i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 16:57:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Memory efficiency: changed std::vector<unsigned char> bytes arrays to cv::Mat to avoid multiple copies when Signature objects are copied.

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1937 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-28 19:57:21 +00:00
parent eace13b7a8
commit 0f7cc38688
17 changed files with 258 additions and 199 deletions
Download Patch File Download Diff File Expand all files Collapse all files
guilib/src/DatabaseViewer.cpp
+20 -27
View File
@@ -279,6 +279,14 @@ void DatabaseViewer::closeEvent(QCloseEvent* event)
}
}
void DatabaseViewer::showEvent(QShowEvent* anEvent)
{
ui_->graphicsView_A->fitInView(ui_->graphicsView_A->sceneRect(), Qt::KeepAspectRatio);
ui_->graphicsView_B->fitInView(ui_->graphicsView_B->sceneRect(), Qt::KeepAspectRatio);
ui_->graphicsView_A->resetZoom();
ui_->graphicsView_B->resetZoom();
}
void DatabaseViewer::resizeEvent(QResizeEvent* anEvent)
{
ui_->graphicsView_A->fitInView(ui_->graphicsView_A->sceneRect(), Qt::KeepAspectRatio);
@@ -350,8 +358,8 @@ void DatabaseViewer::extractImages()
for(int i=0; i<ids_.size(); i+=1)
{
int id = ids_.at(i);
std::vector<unsigned char> compressedRgb = memory_->getImage(id);
if(compressedRgb.size())
cv::Mat compressedRgb = memory_->getImageCompressed(id);
if(!compressedRgb.empty())
{
cv::Mat imageMat = rtabmap::util3d::uncompressImage(compressedRgb);
cv::imwrite(QString("%1/%2.png").arg(path).arg(id).toStdString(), imageMat);
@@ -1300,31 +1308,16 @@ void DatabaseViewer::updateConstraintView(const rtabmap::Link & link,
bool updateB = false;
ui_->horizontalSlider_A->blockSignals(true);
ui_->horizontalSlider_B->blockSignals(true);
if(ui_->horizontalSlider_A->value() == idToIndex_.value(link.from()))
{
ui_->horizontalSlider_B->setValue(idToIndex_.value(link.to()));
updateB=true;
}
else if(ui_->horizontalSlider_A->value() == idToIndex_.value(link.to()))
{
ui_->horizontalSlider_B->setValue(idToIndex_.value(link.from()));
updateB=true;
}
else if(ui_->horizontalSlider_B->value() == idToIndex_.value(link.from()))
{
ui_->horizontalSlider_A->setValue(idToIndex_.value(link.to()));
updateA = true;
}
else if(ui_->horizontalSlider_B->value() == idToIndex_.value(link.to()))
// set from on left and to on right
if(ui_->horizontalSlider_A->value() != idToIndex_.value(link.from()))
{
ui_->horizontalSlider_A->setValue(idToIndex_.value(link.from()));
updateA=true;
}
else
if(ui_->horizontalSlider_B->value() != idToIndex_.value(link.to()))
{
ui_->horizontalSlider_A->setValue(idToIndex_.value(link.from()));
ui_->horizontalSlider_B->setValue(idToIndex_.value(link.to()));
updateA=updateB=true;
updateB=true;
}
ui_->horizontalSlider_A->blockSignals(false);
ui_->horizontalSlider_B->blockSignals(false);
@@ -1505,10 +1498,10 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
for(int i=0; i<ids_.size(); ++i)
{
Signature data = memory_->getSignatureData(ids_.at(i), false);
if(data.getDepth2D().size())
if(!data.getDepth2DCompressed().empty())
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
cv::Mat depth2d = rtabmap::util3d::uncompressData(data.getDepth2D());
cv::Mat depth2d = rtabmap::util3d::uncompressData(data.getDepth2DCompressed());
cloud = rtabmap::util3d::depth2DToPointCloud(depth2d);
scans_.insert(std::make_pair(ids_.at(i), cloud));
}
@@ -1681,8 +1674,8 @@ void DatabaseViewer::refineConstraint(int from, int to)
if(ui_->checkBox_icp_2d->isChecked())
{
//2D
cv::Mat oldDepth2D = util3d::uncompressData(dataFrom.getDepth2D());
cv::Mat newDepth2D = util3d::uncompressData(dataTo.getDepth2D());
cv::Mat oldDepth2D = util3d::uncompressData(dataFrom.getDepth2DCompressed());
cv::Mat newDepth2D = util3d::uncompressData(dataTo.getDepth2DCompressed());
if(!oldDepth2D.empty() && !newDepth2D.empty())
{
@@ -1711,8 +1704,8 @@ void DatabaseViewer::refineConstraint(int from, int to)
else
{
//3D
cv::Mat depthA = rtabmap::util3d::uncompressImage(dataFrom.getDepth());
cv::Mat depthB = rtabmap::util3d::uncompressImage(dataTo.getDepth());
cv::Mat depthA = rtabmap::util3d::uncompressImage(dataFrom.getDepthCompressed());
cv::Mat depthB = rtabmap::util3d::uncompressImage(dataTo.getDepthCompressed());
if(depthA.type() == CV_8UC1 || depthB.type() == CV_8UC1)
{