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Loading time optimization (#1569)

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* On init, rebuild the dictionnary only once

* Fixed first dictionary update to avoid rebuilding multiple times. Commented some very verbose debug logs (should create a new level: UVERBOSE or UTRACE)

* bump version 0.23: added parameters "Mem/LoadVisualLocalFeaturesOnInit", "Mem/FlannIndexSaved", "Kp/SerializeWithChecksum".

* Renamed Mem/FlannIndexSaved to Kp/FlannIndexSaved. Update UI Preferences with new parameters.

* commented some very verbose debug logs

* Warn flann index serialization not implemented on windows

* Warn flann index deserialization not implemented on windows

* Removing some verbose logs

* missing header (win32)

* Added GlobalMap::fullUpdateNeeded() function

* Adding log

* Save flann index even if links changed

* log time to serialize flann index

* Make dictionary modified only after we update

---------

Co-authored-by: Mathieu Labbe <mathieu@robust.ai>
This commit is contained in:
matlabbe
2025-09-03 16:55:54 -07:00
committed by GitHub
parent 349580299c
commit 4603f09389
35 changed files with 1811 additions and 791 deletions
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4
CMakeLists.txt
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@@ -19,8 +19,8 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
# VERSION
#######################
SET(RTABMAP_MAJOR_VERSION 0)
SET(RTABMAP_MINOR_VERSION 22)
SET(RTABMAP_PATCH_VERSION 1)
SET(RTABMAP_MINOR_VERSION 23)
SET(RTABMAP_PATCH_VERSION 0)
SET(RTABMAP_VERSION
${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})