mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-06 18:17:47 +08:00
Loading time optimization (#1569)
* 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
co-authored by
Mathieu Labbe
Mathieu Labbe
parent
349580299c
commit
4603f09389
@@ -131,7 +131,9 @@ CREATE TABLE Admin (
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opt_map BLOB, -- compressed CV_8SC1 occupancy grid
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opt_map_x_min FLOAT,
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opt_map_y_min FLOAT,
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opt_map_resolution FLOAT,
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opt_map_resolution FLOAT,
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dictionary_index BLOB, -- serialized dictionary index
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time_enter DATE
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);
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@@ -0,0 +1,183 @@
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-- *******************************************************************
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-- DatabaseSchema: Script for creating the database
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-- Usage:
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-- $ sqlite3 LTM.db < DatabaseSchema.sql
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--
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-- *******************************************************************
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-- *******************************************************************
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-- CLEAN
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-- *******************************************************************
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/*DROP TABLE Node;*/
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-- *******************************************************************
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-- CREATE
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-- *******************************************************************
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CREATE TABLE Node (
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id INTEGER NOT NULL,
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map_id INTEGER NOT NULL,
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weight INTEGER,
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stamp FLOAT,
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pose BLOB, -- 3x4 float
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ground_truth_pose BLOB, -- 3x4 float
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velocity BLOB, -- 6 float (vx,vy,vz,vroll,vpitch,vyaw) m/s and rad/s
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label TEXT,
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gps BLOB, -- 1x6 double: stamp, longitude (DD), latitude (DD), altitude (m), accuracy (m), bearing (North 0->360 deg clockwise)
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env_sensors BLOB, -- Variable 3xdouble: (sensorId1, value, stamp, sensorId2, value, stamp, ...)
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time_enter DATE,
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PRIMARY KEY (id)
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);
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CREATE TABLE Data (
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id INTEGER NOT NULL,
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image BLOB, -- compressed image (Grayscale or RGB)
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depth BLOB, -- compressed image (Depth or Right image)
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depth_confidence BLOB, -- compressed data (low=0 high=100)
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calibration BLOB, -- fx, fy, cx, cy, [baseline,] width, height, local_transform
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scan BLOB, -- compressed data (Laser scan)
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scan_info BLOB, -- scan_max_pts, scan_max_range, scan_format, local_transform
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ground_cells BLOB, -- compressed data (occupancy grid)
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obstacle_cells BLOB, -- compressed data (occupancy grid)
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empty_cells BLOB, -- compressed data (occupancy grid)
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cell_size FLOAT,
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view_point_x FLOAT,
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view_point_y FLOAT,
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view_point_z FLOAT,
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user_data BLOB, -- compressed data (User data)
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time_enter DATE,
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PRIMARY KEY (id)
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);
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CREATE TABLE Link (
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from_id INTEGER NOT NULL,
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to_id INTEGER NOT NULL,
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type INTEGER NOT NULL, -- kNeighbor=0, kGlobalClosure=1, kLocalSpaceClosure=2, kLocalTimeClosure=3, kUserClosure=4, kVirtualClosure=5, kNeighborMerged=6, kPosePrior=7, kLandmark=8
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information_matrix BLOB NOT NULL, -- 6x6 double (inverse covariance)
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transform BLOB, -- 3x4 float
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user_data BLOB, -- compressed data (User data)
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FOREIGN KEY (from_id) REFERENCES Node(id),
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FOREIGN KEY (to_id) REFERENCES Node(id)
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);
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--
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CREATE TABLE Word (
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id INTEGER NOT NULL,
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descriptor_size INTEGER NOT NULL,
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descriptor BLOB NOT NULL,
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time_enter DATE,
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PRIMARY KEY (id)
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);
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CREATE TABLE Feature (
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node_id INTEGER NOT NULL,
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word_id INTEGER NOT NULL,
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pos_x FLOAT NOT NULL,
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pos_y FLOAT NOT NULL,
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size INTEGER NOT NULL,
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dir FLOAT NOT NULL,
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response FLOAT NOT NULL,
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octave INTEGER NOT NULL,
