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Improved DatabaseViewer memory usage (by not keeping uncompressed data in cache)

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This commit is contained in:
matlabbe
2015-10-14 11:02:36 -04:00
parent a8d83c895c
commit 9bd649009c
5 changed files with 37 additions and 20 deletions
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2
corelib/include/rtabmap/core/Graph.h
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@@ -61,7 +61,7 @@ public:
static void getConnectedGraph( static void getConnectedGraph(
int fromId, int fromId,
const std::map<int, Transform> & posesIn, const std::map<int, Transform> & posesIn,
const std::multimap<int, Link> & linksIn, const std::multimap<int, Link> & linksIn, // only one link between two poses
std::map<int, Transform> & posesOut, std::map<int, Transform> & posesOut,
std::multimap<int, Link> & linksOut, std::multimap<int, Link> & linksOut,
int depth = 0); int depth = 0);

2
corelib/include/rtabmap/core/Memory.h
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@@ -141,7 +141,7 @@ public:
double & stamp, double & stamp,
bool lookInDatabase = false) const; bool lookInDatabase = false) const;
cv::Mat getImageCompressed(int signatureId) const; cv::Mat getImageCompressed(int signatureId) const;
SensorData getNodeData(int nodeId, bool uncompressedData = false); SensorData getNodeData(int nodeId, bool uncompressedData = false, bool keepLoadedDataInMemory = true);
void getNodeWords(int nodeId, void getNodeWords(int nodeId,
std::multimap<int, cv::KeyPoint> & words, std::multimap<int, cv::KeyPoint> & words,
std::multimap<int, pcl::PointXYZ> & words3); std::multimap<int, pcl::PointXYZ> & words3);

3
corelib/src/Graph.cpp
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@@ -239,6 +239,7 @@ void Optimizer::getConnectedGraph(
std::multimap<int, int> biLinks; std::multimap<int, int> biLinks;
for(std::multimap<int, Link>::const_iterator iter=linksIn.begin(); iter!=linksIn.end(); ++iter) for(std::multimap<int, Link>::const_iterator iter=linksIn.begin(); iter!=linksIn.end(); ++iter)
{ {
UASSERT_MSG(findLink(biLinks, iter->second.from(), iter->second.to()) == biLinks.end(), "Input links should be unique between two poses.");
biLinks.insert(std::make_pair(iter->second.from(), iter->second.to())); biLinks.insert(std::make_pair(iter->second.from(), iter->second.to()));
biLinks.insert(std::make_pair(iter->second.to(), iter->second.from())); biLinks.insert(std::make_pair(iter->second.to(), iter->second.from()));
} }
@@ -262,7 +263,7 @@ void Optimizer::getConnectedGraph(
{ {
nextDepth.insert(nextId); nextDepth.insert(nextId);
std::map<int, Link>::const_iterator kter = graph::findLink(linksIn, *jter, nextId); std::multimap<int, Link>::const_iterator kter = graph::findLink(linksIn, *jter, nextId);
if(depth == 0 || d < depth-1) if(depth == 0 || d < depth-1)
{ {
linksOut.insert(*kter); linksOut.insert(*kter);

10
corelib/src/Memory.cpp
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@@ -3392,23 +3392,27 @@ cv::Mat Memory::getImageCompressed(int signatureId) const
return image; return image;
} }
SensorData Memory::getNodeData(int nodeId, bool uncompressedData) SensorData Memory::getNodeData(int nodeId, bool uncompressedData, bool keepLoadedDataInMemory)
{ {
UDEBUG("nodeId=%d", nodeId); UDEBUG("nodeId=%d", nodeId);
SensorData r; SensorData r;
Signature * s = this->_getSignature(nodeId); Signature * s = this->_getSignature(nodeId);
if(s && !s->sensorData().imageCompressed().empty()) if(s && !s->sensorData().imageCompressed().empty())
{ {
if(uncompressedData) if(keepLoadedDataInMemory && uncompressedData)
{ {
s->sensorData().uncompressData(); s->sensorData().uncompressData();
} }
r = s->sensorData(); r = s->sensorData();
if(!keepLoadedDataInMemory && uncompressedData)
{
r.uncompressData();
}
} }
else if(_dbDriver) else if(_dbDriver)
{ {
// load from database // load from database
if(s) if(s && keepLoadedDataInMemory)
{ {
std::list<Signature*> signatures; std::list<Signature*> signatures;
signatures.push_back(s); signatures.push_back(s);

