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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/SensorData.cpp
+3 -3
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@@ -548,7 +548,7 @@ void SensorData::setOccupancyGrid(
float cellSize,
const cv::Point3f & viewPoint)
{
UDEBUG("ground=%d obstacles=%d empty=%d", ground.cols, obstacles.cols, empty.cols);
//UDEBUG("ground=%d obstacles=%d empty=%d", ground.cols, obstacles.cols, empty.cols);
if((!ground.empty() && (!_groundCellsCompressed.empty() || !_groundCellsRaw.empty())) ||
(!obstacles.empty() && (!_obstacleCellsCompressed.empty() || !_obstacleCellsRaw.empty())) ||
(!empty.empty() && (!_emptyCellsCompressed.empty() || !_emptyCellsRaw.empty())))
@@ -649,7 +649,7 @@ void SensorData::uncompressData(
cv::Mat * emptyCellsRaw,
cv::Mat * depthConfidenceRaw)
{
UDEBUG("%d data(%d,%d,%d,%d,%d,%d,%d,%d)",
/*UDEBUG("%d data(%d,%d,%d,%d,%d,%d,%d,%d)",
this->id(),
imageRaw?1:0,
depthRaw?1:0,
@@ -658,7 +658,7 @@ void SensorData::uncompressData(
groundCellsRaw?1:0,
obstacleCellsRaw?1:0,
emptyCellsRaw?1:0,
depthConfidenceRaw?1:0);
depthConfidenceRaw?1:0);*/
if(imageRaw == 0 &&
depthRaw == 0 &&
laserScanRaw == 0 &&