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depth_x FLOAT,
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depth_y FLOAT,
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depth_z FLOAT,
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descriptor_size INTEGER,
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descriptor BLOB,
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FOREIGN KEY (node_id) REFERENCES Node(id)
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);
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CREATE TABLE GlobalDescriptor (
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node_id INTEGER NOT NULL,
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type INTEGER NOT NULL,
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info BLOB,
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data BLOB NOT NULL,
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FOREIGN KEY (node_id) REFERENCES Node(id)
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);
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--
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CREATE TABLE Info (
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STM_size INTEGER,
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last_sign_added INTEGER,
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process_mem_used INTEGER,
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database_mem_used INTEGER,
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dictionary_size INTEGER,
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parameters TEXT,
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time_enter DATE
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);
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CREATE TABLE Statistics (
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id INTEGER NOT NULL,
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stamp FLOAT,
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data BLOB, -- compressed string
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wm_state BLOB, -- compressed data
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FOREIGN KEY (id) REFERENCES Node(id)
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);
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CREATE TABLE Admin (
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version TEXT,
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preview_image BLOB, -- compressed image
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opt_cloud BLOB, -- compressed data
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opt_ids BLOB, -- Node ids used to generate the optimized cloud/mesh
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opt_poses BLOB, -- compressed N*3x4 float
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opt_last_localization BLOB, -- 3x4 float
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opt_polygons_size INTEGER, -- e.g., 3
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opt_polygons BLOB, -- compressed data [length_v0, i0,i1,i3, length_v1, i0,i1,i3]
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opt_tex_coords BLOB, -- compressed data [length_v0, u0,v0,u1,v1,u2,v2, length_v1, u0,v0,u1,v1,u2,v2]
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opt_tex_materials BLOB, -- compressed image
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opt_map BLOB, -- compressed CV_8SC1 occupancy grid
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opt_map_x_min FLOAT,
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opt_map_y_min FLOAT,
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opt_map_resolution FLOAT,
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time_enter DATE
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);
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-- *******************************************************************
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-- TRIGGERS
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-- *******************************************************************
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CREATE TRIGGER insert_Feature BEFORE INSERT ON Feature
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WHEN NOT EXISTS (SELECT Node.id FROM Node WHERE Node.id = NEW.node_id)
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BEGIN
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SELECT RAISE(ABORT, 'Foreign key constraint failed in Feature table');
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END;
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-- Creating a trigger for time_enter
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CREATE TRIGGER insert_Node_timeEnter AFTER INSERT ON Node
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BEGIN
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UPDATE Node SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
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END;
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CREATE TRIGGER insert_Data_timeEnter AFTER INSERT ON Data
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BEGIN
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UPDATE Node SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
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END;
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CREATE TRIGGER insert_Word_timeEnter AFTER INSERT ON Word
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BEGIN
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UPDATE Word SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
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END;
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CREATE TRIGGER insert_Info_timeEnter AFTER INSERT ON Info
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BEGIN
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UPDATE Info SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
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END;
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-- *******************************************************************
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-- INDEXES
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-- *******************************************************************
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CREATE UNIQUE INDEX IDX_Node_id on Node (id);
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CREATE INDEX IDX_Feature_node_id on Feature (node_id);
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CREATE INDEX IDX_GlobalDescriptor_node_id on GlobalDescriptor (node_id);
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CREATE INDEX IDX_Link_from_id on Link (from_id);
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CREATE UNIQUE INDEX IDX_node_label on Node (label);
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CREATE UNIQUE INDEX IDX_Statistics_id on Statistics (id);
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-- *******************************************************************
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-- VERSION
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-- *******************************************************************
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INSERT INTO Admin(version) VALUES('0.22.0');
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