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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/LocalGrid.cpp
+2 -2
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@@ -64,8 +64,8 @@ void LocalGridCache::add(int nodeId,
void LocalGridCache::add(int nodeId, const LocalGrid & localGrid)
{
UDEBUG("nodeId=%d (ground=%d/%d obstacles=%d/%d empty=%d/%d)",
nodeId, localGrid.groundCells.cols, localGrid.groundCells.channels(), localGrid.obstacleCells.cols, localGrid.obstacleCells.channels(), localGrid.emptyCells.cols, localGrid.emptyCells.channels());
//UDEBUG("nodeId=%d (ground=%d/%d obstacles=%d/%d empty=%d/%d)",
// nodeId, localGrid.groundCells.cols, localGrid.groundCells.channels(), localGrid.obstacleCells.cols, localGrid.obstacleCells.channels(), localGrid.emptyCells.cols, localGrid.emptyCells.channels());
if(nodeId < 0)
{
UWARN("Cannot add nodes with negative id (nodeId=%d)", nodeId);