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Tango: updated how memory used and database size are computed

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This commit is contained in:
matlabbe
2017-10-09 18:04:54 -04:00
parent 66e79e23cb
commit 007d23308a
8 changed files with 60 additions and 127 deletions
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89
app/android/jni/RTABMapApp.cpp
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@@ -184,9 +184,6 @@ RTABMapApp::RTABMapApp() :
lastDrawnCloudsCount_(0),
renderingTime_(0.0f),
lastPostRenderEventTime_(0.0),
processMemoryUsedBytes_(0),
processGPUMemoryUsedBytes_(0),
databaseInMemory_(false),
visualizingMesh_(false),
exportedMeshUpdated_(false),
optMesh_(new pcl::TextureMesh),
@@ -238,8 +235,6 @@ void RTABMapApp::onCreate(JNIEnv* env, jobject caller_activity)
lastDrawnCloudsCount_ = 0;
renderingTime_ = 0.0f;
lastPostRenderEventTime_ = 0.0;
processMemoryUsedBytes_ = 0;
processGPUMemoryUsedBytes_ = 0;
bufferedStatsData_.clear();
progressionStatus_.setJavaObjects(jvm, RTABMapActivity);
main_scene_.setBackgroundColor(backgroundColor_, backgroundColor_, backgroundColor_);
@@ -379,7 +374,6 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kDbSqlite3InMemory(), uBool2Str(databaseInMemory)));
LOGI("Initializing database...");
rtabmap_->init(parameters, databasePath);
databaseInMemory_ = databaseInMemory;
rtabmapThread_ = new rtabmap::RtabmapThread(rtabmap_);
if(parameters.find(rtabmap::Parameters::kRtabmapDetectionRate()) != parameters.end())
{
@@ -483,14 +477,6 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
UERROR("Failed to uncompress data!");
status=-2;
}
const rtabmap::Signature & s = signatures.at(id);
processMemoryUsedBytes_ += s.getMemoryUsed(databaseInMemory_);
if(databaseInMemory_)
{
processMemoryUsedBytes_ -= s.sensorData().imageRaw().total() * s.sensorData().imageRaw().elemSize();
processMemoryUsedBytes_ -= s.sensorData().depthOrRightRaw().total() * s.sensorData().depthOrRightRaw().elemSize();
processMemoryUsedBytes_ -= s.sensorData().laserScanRaw().total() * s.sensorData().laserScanRaw().elemSize();
}
}
else
{
@@ -1161,8 +1147,6 @@ int RTABMapApp::Render()
lastDrawnCloudsCount_ = 0;
renderingTime_ = 0.0f;
lastPostRenderEventTime_ = 0.0;
processMemoryUsedBytes_ = 0;
processGPUMemoryUsedBytes_ = 0;
bufferedStatsData_.clear();
}
@@ -1176,7 +1160,6 @@ int RTABMapApp::Render()
if(added.size() != meshes)
{
LOGI("added (%d) != meshes (%d)", (int)added.size(), meshes);
processGPUMemoryUsedBytes_= 0;
boost::mutex::scoped_lock lockRtabmap(rtabmapMutex_);
UASSERT(rtabmap_!=0);
for(std::map<int, Mesh>::iterator iter=createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
@@ -1211,23 +1194,6 @@ int RTABMapApp::Render()
main_scene_.addMesh(iter->first, iter->second, opengl_world_T_rtabmap_world*iter->second.pose);
main_scene_.setCloudVisible(iter->first, iter->second.visible);
long processCPUMemoryUsed = 0;
processCPUMemoryUsed += iter->second.cloud->size()*4*4; // 3*float + 1 float rgb
processCPUMemoryUsed += iter->second.indices->size()*4; // int
processCPUMemoryUsed += iter->second.polygons.size()*4*3; // 3 indices per polygon
processCPUMemoryUsed += iter->second.polygonsLowRes.size()*4*3; // 3 indices per polygon
processGPUMemoryUsedBytes_ += iter->second.cloud->size()*4; // organized indices to dense
processGPUMemoryUsedBytes_ += processCPUMemoryUsed; // mostly copy all data
processGPUMemoryUsedBytes_ += iter->second.polygons.size()*4*2*3; // 2 int indices per line (3 lines per polygon)
processGPUMemoryUsedBytes_ += iter->second.polygonsLowRes.size()*4*2*3; // 2 int indices per line (3 lines per polygon)
processGPUMemoryUsedBytes_ += (iter->second.cloud->width/2*iter->second.cloud->height/2)*4; // low dec
processGPUMemoryUsedBytes_ += (iter->second.cloud->width/4*iter->second.cloud->height/4)*4; // low low dec
if(!iter->second.texture.empty())
{
processGPUMemoryUsedBytes_ += iter->second.texture.total()*sizeof(float); // single float rgb per pixel
