Tango: fixed database saved in memory option when disabled (now disabled by default)

CMakeLists.txt

@@ -21,7 +21,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
 #######################
 SET(RTABMAP_MAJOR_VERSION 0)
 SET(RTABMAP_MINOR_VERSION 14)
-SET(RTABMAP_PATCH_VERSION 1)
+SET(RTABMAP_PATCH_VERSION 2)
 SET(RTABMAP_VERSION
   ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
   

app/android/AndroidManifest.xml.in

@@ -2,7 +2,7 @@
 <!-- BEGIN_INCLUDE(manifest) -->
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
         package="com.introlab.rtabmap"
-        android:versionCode="61"
+        android:versionCode="62"
         android:versionName="@RTABMAP_VERSION@">
 
     <uses-permission android:name="android.permission.CAMERA" />

app/android/jni/CameraTango.cpp

@@ -429,7 +429,9 @@ void CameraTango::close()
 	{
 		TangoConfig_free(tango_config_);
 		tango_config_ = nullptr;
+		LOGI("TangoService_disconnect()");
 		TangoService_disconnect();
+		LOGI("TangoService_disconnect() done.");
 	}
 	previousPose_.setNull();
 	previousStamp_ = 0.0;

app/android/jni/RTABMapApp.cpp

@@ -93,7 +93,6 @@ rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
 	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpParallelized(), std::string("false")));
 	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpMaxDepth(), std::string("10"))); // to avoid extracting features in invalid depth (as we compute transformation directly from the words)
 	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDOptimizeFromGraphEnd(), std::string("true")));
-	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kDbSqlite3InMemory(), std::string("true")));
 	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisMinInliers(), std::string("25")));
 	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisEstimationType(), std::string("0"))); // 0=3D-3D 1=PnP
 	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDOptimizeMaxError(), std::string("0.1")));
@@ -185,8 +184,9 @@ RTABMapApp::RTABMapApp() :
 		lastDrawnCloudsCount_(0),
 		renderingTime_(0.0f),
 		lastPostRenderEventTime_(0.0),
-		processMemoryUsedBytes(0),
-		processGPUMemoryUsedBytes(0),
+		processMemoryUsedBytes_(0),
+		processGPUMemoryUsedBytes_(0),
+		databaseInMemory_(false),
 		visualizingMesh_(false),
 		exportedMeshUpdated_(false),
 		optMesh_(new pcl::TextureMesh),
@@ -238,8 +238,8 @@ void RTABMapApp::onCreate(JNIEnv* env, jobject caller_activity)
 	lastDrawnCloudsCount_ = 0;
 	renderingTime_ = 0.0f;
 	lastPostRenderEventTime_ = 0.0;
-	processMemoryUsedBytes = 0;
-	processGPUMemoryUsedBytes = 0;
+	processMemoryUsedBytes_ = 0;
+	processGPUMemoryUsedBytes_ = 0;
 	bufferedStatsData_.clear();
 	progressionStatus_.setJavaObjects(jvm, RTABMapActivity);
 	main_scene_.setBackgroundColor(backgroundColor_, backgroundColor_, backgroundColor_);
@@ -379,6 +379,7 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
 	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kDbSqlite3InMemory(), uBool2Str(databaseInMemory)));
 	LOGI("Initializing database...");
 	rtabmap_->init(parameters, databasePath);
+	databaseInMemory_ = databaseInMemory;
 	rtabmapThread_ = new rtabmap::RtabmapThread(rtabmap_);
 	if(parameters.find(rtabmap::Parameters::kRtabmapDetectionRate()) != parameters.end())
 	{
@@ -483,14 +484,12 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
 							status=-2;
 						}
 						const rtabmap::Signature & s = signatures.at(id);
-						processMemoryUsedBytes += data.imageCompressed().total();
-						processMemoryUsedBytes += data.depthOrRightCompressed().total();
-						processMemoryUsedBytes += data.laserScanCompressed().total();
-						processMemoryUsedBytes += s.getWords().size()*4*8;
-						processMemoryUsedBytes += s.getWords3().size()*4*4;
-						if(!s.getWordsDescriptors().empty())
+						processMemoryUsedBytes_ += s.getMemoryUsed(databaseInMemory_);
+						if(databaseInMemory_)
 						{
-							processMemoryUsedBytes +=s.getWordsDescriptors().size()*(4+s.getWordsDescriptors().begin()->second.total());
+							processMemoryUsedBytes_ -= s.sensorData().imageRaw().total() * s.sensorData().imageRaw().elemSize();
+							processMemoryUsedBytes_ -= s.sensorData().depthOrRightRaw().total() * s.sensorData().depthOrRightRaw().elemSize();
+							processMemoryUsedBytes_ -= s.sensorData().laserScanRaw().total() * s.sensorData().laserScanRaw().elemSize();
 						}
 					}
 					else
@@ -1162,8 +1161,8 @@ int RTABMapApp::Render()
 				lastDrawnCloudsCount_ = 0;
 				renderingTime_ = 0.0f;
 				lastPostRenderEventTime_ = 0.0;
-				processMemoryUsedBytes = 0;
-				processGPUMemoryUsedBytes = 0;
+				processMemoryUsedBytes_ = 0;
+				processGPUMemoryUsedBytes_ = 0;
 				bufferedStatsData_.clear();
 			}
 
