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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

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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/odometry/OdometryF2M.cpp
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@@ -793,6 +793,7 @@ Transform OdometryF2M::computeTransform(
if(!lastFrameModels.empty())
{
UASSERT(lastFrame_->getWordsKpts().size() == lastFrame_->getWords().size());
for(std::multimap<int, int>::const_iterator iter = lastFrame_->getWords().begin(); iter!=lastFrame_->getWords().end(); ++iter)
{
const cv::Point3f & pt = lastFrame_->getWords3()[iter->second];