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Export CLI tool memory optimization (#1391)

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* Stashing changes so far

* Tested and working

* removed unused options

* Added density_radius and density_angle options

* improved description

* backward compatibility fixes, matching texture exported file names with base name

* Setting global full opt by default, updated preferences defaulting to g2o or gtsam if one or the other is unavailable
This commit is contained in:
matlabbe
2024-12-15 13:08:15 -08:00
committed by GitHub
parent 340248fed0
commit 97c56361f8
10 changed files with 1037 additions and 431 deletions
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corelib/src/DBDriver.cpp
+39
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@@ -922,6 +922,45 @@ void DBDriver::getAllNodeIds(std::set<int> & ids, bool ignoreChildren, bool igno
_dbSafeAccessMutex.unlock();
}
void DBDriver::getAllOdomPoses(std::map<int, Transform> & poses, bool ignoreChildren, bool ignoreIntermediateNodes) const
{
// look in the trash
_trashesMutex.lock();
if(_trashSignatures.size())
{
for(std::map<int, Signature*>::const_iterator sIter = _trashSignatures.begin(); sIter!=_trashSignatures.end(); ++sIter)
{
bool hasNeighbors = !ignoreChildren;
if(ignoreChildren)
{
for(std::map<int, Link>::const_iterator nIter = sIter->second->getLinks().begin();
nIter!=sIter->second->getLinks().end();
++nIter)
{
if(nIter->second.type() == Link::kNeighbor ||
nIter->second.type() == Link::kNeighborMerged)
{
hasNeighbors = true;
break;
}
}
}
if(hasNeighbors && (!ignoreIntermediateNodes || sIter->second->getWeight() != -1))
{
poses.insert(std::make_pair(sIter->first, sIter->second->getPose()));
}
}
std::vector<int> keys = uKeys(_trashSignatures);
}
_trashesMutex.unlock();
_dbSafeAccessMutex.lock();
this->getAllOdomPosesQuery(poses, ignoreChildren, ignoreIntermediateNodes);
_dbSafeAccessMutex.unlock();
}
void DBDriver::getAllLinks(std::multimap<int, Link> & links, bool ignoreNullLinks, bool withLandmarks) const
{
_dbSafeAccessMutex.lock();