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

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;
-    }
+    }*/
 
 
     /**