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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/GlobalMap.cpp
+11 -6
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@@ -99,15 +99,12 @@ unsigned long GlobalMap::getMemoryUsed() const
return memoryUsage;
}
bool GlobalMap::update(const std::map<int, Transform> & poses)
bool GlobalMap::fullUpdateNeeded(const std::map<int, Transform> & poses) const
{
UDEBUG("Update (poses=%d addedNodes_=%d)", (int)poses.size(), (int)addedNodes_.size());
// First, check of the graph has changed. If so, re-create the octree by moving all occupied nodes.
bool graphOptimized = false; // If a loop closure happened (e.g., poses are modified)
bool graphChanged = addedNodes_.size()>0; // If the new map doesn't have any node from the previous map
float updateErrorSqrd = updateError_*updateError_;
for(std::map<int, Transform>::iterator iter=addedNodes_.begin(); iter!=addedNodes_.end(); ++iter)
for(std::map<int, Transform>::const_iterator iter=addedNodes_.begin(); iter!=addedNodes_.end(); ++iter)
{
std::map<int, Transform>::const_iterator jter = poses.find(iter->first);
if(jter != poses.end())
@@ -125,7 +122,15 @@ bool GlobalMap::update(const std::map<int, Transform> & poses)
}
}
if(graphOptimized || graphChanged)
return graphOptimized || graphChanged;
}
bool GlobalMap::update(const std::map<int, Transform> & poses)
{
UDEBUG("Update (poses=%d addedNodes_=%d)", (int)poses.size(), (int)addedNodes_.size());
// First, check of the graph has changed. If so, re-create the octree by moving all occupied nodes.
if(fullUpdateNeeded(poses))
{
// clear all but keep cache
clear();