@@ -1177,7 +1176,7 @@ int RTABMapApp::Render()
 				if(added.size() != meshes)
 				{
 					LOGI("added (%d) != meshes (%d)", (int)added.size(), meshes);
-					processGPUMemoryUsedBytes = 0;
+					processGPUMemoryUsedBytes_= 0;
 					boost::mutex::scoped_lock  lockRtabmap(rtabmapMutex_);
 					UASSERT(rtabmap_!=0);
 					for(std::map<int, Mesh>::iterator iter=createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
@@ -1212,14 +1211,23 @@ int RTABMapApp::Render()
 							main_scene_.addMesh(iter->first, iter->second, opengl_world_T_rtabmap_world*iter->second.pose);
 							main_scene_.setCloudVisible(iter->first, iter->second.visible);
 
-							long estimateGPUMem = 0;
-							estimateGPUMem += iter->second.cloud->size()*16; // 3*float + 1 float rgb
-							estimateGPUMem += iter->second.indices->size()*4; // int
-							estimateGPUMem += iter->second.polygons.size()*4*3; // 3 indices per polygon
-							estimateGPUMem += iter->second.polygonsLowRes.size()*4*3; // 3 indices per polygon
-
-							processGPUMemoryUsedBytes += estimateGPUMem + (iter->second.texture.empty()?0:iter->second.polygons.size()*3*8+iter->second.texture.total());
+							long processCPUMemoryUsed = 0;
+							processCPUMemoryUsed += iter->second.cloud->size()*4*4; // 3*float + 1 float rgb
+							processCPUMemoryUsed += iter->second.indices->size()*4; // int
+							processCPUMemoryUsed += iter->second.polygons.size()*4*3;       // 3 indices per polygon
+							processCPUMemoryUsed += iter->second.polygonsLowRes.size()*4*3; // 3 indices per polygon
 
+							processGPUMemoryUsedBytes_ += iter->second.cloud->size()*4; // organized indices to dense
+							processGPUMemoryUsedBytes_ += processCPUMemoryUsed; // mostly copy all data
+							processGPUMemoryUsedBytes_ += iter->second.polygons.size()*4*2*3;       // 2 int indices per line (3 lines per polygon)
+							processGPUMemoryUsedBytes_ += iter->second.polygonsLowRes.size()*4*2*3; // 2 int indices per line (3 lines per polygon)
+							processGPUMemoryUsedBytes_ += (iter->second.cloud->width/2*iter->second.cloud->height/2)*4; // low dec
+							processGPUMemoryUsedBytes_ += (iter->second.cloud->width/4*iter->second.cloud->height/4)*4; // low low dec
+							if(!iter->second.texture.empty())
+							{
+								processGPUMemoryUsedBytes_ += iter->second.texture.total()*sizeof(float); // single float rgb per pixel
+								processGPUMemoryUsedBytes_ += iter->second.cloud->size()*4*2; // 2*float, texCoords
+							}
 							iter->second.texture = cv::Mat(); // don't keep textures in memory
 						}
 					}
@@ -1244,7 +1252,7 @@ int RTABMapApp::Render()
 
