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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/DBDriverSqlite3.cpp
+69
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@@ -2483,6 +2483,75 @@ void DBDriverSqlite3::getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildre
}
}
void DBDriverSqlite3::getAllOdomPosesQuery(std::map<int, Transform> & poses, bool ignoreChildren, bool ignoreIntermediateNodes) const
{
if(_ppDb)
{
UTimer timer;
timer.start();
int rc = SQLITE_OK;
sqlite3_stmt * ppStmt = 0;
std::stringstream query;
query << "SELECT DISTINCT id, pose "
<< "FROM Node ";
if(ignoreChildren)
{
query << "INNER JOIN Link ";
query << "ON id = to_id "; // use to_id to ignore all children (which don't have link pointing on them)
query << "WHERE from_id != to_id "; // ignore self referring links
query << "AND weight>-9 "; //ignore invalid nodes
if(ignoreIntermediateNodes)
{
query << "AND weight!=-1 "; //ignore intermediate nodes
}
}
else if(ignoreIntermediateNodes)
{
query << "WHERE weight!=-1 "; //ignore intermediate nodes
}
query << "ORDER BY id";
rc = sqlite3_prepare_v2(_ppDb, query.str().c_str(), -1, &ppStmt, 0);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
const void * data = 0;
int dataSize = 0;
// Process the result if one
rc = sqlite3_step(ppStmt);
while(rc == SQLITE_ROW)
{
int id = sqlite3_column_int(ppStmt, 0); // Signature Id
data = sqlite3_column_blob(ppStmt, 1); // Pose
dataSize = sqlite3_column_bytes(ppStmt, 1);
Transform pose;
if((unsigned int)dataSize == pose.size()*sizeof(float) && data)
{
memcpy(pose.data(), data, dataSize);
if(uStrNumCmp(_version, "0.15.2") < 0)
{
pose.normalizeRotation();
}
}
else if(dataSize)
{
UERROR("Error while loading pose for node %d! Setting to null...", id);
}
poses.insert(std::make_pair(id, pose));
rc = sqlite3_step(ppStmt);
}
UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
// Finalize (delete) the statement
rc = sqlite3_finalize(ppStmt);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
ULOGGER_DEBUG("Time=%f ids=%d", timer.ticks(), (int)poses.size());
}
}
void DBDriverSqlite3::getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks, bool withLandmarks) const
{
links.clear();