Background thread to compress or uncompress images and generic matrices. More...

#include <Compression.h>

Inheritance diagram for rtabmap::CompressionThread:

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Collaboration diagram for rtabmap::CompressionThread:

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Public Member Functions
	CompressionThread (const cv::Mat &mat, const std::string &format="")
	Constructs a thread in compress mode.

	CompressionThread (const cv::Mat &bytes, bool isImage)
	Constructs a thread in uncompress mode.

const cv::Mat &	getCompressedData () const

cv::Mat &	getUncompressedData ()

Public Member Functions inherited from UThread
	UThread (Priority priority=kPNormal)

virtual	~UThread ()

void	start ()

void	kill ()

void	join (bool killFirst=false)

void	setPriority (Priority priority)

void	setAffinity (int cpu=0)

bool	isCreating () const

bool	isRunning () const

bool	isIdle () const

bool	isKilled () const

Handle	getThreadHandle () const

unsigned long	getThreadId () const

Public Member Functions inherited from UThreadC< void >
int	Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const

int	Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const

int	Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const

int	Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const

Protected Member Functions
virtual void	mainLoop ()

Additional Inherited Members
Public Types inherited from UThread
enum	Priority { kPLow , kPBelowNormal , kPNormal , kPAboveNormal , kPRealTime }

Public Types inherited from UThreadC< void >
typedef THREAD_HANDLE	Handle

typedef void(*	Handler) ()

typedef THREAD_HANDLE	Handle

typedef void(*	Handler) ()

Static Public Member Functions inherited from UThread
static unsigned long	currentThreadId ()

Static Public Member Functions inherited from UThreadC< void >
static int	Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)

static int	Join (Handle H)

static int	Kill (Handle H)

static int	Detach (Handle H)

static int	Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)

static int	Join (const Handle &H)

static int	Kill (const Handle &H)

static int	Detach (const Handle &H)

Static Protected Member Functions inherited from UThreadC< void >
static void	Exit ()

static void	TestCancel ()

static Handle	Self ()

static void	Exit ()

static void	TestCancel ()

static int	Self ()

Detailed Description

Background thread to compress or uncompress images and generic matrices.

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 isImage accordingly. Call UThread::start() then UThread::join() to obtain the result from getCompressedData() or getUncompressedData().

Example compression:

cv::Mat image;
CompressionThread ct(image, ".png");
ct.start();
ct.join();
cv::Mat bytes = ct.getCompressedData();

Example uncompression:

cv::Mat bytes;
CompressionThread ct(bytes, true);
ct.start();
ct.join();
cv::Mat image = ct.getUncompressedData();

Definition at line 67 of file Compression.h.

Constructor & Destructor Documentation

◆ CompressionThread() [1/2]

rtabmap::CompressionThread::CompressionThread	(	const cv::Mat &	mat,
		const std::string &	format = `""`
	)

Constructs a thread in compress mode.

Parameters

mat	Source image or data matrix to compress.
format	Image format: `".png"`, `".jpg"`, `".rvl"`, or empty for zlib (compressData2).

◆ CompressionThread() [2/2]

rtabmap::CompressionThread::CompressionThread	(	const cv::Mat &	bytes,
		bool	isImage
	)

Constructs a thread in uncompress mode.

Parameters

bytes	Compressed bytes (`CV_8UC1`).
isImage	If true, decode as image; otherwise decode as zlib data.

Member Function Documentation

◆ getCompressedData()

const cv::Mat & rtabmap::CompressionThread::getCompressedData ( ) const

inline

Returns: Compressed output (CV_8UC1), valid after compress mode completes.

Definition at line 83 of file Compression.h.

◆ getUncompressedData()

cv::Mat & rtabmap::CompressionThread::getUncompressedData ( )

inline

Returns: Uncompressed output, valid after uncompress mode completes.

Definition at line 85 of file Compression.h.

◆ mainLoop()

virtual void rtabmap::CompressionThread::mainLoop ( )

protectedvirtual

Pure virtual method mainLoop(). The inner loop of the thread. This method is called repetitively until the thread is killed. Note that if kill() is called in mainLoopBegin(), mainLoop() is not called, terminating immediately the thread.

See also: mainLoop(); kill()

Implements UThread.

The documentation for this class was generated from the following file:

corelib/include/rtabmap/core/Compression.h

Public Member Functions

Protected Member Functions

Additional Inherited Members