 				// update buffered signatures
 				std::map<int, rtabmap::SensorData> bufferedSensorData;
-				if(!trajectoryMode_ && !dataRecorderMode_)
+				if(!dataRecorderMode_)
 				{
 					for(std::list<rtabmap::RtabmapEvent*>::iterator iter=rtabmapEvents.begin(); iter!=rtabmapEvents.end(); ++iter)
 					{
@@ -1256,29 +1264,27 @@ int RTABMapApp::Render()
 						int rehearsalMerged = (int)uValue(stats.data(), rtabmap::Statistics::kMemoryRehearsal_merged(), 0.0f);
 						if(smallMovement == 0 && rehearsalMerged == 0 && fastMovement == 0)
 						{
-							for(std::map<int, rtabmap::Signature>::const_iterator jter=stats.getSignatures().begin(); jter!=stats.getSignatures().end(); ++jter)
+							if(stats.getSignatures().size())
 							{
-								bool dataDetected = false;
-								if(!jter->second.sensorData().imageRaw().empty() &&
-								   !jter->second.sensorData().depthRaw().empty())
+								int id = stats.getSignatures().rbegin()->first;
+								const rtabmap::Signature & s = stats.getSignatures().rbegin()->second;
+
+								if(!localizationMode_)
 								{
-									if(!localizationMode_)
+									if(!trajectoryMode_ &&
+									   !s.sensorData().imageRaw().empty() &&
+									   !s.sensorData().depthRaw().empty())
 									{
-										uInsert(bufferedSensorData, std::make_pair(jter->first, jter->second.sensorData()));
-										uInsert(rawPoses_, std::make_pair(jter->first, jter->second.getPose()));
-										dataDetected = true;
+										uInsert(bufferedSensorData, std::make_pair(id, s.sensorData()));
 									}
-								}
-								if(dataDetected)
-								{
-									processMemoryUsedBytes += jter->second.sensorData().imageCompressed().total();
-									processMemoryUsedBytes += jter->second.sensorData().depthOrRightCompressed().total();
-									processMemoryUsedBytes += jter->second.sensorData().laserScanCompressed().total();
-									processMemoryUsedBytes += jter->second.getWords().size()*4*8;
-									processMemoryUsedBytes += jter->second.getWords3().size()*4*4;
-									if(!jter->second.getWordsDescriptors().empty())
+
+									uInsert(rawPoses_, std::make_pair(id, s.getPose()));
+									processMemoryUsedBytes_ += s.getMemoryUsed(databaseInMemory_);
+									if(databaseInMemory_)
 									{
-										processMemoryUsedBytes += jter->second.getWordsDescriptors().size()*(4+jter->second.getWordsDescriptors().begin()->second.total());
+										processMemoryUsedBytes_ -= s.sensorData().imageRaw().total() * s.sensorData().imageRaw().elemSize();
+										processMemoryUsedBytes_ -= s.sensorData().depthOrRightRaw().total() * s.sensorData().depthOrRightRaw().elemSize();
+										processMemoryUsedBytes_ -= s.sensorData().laserScanRaw().total() * s.sensorData().laserScanRaw().elemSize();
 									}
 								}
 							}
@@ -1308,6 +1314,7 @@ int RTABMapApp::Render()
 						}
 					}
 				}
+
 #ifdef DEBUG_RENDERING_PERFORMANCE
 				LOGW("Looking fo data to load (%d) %fs", bufferedSensorData.size(), time.ticks());
 #endif
@@ -1443,13 +1450,24 @@ int RTABMapApp::Render()
 #ifdef DEBUG_RENDERING_PERFORMANCE
 									LOGW("Adding mesh to scene: %fs", time.ticks());
 #endif
-									long estimateCPUMem = 0;
-									estimateCPUMem += mesh.cloud->size()*16; // 3*float + 1 float rgb
-									estimateCPUMem += mesh.indices->size()*4; // int
-									estimateCPUMem += mesh.polygons.size()*4*3; // 3 indices per polygon
+									long processCPUMemoryUsed = 0;
+									processCPUMemoryUsed += mesh.cloud->size()*4*4; // 3*float + 1 float rgb
+									processCPUMemoryUsed += mesh.indices->size()*4; // int
+									processCPUMemoryUsed += mesh.polygons.size()*4*3;       // 3 indices per polygon
+									processCPUMemoryUsed += mesh.polygonsLowRes.size()*4*3; // 3 indices per polygon
+									processMemoryUsedBytes_ += processCPUMemoryUsed;
 
