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Version 0.10.1: user_data is now a cv::Mat to avoid a deep copy when SensorData is copied

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This commit is contained in:
matlabbe
2015-06-28 19:22:18 -04:00
parent 7d3a3317b7
commit 4f96fd3530
22 changed files with 516 additions and 640 deletions
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corelib/src/DBDriver.cpp
+9 -7
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@@ -390,7 +390,7 @@ void DBDriver::loadWords(const std::set<int> & wordIds, std::list<VisualWord *>
}
}
void DBDriver::loadNodeData(std::list<Signature *> & signatures, bool loadMetricData) const
void DBDriver::loadNodeData(std::list<Signature *> & signatures) const
{
// Don't look in the trash, we assume that if we want to load
// data of a signature, it is not in thrash! Print an error if so.
@@ -406,7 +406,7 @@ void DBDriver::loadNodeData(std::list<Signature *> & signatures, bool loadMetric
_trashesMutex.unlock();
_dbSafeAccessMutex.lock();
this->loadNodeDataQuery(signatures, loadMetricData);
this->loadNodeDataQuery(signatures);
_dbSafeAccessMutex.unlock();
}
@@ -431,7 +431,11 @@ void DBDriver::getNodeData(
if(!found)
{
_dbSafeAccessMutex.lock();
this->getNodeDataQuery(signatureId, data);
std::list<Signature *> signatures;
Signature tmp(signatureId);
signatures.push_back(&tmp);
loadNodeDataQuery(signatures);
data = signatures.front()->sensorData();
_dbSafeAccessMutex.unlock();
}
}
@@ -441,8 +445,7 @@ bool DBDriver::getNodeInfo(int signatureId,
int & mapId,
int & weight,
std::string & label,
double & stamp,
std::vector<unsigned char> & userData) const
double & stamp) const
{
bool found = false;
// look in the trash
@@ -454,7 +457,6 @@ bool DBDriver::getNodeInfo(int signatureId,
weight = _trashSignatures.at(signatureId)->getWeight();
label = _trashSignatures.at(signatureId)->getLabel();
stamp = _trashSignatures.at(signatureId)->getStamp();
userData = _trashSignatures.at(signatureId)->getUserData();
found = true;
}
_trashesMutex.unlock();
@@ -462,7 +464,7 @@ bool DBDriver::getNodeInfo(int signatureId,
if(!found)
{
_dbSafeAccessMutex.lock();
found = this->getNodeInfoQuery(signatureId, pose, mapId, weight, label, stamp, userData);
found = this->getNodeInfoQuery(signatureId, pose, mapId, weight, label, stamp);
_dbSafeAccessMutex.unlock();
}
return found;