" name="a6908afb16364f91c7d0744decf6c970d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6908afb16364f91c7d0744decf6c970d">&#9670;&#160;</a></span>getCompressedData()</h2>
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<td class="memname">const cv::Mat &amp; rtabmap::CompressionThread::getCompressedData </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const</td>
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<span class="mlabels"><span class="mlabel">inline</span></span> </td>
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<dl class="section return"><dt>Returns</dt><dd>Compressed output (<code>CV_8UC1</code>), valid after compress mode completes. </dd></dl>
<p class="definition">Definition at line <a class="el" href="Compression_8h_source.html#l00083">83</a> of file <a class="el" href="Compression_8h_source.html">Compression.h</a>.</p>
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<a id="aafdc57cad744cbe94b30a8abfe7711a4" name="aafdc57cad744cbe94b30a8abfe7711a4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aafdc57cad744cbe94b30a8abfe7711a4">&#9670;&#160;</a></span>getUncompressedData()</h2>
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<td class="memname">cv::Mat &amp; rtabmap::CompressionThread::getUncompressedData </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
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<dl class="section return"><dt>Returns</dt><dd>Uncompressed output, valid after uncompress mode completes. </dd></dl>
<p class="definition">Definition at line <a class="el" href="Compression_8h_source.html#l00085">85</a> of file <a class="el" href="Compression_8h_source.html">Compression.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a4948c2a9c84ee4e15699f08c2d4bac22">&#9670;&#160;</a></span>mainLoop()</h2>
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<td class="memname">virtual void rtabmap::CompressionThread::mainLoop </td>
<td>(</td>
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<td></td>
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<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span> </td>
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<p>Pure virtual method <a class="el" href="classrtabmap_1_1CompressionThread.html#a4948c2a9c84ee4e15699f08c2d4bac22">mainLoop()</a>. The inner loop of the thread. This method is called repetitively until the thread is killed. Note that if <a class="el" href="classUThread.html#a8dfefcfd68b453da08ddba9836f35965">kill()</a> is called in mainLoopBegin(), <a class="el" href="classrtabmap_1_1CompressionThread.html#a4948c2a9c84ee4e15699f08c2d4bac22">mainLoop()</a> is not called, terminating immediately the thread.</p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1CompressionThread.html#a4948c2a9c84ee4e15699f08c2d4bac22">mainLoop()</a> </dd>
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<a class="el" href="classUThread.html#a8dfefcfd68b453da08ddba9836f35965">kill()</a> </dd></dl>
<p>Implements <a class="el" href="classUThread.html">UThread</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>corelib/include/rtabmap/core/<a class="el" href="Compression_8h_source.html">Compression.h</a></li>
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