processGPUMemoryUsedBytes_ += iter->second.cloud->size()*4*2; // 2*float, texCoords
}
iter->second.texture = cv::Mat(); // don't keep textures in memory
}
}
@@ -1262,32 +1228,20 @@ int RTABMapApp::Render()
int smallMovement = (int)uValue(stats.data(), rtabmap::Statistics::kMemorySmall_movement(), 0.0f);
int fastMovement = (int)uValue(stats.data(), rtabmap::Statistics::kMemoryFast_movement(), 0.0f);
int rehearsalMerged = (int)uValue(stats.data(), rtabmap::Statistics::kMemoryRehearsal_merged(), 0.0f);
if(smallMovement == 0 && rehearsalMerged == 0 && fastMovement == 0)
if(!localizationMode_ && stats.getSignatures().size() &&
smallMovement == 0 && rehearsalMerged == 0 && fastMovement == 0)
{
if(stats.getSignatures().size())
int id = stats.getSignatures().rbegin()->first;
const rtabmap::Signature & s = stats.getSignatures().rbegin()->second;
if(!trajectoryMode_ &&
!s.sensorData().imageRaw().empty() &&
!s.sensorData().depthRaw().empty())
{
int id = stats.getSignatures().rbegin()->first;
const rtabmap::Signature & s = stats.getSignatures().rbegin()->second;
if(!localizationMode_)
{
if(!trajectoryMode_ &&
!s.sensorData().imageRaw().empty() &&
!s.sensorData().depthRaw().empty())
{
uInsert(bufferedSensorData, std::make_pair(id, s.sensorData()));
}
uInsert(rawPoses_, std::make_pair(id, s.getPose()));
processMemoryUsedBytes_ += s.getMemoryUsed(databaseInMemory_);
if(databaseInMemory_)
{
processMemoryUsedBytes_ -= s.sensorData().imageRaw().total() * s.sensorData().imageRaw().elemSize();
processMemoryUsedBytes_ -= s.sensorData().depthOrRightRaw().total() * s.sensorData().depthOrRightRaw().elemSize();
processMemoryUsedBytes_ -= s.sensorData().laserScanRaw().total() * s.sensorData().laserScanRaw().elemSize();
}
}
uInsert(bufferedSensorData, std::make_pair(id, s.sensorData()));
}
uInsert(rawPoses_, std::make_pair(id, s.getPose()));
}
int loopClosure = (int)uValue(stats.data(), rtabmap::Statistics::kLoopAccepted_hypothesis_id(), 0.0f);
@@ -1450,24 +1404,6 @@ int RTABMapApp::Render()
#ifdef DEBUG_RENDERING_PERFORMANCE
LOGW("Adding mesh to scene: %fs", time.ticks());
#endif
long processCPUMemoryUsed = 0;
processCPUMemoryUsed += mesh.cloud->size()*4*4; // 3*float + 1 float rgb
processCPUMemoryUsed += mesh.indices->size()*4; // int
processCPUMemoryUsed += mesh.polygons.size()*4*3; // 3 indices per polygon
processCPUMemoryUsed += mesh.polygonsLowRes.size()*4*3; // 3 indices per polygon
processMemoryUsedBytes_ += processCPUMemoryUsed;
processGPUMemoryUsedBytes_ += mesh.cloud->size()*4; // organized indices to dense
processGPUMemoryUsedBytes_ += processCPUMemoryUsed; // mostly copy all data
processGPUMemoryUsedBytes_ += mesh.polygons.size()*4*2*3; // 2 int indices per line (3 lines per polygon)
processGPUMemoryUsedBytes_ += mesh.polygonsLowRes.size()*4*2*3; // 2 int indices per line (3 lines per polygon)
processGPUMemoryUsedBytes_ += (mesh.cloud->width/2*mesh.cloud->height/2)*4; // low dec
processGPUMemoryUsedBytes_ += (mesh.cloud->width/4*mesh.cloud->height/4)*4; // low low dec
if(!mesh.texture.empty())
{
processGPUMemoryUsedBytes_ += mesh.texture.total()*sizeof(float); // single float rgb per pixel
processGPUMemoryUsedBytes_ += mesh.cloud->size()*4*2; // 2*float, texCoords
}
mesh.texture = cv::Mat(); // don't keep textures in memory
}
}
@@ -3260,7 +3196,7 @@ bool RTABMapApp::handleEvent(UEvent * event)
jclass clazz = env->GetObjectClass(RTABMapActivity);
if(clazz)
{
jmethodID methodID = env->GetMethodID(clazz, "updateStatsCallback", "(IIIIFIIIIIIIFIFIFFFIFFFFFF)V" );
jmethodID methodID = env->GetMethodID(clazz, "updateStatsCallback", "(IIIIFIIIIIIFIFIFFFIFFFFFF)V" );
if(methodID)
{
env->CallVoidMethod(RTABMapActivity, methodID,
@@ -3271,7 +3207,6 @@ bool RTABMapApp::handleEvent(UEvent * event)
updateTime,
loopClosureId,
highestHypId,
(int)((processMemoryUsedBytes_+processGPUMemoryUsedBytes_+databaseMemoryUsed)/(1024*1024)),
databaseMemoryUsed,
inliers,
matches,