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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 <[email protected]>
This commit is contained in:
matlabbe
2025-09-03 16:55:54 -07:00
committed by GitHub
co-authored by Mathieu Labbe
parent 349580299c
commit 4603f09389
35 changed files with 1811 additions and 791 deletions
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corelib/src/DBDriver.cpp
+55 -8
View File
@@ -383,7 +383,7 @@ void DBDriver::asyncSave(Signature * s)
{
if(s)
{
UDEBUG("s=%d", s->id());
//UDEBUG("s=%d", s->id());
_trashesMutex.lock();
{
_trashSignatures.insert(std::pair<int, Signature*>(s->id(), s));
@@ -531,17 +531,17 @@ void DBDriver::updateLaserScan(int nodeId, const LaserScan & scan)
_dbSafeAccessMutex.unlock();
}
void DBDriver::load(VWDictionary * dictionary, bool lastStateOnly) const
void DBDriver::load(VWDictionary & dictionary, bool lastStateOnly) const
{
_dbSafeAccessMutex.lock();
this->loadQuery(dictionary, lastStateOnly);
_dbSafeAccessMutex.unlock();
}
void DBDriver::loadLastNodes(std::list<Signature *> & signatures) const
void DBDriver::loadLastNodes(std::list<Signature *> & signatures, bool loadWordIdsOnly) const
{
_dbSafeAccessMutex.lock();
this->loadLastNodesQuery(signatures);
this->loadLastNodesQuery(signatures, loadWordIdsOnly);
_dbSafeAccessMutex.unlock();
}
@@ -564,7 +564,8 @@ Signature * DBDriver::loadSignature(int id, bool * loadedFromTrash)
}
void DBDriver::loadSignatures(const std::list<int> & signIds,
std::list<Signature *> & signatures,
std::set<int> * loadedFromTrash)
std::set<int> * loadedFromTrash,
bool loadWordIdsOnly)
{
UDEBUG("");
// look up in the trash before the database
@@ -609,7 +610,7 @@ void DBDriver::loadSignatures(const std::list<int> & signIds,
if(ids.size())
{
_dbSafeAccessMutex.lock();
this->loadSignaturesQuery(ids, signatures);
this->loadSignaturesQuery(ids, signatures, loadWordIdsOnly);
_dbSafeAccessMutex.unlock();
}
}
@@ -656,10 +657,10 @@ void DBDriver::loadWords(const std::set<int> & wordIds, std::list<VisualWord *>
}
}
void DBDriver::loadNodeData(Signature * signature, bool images, bool scan, bool userData, bool occupancyGrid) const
void DBDriver::loadNodeData(Signature & signature, bool images, bool scan, bool userData, bool occupancyGrid) const
{
std::list<Signature *> signatures;
signatures.push_back(signature);
signatures.push_back(&signature);
this->loadNodeData(signatures, images, scan, userData, occupancyGrid);
}
@@ -823,6 +824,45 @@ bool DBDriver::getNodeInfo(
return found;
}
void DBDriver::getLocalFeatures(
int signatureId,
std::multimap<int, int> & words,
std::vector<cv::KeyPoint> & keypoints,
std::vector<cv::Point3f> & points,
cv::Mat & descriptors) const
{
bool found = false;
// look in the trash
_trashesMutex.lock();
if(uContains(_trashSignatures, signatureId))
{
const Signature * s = _trashSignatures.at(signatureId);
UASSERT(s != 0);
found = true;
if(!s->getWords().empty())
{
words = s->getWords();
if(s->getWordsKpts().empty()){
found = false; // Force checking the database in case the local features were not loaded in RAM
}
else
{
words = s->getWords();
keypoints = s->getWordsKpts();
points = s->getWords3();
descriptors = s->getWordsDescriptors().clone();
}
}
}
_trashesMutex.unlock();
if(!found)
{
UScopeMutex lock(_dbSafeAccessMutex);
getLocalFeaturesQuery(signatureId, words, keypoints, points, descriptors);
}
}
void DBDriver::loadLinks(int signatureId, std::multimap<int, Link> & links, Link::Type type) const
{
bool found = false;
@@ -1287,6 +1327,13 @@ cv::Mat DBDriver::loadOptimizedMesh(
return cloud;
}
void DBDriver::saveFlannIndex(const std::vector<unsigned char> & indexData) const
{
_dbSafeAccessMutex.lock();
saveFlannIndexQuery(indexData);
_dbSafeAccessMutex.unlock();
}
void DBDriver::generateGraph(
const std::string & fileName,
const std::set<int> & idsInput,