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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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guilib/src/MultiSessionLocWidget.cpp
+6 -4
View File
@@ -149,11 +149,13 @@ void MultiSessionLocWidget::updateView(
Link link = loopLinks.find(nodeId) != loopLinks.end()?loopLinks.find(nodeId)->second:Link();
std::multimap<int, cv::KeyPoint> keypoints;
for(std::multimap<int, int>::const_iterator jter=s.getWords().begin(); jter!=s.getWords().end(); ++jter)
{
if(jter->first>0 && lastSignature.getWords().find(jter->first) != lastSignature.getWords().end())
if(s.getWords().size() == s.getWordsKpts().size()) {
for(std::multimap<int, int>::const_iterator jter=s.getWords().begin(); jter!=s.getWords().end(); ++jter)
{
keypoints.insert(std::make_pair(jter->first, s.getWordsKpts()[jter->second]));
if(jter->first>0 && lastSignature.getWords().find(jter->first) != lastSignature.getWords().end())
{
keypoints.insert(std::make_pair(jter->first, s.getWordsKpts()[jter->second]));
}
}
}