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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/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
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@@ -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_;