-									processMemoryUsedBytes += estimateCPUMem;
-									processGPUMemoryUsedBytes += estimateCPUMem + (mesh.texture.empty()?0:mesh.polygons.size()*3*8+mesh.texture.total());
+									processGPUMemoryUsedBytes_ += mesh.cloud->size()*4; // organized indices to dense
+									processGPUMemoryUsedBytes_ += processCPUMemoryUsed; // mostly copy all data
+									processGPUMemoryUsedBytes_ += mesh.polygons.size()*4*2*3;       // 2 int indices per line (3 lines per polygon)
+									processGPUMemoryUsedBytes_ += mesh.polygonsLowRes.size()*4*2*3; // 2 int indices per line (3 lines per polygon)
+									processGPUMemoryUsedBytes_ += (mesh.cloud->width/2*mesh.cloud->height/2)*4; // low dec
+									processGPUMemoryUsedBytes_ += (mesh.cloud->width/4*mesh.cloud->height/4)*4; // low low dec
+									if(!mesh.texture.empty())
+									{
+										processGPUMemoryUsedBytes_ += mesh.texture.total()*sizeof(float); // single float rgb per pixel
+										processGPUMemoryUsedBytes_ += mesh.cloud->size()*4*2; // 2*float, texCoords
+									}
 									mesh.texture = cv::Mat(); // don't keep textures in memory
 								}
 							}
@@ -1718,7 +1736,7 @@ void RTABMapApp::setPausedMapping(bool paused)
 		if(paused_)
 		{
 			LOGW("Pause!");
-			camera_->kill();
+			camera_->join(true);
 		}
 		else
 		{
@@ -3253,7 +3271,7 @@ bool RTABMapApp::handleEvent(UEvent * event)
 								updateTime,
 								loopClosureId,
 								highestHypId,
-								(int)((processMemoryUsedBytes+processGPUMemoryUsedBytes)/(1024*1024)),
+								(int)((processMemoryUsedBytes_+processGPUMemoryUsedBytes_+databaseMemoryUsed)/(1024*1024)),
 								databaseMemoryUsed,
 								inliers,
 								matches,

app/android/jni/RTABMapApp.h

@@ -228,9 +228,10 @@ class RTABMapApp : public UEventsHandler {
   int lastDrawnCloudsCount_;
   float renderingTime_;
   double lastPostRenderEventTime_;
-  long processMemoryUsedBytes;
-  long processGPUMemoryUsedBytes;
+  long processMemoryUsedBytes_;
+  long processGPUMemoryUsedBytes_;
   std::map<std::string, float> bufferedStatsData_;
+  bool databaseInMemory_;
 
   bool visualizingMesh_;
   bool exportedMeshUpdated_;

app/android/res/values/strings.xml

@@ -109,7 +109,7 @@
     <string name="pref_key_gps_saved">pref_key_gps_saved</string>
     <string name="pref_default_gps_saved">false</string>
     <string name="pref_key_db_in_memory">pref_key_db_in_memory</string>
-    <string name="pref_default_db_in_memory">true</string>
+    <string name="pref_default_db_in_memory">false</string>
     