40
guilib/src/DatabaseViewer.cpp
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@@ -838,7 +838,7 @@ void DatabaseViewer::exportDatabase()
{ {
int id = ids.at(i); int id = ids.at(i);
SensorData data = memory_->getNodeData(id, true); SensorData data = memory_->getNodeData(id, true, false);
cv::Mat covariance = cv::Mat::eye(6,6,CV_64FC1); cv::Mat covariance = cv::Mat::eye(6,6,CV_64FC1);
if(dialog.isOdomExported()) if(dialog.isOdomExported())
{ {
@@ -919,7 +919,7 @@ void DatabaseViewer::extractImages()
if(ids_.size()) if(ids_.size())
{ {
int id = ids_.at(0); int id = ids_.at(0);
SensorData data = memory_->getNodeData(id, true); SensorData data = memory_->getNodeData(id, true, false);
if(!data.imageRaw().empty() && !data.rightRaw().empty()) if(!data.imageRaw().empty() && !data.rightRaw().empty())
{ {
QDir dir; QDir dir;
@@ -1001,7 +1001,7 @@ void DatabaseViewer::extractImages()
for(int i=0; i<ids_.size(); ++i) for(int i=0; i<ids_.size(); ++i)
{ {
int id = ids_.at(i); int id = ids_.at(i);
SensorData data = memory_->getNodeData(id, true); SensorData data = memory_->getNodeData(id, true, false);
if(!data.imageRaw().empty() && !data.rightRaw().empty()) if(!data.imageRaw().empty() && !data.rightRaw().empty())
{ {
cv::imwrite(QString("%1/left/%2.jpg").arg(path).arg(id).toStdString(), data.imageRaw()); cv::imwrite(QString("%1/left/%2.jpg").arg(path).arg(id).toStdString(), data.imageRaw());
@@ -1342,7 +1342,7 @@ void DatabaseViewer::view3DMap()
rtabmap::Transform pose = iter->second; rtabmap::Transform pose = iter->second;
if(!pose.isNull()) if(!pose.isNull())
{ {
SensorData data = memory_->getNodeData(iter->first, true); SensorData data = memory_->getNodeData(iter->first, true, false);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud; pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
UASSERT(data.imageRaw().empty() || data.imageRaw().type()==CV_8UC3 || data.imageRaw().type() == CV_8UC1); UASSERT(data.imageRaw().empty() || data.imageRaw().type()==CV_8UC3 || data.imageRaw().type() == CV_8UC1);
UASSERT(data.depthOrRightRaw().empty() || data.depthOrRightRaw().type()==CV_8UC1 || data.depthOrRightRaw().type() == CV_16UC1 || data.depthOrRightRaw().type() == CV_32FC1); UASSERT(data.depthOrRightRaw().empty() || data.depthOrRightRaw().type()==CV_8UC1 || data.depthOrRightRaw().type() == CV_16UC1 || data.depthOrRightRaw().type() == CV_32FC1);
@@ -1426,7 +1426,7 @@ void DatabaseViewer::generate3DMap()
const rtabmap::Transform & pose = iter->second; const rtabmap::Transform & pose = iter->second;
if(!pose.isNull()) if(!pose.isNull())
{ {
SensorData data = memory_->getNodeData(iter->first, true); SensorData data = memory_->getNodeData(iter->first, true, false);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud; pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
UASSERT(data.imageRaw().empty() || data.imageRaw().type()==CV_8UC3 || data.imageRaw().type() == CV_8UC1); UASSERT(data.imageRaw().empty() || data.imageRaw().type()==CV_8UC3 || data.imageRaw().type() == CV_8UC1);
UASSERT(data.depthOrRightRaw().empty() || data.depthOrRightRaw().type()==CV_8UC1 || data.depthOrRightRaw().type() == CV_16UC1 || data.depthOrRightRaw().type() == CV_32FC1); UASSERT(data.depthOrRightRaw().empty() || data.depthOrRightRaw().type()==CV_8UC1 || data.depthOrRightRaw().type() == CV_16UC1 || data.depthOrRightRaw().type() == CV_32FC1);
@@ -1690,7 +1690,7 @@ void DatabaseViewer::update(int value,
