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

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This commit is contained in:
matlabbe
2017-10-08 21:55:27 -04:00
parent 9a09db9212
commit 49f9a1e8d7
20 changed files with 158 additions and 80 deletions
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2
app/android/AndroidManifest.xml.in
View File

@@ -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" />

2
app/android/jni/CameraTango.cpp
View File

@@ -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;

116
app/android/jni/RTABMapApp.cpp
View File

@@ -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,

5
app/android/jni/RTABMapApp.h
View File

@@ -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_;

2
app/android/res/values/strings.xml
View File

@@ -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>

36
app/android/src/com/introlab/rtabmap/RTABMapActivity.java
View File

@@ -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());