     <string name="pref_key_cloud_voxel">pref_key_cloud_voxel</string>
     <string name="pref_default_cloud_voxel">0.01</string>

app/android/src/com/introlab/rtabmap/RTABMapActivity.java

@@ -237,7 +237,9 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 	
 	private AlertDialog mMemoryWarningDialog = null;
 	
-	private String[] mStatusTexts = new String[16];
+	private final int STATUS_TEXTS_SIZE = 18;
+	private final int STATUS_TEXTS_POSE_INDEX = 5;
+	private String[] mStatusTexts = new String[STATUS_TEXTS_SIZE];
 	
 	GestureDetector mGesDetect = null;
 
@@ -998,11 +1000,11 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 			}
 			else if((mItemStatusVisibility.isChecked() || mState == State.STATE_VISUALIZING_WHILE_LOADING))
 			{
-				mRenderer.updateTexts(Arrays.copyOfRange(mStatusTexts, 0, 4));
+				mRenderer.updateTexts(Arrays.copyOfRange(mStatusTexts, 0, STATUS_TEXTS_POSE_INDEX-1));
 			}
 			else if(mItemDebugVisibility.isChecked())
 			{
-				mRenderer.updateTexts(Arrays.copyOfRange(mStatusTexts, 5, mStatusTexts.length));
+				mRenderer.updateTexts(Arrays.copyOfRange(mStatusTexts, STATUS_TEXTS_POSE_INDEX-1, mStatusTexts.length));
 			}
 			else
 			{
@@ -1165,7 +1167,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 	{
 		if(!DISABLE_LOG) Log.i(TAG, String.format("updateStatsCallback()"));
 
-		final String[] statusTexts = new String[19];
+		final String[] statusTexts = new String[STATUS_TEXTS_SIZE];
 		if(mButtonPause!=null && !mButtonPause.isChecked())
 		{
 			String updateValue = mUpdateRate.compareTo("0")==0?"Max":mUpdateRate;
@@ -1175,16 +1177,13 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 		{
 			statusTexts[0] = mStatusTexts[0];
 		}
-		
-		// getNativeHeapAllocatedSize() is too slow, so we need to use the estimate.
-		// Multiply by 3/2 to match getNativeHeapAllocatedSize()
-		final int adjustedMemoryUsed = (processMemoryUsed*3)/2;
-		
+				
 		if(mButtonPause!=null)
 		{
 			if(!mButtonPause.isChecked())
 			{
-				statusTexts[1] = getString(R.string.memory)+adjustedMemoryUsed; 
+				// getNativeHeapAllocatedSize() is too slow, so we need to use the estimate.
+				statusTexts[1] = getString(R.string.memory)+processMemoryUsed; 
 			}
 			else if(mState == State.STATE_PROCESSING)
 			{
@@ -1238,10 +1237,9 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 		String formattedDate = new SimpleDateFormat("HH:mm:ss.SSS").format(new Date());
 		statusTexts[4] = getString(R.string.time)+formattedDate;
 		
-		int index = 5;
+		int index = STATUS_TEXTS_POSE_INDEX;
 		statusTexts[index++] = getString(R.string.nodes)+nodes+" (" + nodesDrawn + " shown)";
 		statusTexts[index++] = getString(R.string.words)+words;
-		statusTexts[index++] = getString(R.string.database_size)+databaseMemoryUsed;
 		statusTexts[index++] = getString(R.string.points)+points;
 		statusTexts[index++] = getString(R.string.polygons)+polygons;
 		statusTexts[index++] = getString(R.string.update_time)+(int)(updateTime) + " / " + (mTimeThr.compareTo("0")==0?"No Limit":mTimeThr);
@@ -1256,7 +1254,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 			
 		runOnUiThread(new Runnable() {
 				public void run() {
-					updateStatsUI(adjustedMemoryUsed, loopClosureId, inliers, matches, rejected, optimizationMaxError, fastMovement!=0, statusTexts);
+					updateStatsUI(processMemoryUsed, loopClosureId, inliers, matches, rejected, optimizationMaxError, fastMovement!=0, statusTexts);
 				} 
 		});
 	}
@@ -1920,11 +1918,10 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 		{
 			mTotalLoopClosures = 0;
 			
