i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-07 10:37:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

Loading time optimization (#1569)

Browse Source 
* 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
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/rtflann/flann.hpp
+31 -2
View File
@@ -103,7 +103,6 @@ public:
{
flann_algorithm_t index_type = get_param<flann_algorithm_t>(params,"algorithm");
loaded_ = false;
if (index_type == FLANN_INDEX_SAVED) {
nnIndex_ = load_saved_index(features, get_param<std::string>(params,"filename"), distance);
loaded_ = true;
@@ -180,10 +179,20 @@ public:
if (fout == NULL) {
throw FLANNException("Cannot open file");
}
nnIndex_->saveIndex(fout);
save(fout);
fclose(fout);
}
/**
* Save index to file stream.
* Caller has to open file stream with "wb" and close it afterwards.
* @param filename
*/
void save(FILE * stream)
{
nnIndex_->saveIndex(stream);
}
/**
* \returns number of features in this index.
*/
@@ -377,6 +386,26 @@ public:
return nnIndex_->radiusSearch(queries, indices, dists, radius, params);
}
void load_saved_index(FILE* fin)
{
if(loaded_) {
throw FLANNException("Index already loaded!");
}
if(nnIndex_->sizeAtBuild() != 0) {
throw FLANNException("Index must not be already built to load data.");
}
if (fin == NULL) {
throw FLANNException("File pointer must be valid!");
}
IndexHeader header = load_header(fin);
if (header.h.data_type != flann_datatype_value<ElementType>::value) {
throw FLANNException("Datatype of saved index is different than of the one to be loaded.");
}
rewind(fin);
nnIndex_->loadIndex(fin);
loaded_ = true;
}
private:
IndexType* load_saved_index(const Matrix<ElementType>& dataset, const std::string& filename, Distance distance)
{