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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/RegistrationVis.cpp
+8 -2
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@@ -375,6 +375,9 @@ Transform RegistrationVis::computeTransformationImpl(
{
UDEBUG("");
// just some checks to make sure that input data are ok
UASSERT(fromSignature.getWords().empty() ||
fromSignature.getWordsKpts().empty() ||
(fromSignature.getWords().size() == fromSignature.getWordsKpts().size()));
UASSERT(fromSignature.getWords().empty() ||
fromSignature.getWords3().empty() ||
(fromSignature.getWords().size() == fromSignature.getWords3().size()));
@@ -382,8 +385,11 @@ Transform RegistrationVis::computeTransformationImpl(
(int)fromSignature.getWords().size() == fromSignature.getWordsDescriptors().rows ||
fromSignature.sensorData().descriptors().empty() ||
fromSignature.getWordsDescriptors().empty() == 0);
UASSERT((toSignature.getWords().empty() && toSignature.getWords3().empty())||
(toSignature.getWords().size() && toSignature.getWords3().empty())||
UASSERT(toSignature.getWords().empty() ||
toSignature.getWordsKpts().empty() ||
(toSignature.getWords().size() == toSignature.getWordsKpts().size()));
UASSERT(toSignature.getWords().empty() ||
toSignature.getWords3().empty() ||
(toSignature.getWords().size() == toSignature.getWords3().size()));
UASSERT((int)toSignature.sensorData().keypoints().size() == toSignature.sensorData().descriptors().rows ||
(int)toSignature.getWords().size() == toSignature.getWordsDescriptors().rows ||