-			int index = 4;
+			int index = STATUS_TEXTS_POSE_INDEX;
 			mMapNodes = 0;
 			mStatusTexts[index++] = getString(R.string.nodes)+0;
 			mStatusTexts[index++] = getString(R.string.words)+0;
-			mStatusTexts[index++] = getString(R.string.database_size)+0;
 			mStatusTexts[index++] = getString(R.string.points)+0;
 			mStatusTexts[index++] = getString(R.string.polygons)+0;
 			mStatusTexts[index++] = getString(R.string.update_time)+0;
@@ -1934,13 +1931,14 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 			mStatusTexts[index++] = getString(R.string.inliers)+0;
 			mStatusTexts[index++] = getString(R.string.hypothesis)+0;
 			mStatusTexts[index++] = getString(R.string.fps)+0;
+			mStatusTexts[index++] = getString(R.string.distance)+0;
+			mStatusTexts[index++] = String.format("Pose (x,y,z): 0 0 0");
 			updateStatusTexts();
 
 			mOpenedDatabasePath = "";
 			SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
 			boolean databaseInMemory = sharedPref.getBoolean(getString(R.string.pref_key_db_in_memory), Boolean.parseBoolean(getString(R.string.pref_default_db_in_memory)));
 			String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
-			(new File(tmpDatabase)).delete();
 			RTABMapLib.openDatabase(tmpDatabase, databaseInMemory, false);
 			
 			mMapIsEmpty = true;
@@ -1959,11 +1957,10 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 				public void onClick(DialogInterface dialog, int which) {           	  
 					// reset
 					mTotalLoopClosures = 0;
-					int index = 4;
+					int index = STATUS_TEXTS_POSE_INDEX;
 					mMapNodes = 0;
 					mStatusTexts[index++] = getString(R.string.nodes)+0;
 					mStatusTexts[index++] = getString(R.string.words)+0;
-					mStatusTexts[index++] = getString(R.string.database_size)+0;
 					mStatusTexts[index++] = getString(R.string.points)+0;
 					mStatusTexts[index++] = getString(R.string.polygons)+0;
 					mStatusTexts[index++] = getString(R.string.update_time)+0;
@@ -1973,6 +1970,8 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 					mStatusTexts[index++] = getString(R.string.inliers)+0;
 					mStatusTexts[index++] = getString(R.string.hypothesis)+0;
 					mStatusTexts[index++] = getString(R.string.fps)+0;
+					mStatusTexts[index++] = getString(R.string.distance)+0;
+					mStatusTexts[index++] = String.format("Pose (x,y,z): 0 0 0");
 					updateStatusTexts();
 
 					mItemDataRecorderMode.setChecked(!dataRecorderOldState);
@@ -1982,7 +1981,6 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 					SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(getActivity());
 					boolean databaseInMemory = sharedPref.getBoolean(getString(R.string.pref_key_db_in_memory), Boolean.parseBoolean(getString(R.string.pref_default_db_in_memory)));
 					String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
-					(new File(tmpDatabase)).delete();
 					RTABMapLib.openDatabase(tmpDatabase, databaseInMemory, false);
 
 					mItemOpen.setEnabled(!mItemDataRecorderMode.isChecked() && mButtonPause.isChecked());

corelib/include/rtabmap/core/DBDriver.h

@@ -68,6 +68,7 @@ public:
 	virtual ~DBDriver();
 
 	virtual void parseParameters(const ParametersMap & parameters);
+	virtual bool isInMemory() const {return _url.empty();}
 	const std::string & getUrl() const {return _url;}
 
 	void beginTransaction() const;

