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Improved/optimized Rtabmap timing performance for large datasets

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This commit is contained in:
matlabbe
2018-11-08 17:39:16 -05:00
parent 3bb874825f
commit 8333677dc6
13 changed files with 588 additions and 467 deletions
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5
corelib/include/rtabmap/core/Memory.h
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@@ -161,6 +161,7 @@ public:
int getSignatureIdByLabel(const std::string & label, bool lookInDatabase = true) const;
bool labelSignature(int id, const std::string & label);
std::map<int, std::string> getAllLabels() const;
bool allNodesInWM() const {return _allNodesInWM;}
/**
* Set user data. Detect automatically if raw or compressed. If raw, the data is
@@ -174,8 +175,10 @@ public:
std::string getDatabaseVersion() const;
std::string getDatabaseUrl() const;
double getDbSavingTime() const;
int getMapId(int id, bool lookInDatabase = false) const;
Transform getOdomPose(int signatureId, bool lookInDatabase = false) const;
Transform getGroundTruthPose(int signatureId, bool lookInDatabase = false) const;
const std::map<int, Transform> & getGroundTruths() const {return _groundTruths;} // only those in working+STM memory
void getGPS(int id, GPS & gps, Transform & offsetENU, bool lookInDatabase, int maxGraphDepth = 0) const;
bool getNodeInfo(int signatureId,
Transform & odomPose,
@@ -315,6 +318,7 @@ private:
bool _memoryChanged; // False by default, become true only when Memory::update() is called.
bool _linksChanged; // False by default, become true when links are modified.
int _signaturesAdded;
bool _allNodesInWM;
GPS _gpsOrigin;
std::vector<CameraModel> _rectCameraModels;
StereoCameraModel _rectStereoCameraModel;
@@ -323,6 +327,7 @@ private:
std::map<int, Signature *> _signatures; // TODO : check if a signature is already added? although it is not supposed to occur...
std::set<int> _stMem; // id
std::map<int, double> _workingMem; // id,age
std::map<int, Transform> _groundTruths;
//Keypoint stuff
VWDictionary * _vwd;

20
corelib/include/rtabmap/core/Statistics.h
View File

@@ -127,6 +127,7 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Timing, Forgetting, ms);
RTABMAP_STATS(Timing, Joining_trash, ms);
RTABMAP_STATS(Timing, Emptying_trash, ms);
RTABMAP_STATS(Timing, Finalizing_statistics, ms);
RTABMAP_STATS(TimingMem, Pre_update, ms);
RTABMAP_STATS(TimingMem, Signature_creation, ms);
@@ -176,12 +177,15 @@ public:
// setters
void setExtended(bool extended) {_extended = extended;}
void setRefImageId(int refImageId) {_refImageId = refImageId;}
void setLoopClosureId(int loopClosureId) {_loopClosureId = loopClosureId;}
void setRefImageId(int id) {_refImageId = id;}
void setRefImageMapId(int id) {_refImageMapId = id;}
void setLoopClosureId(int id) {_loopClosureId = id;}
void setLoopClosureMapId(int id) {_loopClosureMapId = id;}
void setProximityDetectionId(int id) {_proximiyDetectionId = id;}
void setProximityDetectionMapId(int id) {_proximiyDetectionMapId = id;}
void setStamp(double stamp) {_stamp = stamp;}
void setSignatures(const std::map<int, Signature> & signatures) {_signatures = signatures;}
void setLastSignatureData(const Signature & data) {_lastSignatureData = data;}
void setPoses(const std::map<int, Transform> & poses) {_poses = poses;}
void setConstraints(const std::multimap<int, Link> & constraints) {_constraints = constraints;}
@@ -200,11 +204,14 @@ public:
// getters
bool extended() const {return _extended;}
int refImageId() const {return _refImageId;}
int refImageMapId() const {return _refImageMapId;}
int loopClosureId() const {return _loopClosureId;}
int loopClosureMapId() const {return _loopClosureMapId;}
int proximityDetectionId() const {return _proximiyDetectionId;}
int proximityDetectionMapId() const {return _proximiyDetectionMapId;}
double stamp() const {return _stamp;}
const std::map<int, Signature> & getSignatures() const {return _signatures;}
const Signature & getLastSignatureData() const {return _lastSignatureData;}
const std::map<int, Transform> & poses() const {return _poses;}
const std::multimap<int, Link> & constraints() const {return _constraints;}
@@ -226,11 +233,14 @@ private:
bool _extended; // 0 -> only loop closure and last signature ID fields are filled
int _refImageId;
int _refImageMapId;
int _loopClosureId;
int _loopClosureMapId;
int _proximiyDetectionId;
int _proximiyDetectionMapId;
double _stamp;
std::map<int, Signature> _signatures;
Signature _lastSignatureData;
std::map<int, Transform> _poses;
std::multimap<int, Link> _constraints;