corelib/include/rtabmap/core/Memory.h

@@ -134,6 +134,7 @@ public:
 			const std::map<int, Transform> & optimizedPoses,
 			int maxGraphDepth) const;
 	void deleteLocation(int locationId, std::list<int> * deletedWords = 0);
+	void saveLocationData(int locationId);
 	void removeLink(int idA, int idB);
 	void removeRawData(int id, bool image = true, bool scan = true, bool userData = true);
 

corelib/include/rtabmap/core/SensorData.h

@@ -233,6 +233,7 @@ public:
 	const GPS & gps() const {return gps_;}
 
 	long getMemoryUsed() const; // Return memory usage in Bytes
+	void clearCompressedData() {_imageCompressed=cv::Mat(); _depthOrRightCompressed=cv::Mat(); _laserScanCompressed=cv::Mat(); _userDataCompressed=cv::Mat();}
 
 private:
 	int _id;

corelib/include/rtabmap/core/Signature.h

@@ -134,6 +134,8 @@ public:
 	SensorData & sensorData() {return _sensorData;}
 	const SensorData & sensorData() const {return _sensorData;}
 
+	long getMemoryUsed(bool withSensorData=true) const; // Return memory usage in Bytes
+
 private:
 	int _id;
 	int _mapId;

corelib/src/DBDriverSqlite3.cpp

@@ -187,6 +187,7 @@ void DBDriverSqlite3::setTempStore(int tempStore)
 
 void DBDriverSqlite3::setDbInMemory(bool dbInMemory)
 {
+	UDEBUG("dbInMemory=%d", dbInMemory?1:0);
 	if(dbInMemory != _dbInMemory)
 	{
 		if(this->isConnected())

corelib/src/DBDriverSqlite3.h

@@ -41,6 +41,7 @@ public:
 	virtual ~DBDriverSqlite3();
 
 	virtual void parseParameters(const ParametersMap & parameters);
+	virtual bool isInMemory() const {return getUrl().empty() || _dbInMemory;}
 	void setDbInMemory(bool dbInMemory);
 	void setJournalMode(int journalMode);
 	void setCacheSize(unsigned int cacheSize);

corelib/src/FlannIndex.cpp

@@ -439,7 +439,7 @@ void FlannIndex::knnSearch(
 	indices.create(query.rows, knn, CV_32S);
 	dists.create(query.rows, knn, featuresType_ == CV_8UC1?CV_32S:CV_32F);
 
-	rtflann::Matrix<int> indicesF((int*)indices.data, indices.rows, indices.cols);
+	rtflann::Matrix<size_t> indicesF((size_t*)indices.data, indices.rows, indices.cols);
 
 	rtflann::SearchParams params = rtflann::SearchParams(checks, eps, sorted);
 

corelib/src/Memory.cpp

@@ -316,6 +316,15 @@ void Memory::loadDataFromDb(bool postInitClosingEvents)
 			UWARN("_vwd->getUnusedWordsSize() must be empty... size=%d", _vwd->getUnusedWordsSize());
 		}
 		UDEBUG("Total word references added = %d", _vwd->getTotalActiveReferences());
+
+		if(_lastSignature == 0)
+		{
+			// Memory is empty, save parameters
+			ParametersMap parameters = Parameters::getDefaultParameters();
+			uInsert(parameters, parameters_);
+			UDEBUG("");
+			_dbDriver->addInfoAfterRun(0, 0,	0, 0, 0, parameters);
+		}
 	}
 	else
 	{
@@ -1275,6 +1284,7 @@ int Memory::getDatabaseMemoryUsed() const
 	{
 		memoryUsed = _dbDriver->getMemoryUsed()/(1024*1024); //Byte to MB
 	}
+
 	return memoryUsed;
 }
 
@@ -2124,6 +2134,25 @@ void Memory::deleteLocation(int locationId, std::list<int> * deletedWords)
 	}
 }
 
+void Memory::saveLocationData(int locationId)
+{
+	UDEBUG("Saving location data %d", locationId);
+	Signature * location = _getSignature(locationId);
+	if( location &&
+		_dbDriver &&
+		!_dbDriver->isInMemory() && // don't push in database if it is also in memory.
+		location->id()>0 &&
+		(_incrementalMemory && !location->isSaved()))
+	{
+		Signature * cpy = new Signature();
+		*cpy = *location;
+		_dbDriver->asyncSave(cpy);
+
+		location->setSaved(true);
+		location->sensorData().clearCompressedData();
+	}
+}
+
 void Memory::removeLink(int oldId, int newId)
 {
 	//this method assumes receiving oldId < newId, if not switch them
@@ -2370,7 +2399,7 @@ Transform Memory::computeIcpTransform(
 
 		if(depthsToLoad.size())
 		{
-			_dbDriver->loadNodeData(depthsToLoad);
+			_dbDriver->loadNodeData(depthsToLoad, false, true, false, false);
 		}
 	}
 
@@ -2437,7 +2466,7 @@ Transform Memory::computeIcpTransformMulti(
 	}
 	if(depthToLoad.size() && _dbDriver)
 	{
-		_dbDriver->loadNodeData(depthToLoad);
+		_dbDriver->loadNodeData(depthToLoad, false, true, false, false);
 	}
 
 	Signature * fromS = _getSignature(fromId);

corelib/src/Rtabmap.cpp

@@ -2505,6 +2505,10 @@ bool Rtabmap::process(
 			signaturesRemoved.push_back(signature->id());
 			_memory->deleteLocation(signature->id());
 		}
+		else
+		{
+			_memory->saveLocationData(signature->id());
+		}
 	}
 
 	// Pass this point signature should not be used, since it could have been transferred...

corelib/src/SensorData.cpp

@@ -787,7 +787,10 @@ long SensorData::getMemoryUsed() const // Return memory usage in Bytes
 			_groundCellsCompressed.total()*_groundCellsCompressed.elemSize() +
 			_groundCellsRaw.total()*_groundCellsRaw.elemSize() +
 			_obstacleCellsCompressed.total()*_obstacleCellsCompressed.elemSize() +
-			_obstacleCellsRaw.total()*_obstacleCellsRaw.elemSize();
+			_obstacleCellsRaw.total()*_obstacleCellsRaw.elemSize()+
+			_keypoints.size() * sizeof(float) * 7 +
+			_keypoints3D.size() * sizeof(float)*3 +
+			_descriptors.total()*_descriptors.elemSize();
 }
 
 } // namespace rtabmap

corelib/src/Signature.cpp

@@ -292,4 +292,20 @@ cv::Mat Signature::getPoseCovariance() const
 	return covariance;
 }
 
+long Signature::getMemoryUsed(bool withSensorData) const // Return memory usage in Bytes
+{
+	long total =  _words.size() * sizeof(float) * 8 +
+				  _words3.size() * sizeof(float) * 4;
+	if(!_wordsDescriptors.empty())
+	{
+		total += _wordsDescriptors.size() * sizeof(int);
+		total += _wordsDescriptors.size() * _wordsDescriptors.begin()->second.total() * _wordsDescriptors.begin()->second.elemSize();
+	}
+	if(withSensorData)
+	{
+		total+=_sensorData.getMemoryUsed();
+	}
+	return total;
+}
+
 } //namespace rtabmap

corelib/src/rtflann/algorithms/nn_index.h

@@ -375,7 +375,7 @@ public:
      * @param params
      * @return
      */
-    int knnSearch(const Matrix<ElementType>& queries,
+    /*int knnSearch(const Matrix<ElementType>& queries,
                                  Matrix<int>& indices,
                                  Matrix<DistanceType>& dists,
                                  size_t knn,
@@ -391,7 +391,7 @@ public:
     	}
         delete[] indices_.ptr();
     	return result;
-    }
+    }*/
 
 
     /**

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>rtabmap</name>
-  <version>0.14.1</version>
+  <version>0.14.2</version>
   <description>RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>