QImage imgDepth; QImage imgDepth;
if(memory_) if(memory_)
{ {
SensorData data = memory_->getNodeData(id, true); SensorData data = memory_->getNodeData(id, true, false);
if(!data.imageRaw().empty()) if(!data.imageRaw().empty())
{ {
img = uCvMat2QImage(data.imageRaw()); img = uCvMat2QImage(data.imageRaw());
@@ -1898,7 +1898,7 @@ void DatabaseViewer::updateStereo()
if(ui_->horizontalSlider_A->maximum()) if(ui_->horizontalSlider_A->maximum())
{ {
int id = ids_.at(ui_->horizontalSlider_A->value()); int id = ids_.at(ui_->horizontalSlider_A->value());
SensorData data = memory_->getNodeData(id, true); SensorData data = memory_->getNodeData(id, true, false);
updateStereo(&data); updateStereo(&data);
} }
} }
@@ -2308,11 +2308,11 @@ void DatabaseViewer::updateConstraintView(
{ {
SensorData dataFrom, dataTo; SensorData dataFrom, dataTo;
dataFrom = memory_->getNodeData(link.from(), true); dataFrom = memory_->getNodeData(link.from(), true, false);
UASSERT(dataFrom.imageRaw().empty() || dataFrom.imageRaw().type()==CV_8UC3 || dataFrom.imageRaw().type() == CV_8UC1); UASSERT(dataFrom.imageRaw().empty() || dataFrom.imageRaw().type()==CV_8UC3 || dataFrom.imageRaw().type() == CV_8UC1);
UASSERT(dataFrom.depthOrRightRaw().empty() || dataFrom.depthOrRightRaw().type()==CV_8UC1 || dataFrom.depthOrRightRaw().type() == CV_16UC1 || dataFrom.depthOrRightRaw().type() == CV_32FC1); UASSERT(dataFrom.depthOrRightRaw().empty() || dataFrom.depthOrRightRaw().type()==CV_8UC1 || dataFrom.depthOrRightRaw().type() == CV_16UC1 || dataFrom.depthOrRightRaw().type() == CV_32FC1);
dataTo = memory_->getNodeData(link.to(), true); dataTo = memory_->getNodeData(link.to(), true, false);
UASSERT(dataTo.imageRaw().empty() || dataTo.imageRaw().type()==CV_8UC3 || dataTo.imageRaw().type() == CV_8UC1); UASSERT(dataTo.imageRaw().empty() || dataTo.imageRaw().type()==CV_8UC3 || dataTo.imageRaw().type() == CV_8UC1);
UASSERT(dataTo.depthOrRightRaw().empty() || dataTo.depthOrRightRaw().type()==CV_8UC1 || dataTo.depthOrRightRaw().type() == CV_16UC1 || dataTo.depthOrRightRaw().type() == CV_32FC1); UASSERT(dataTo.depthOrRightRaw().empty() || dataTo.depthOrRightRaw().type()==CV_8UC1 || dataTo.depthOrRightRaw().type() == CV_16UC1 || dataTo.depthOrRightRaw().type() == CV_32FC1);
@@ -2699,7 +2699,7 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
bool added = false; bool added = false;
if(ui_->groupBox_gridFromProjection->isChecked()) if(ui_->groupBox_gridFromProjection->isChecked())
{ {
SensorData data = memory_->getNodeData(ids.at(i), true); SensorData data = memory_->getNodeData(ids.at(i), true, false);
if(!data.depthOrRightRaw().empty()) if(!data.depthOrRightRaw().empty())
{ {
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud; pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
@@ -2757,6 +2757,18 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
} }
} }
} }
//cleanup
for(std::map<int, std::pair<cv::Mat, cv::Mat> >::iterator iter=localMaps_.begin(); iter!=localMaps_.end();)
{
if(graphFiltered.find(iter->first) == graphFiltered.end())
{
localMaps_.erase(iter++);
}
else
{
++iter;
}
}
UINFO("Update local maps list... done"); UINFO("Update local maps list... done");
} }
@@ -3338,8 +3350,8 @@ void DatabaseViewer::refineConstraintVisually(int from, int to, bool silent, boo
Memory tmpMemory(parameters); Memory tmpMemory(parameters);
// Add signatures // Add signatures
SensorData dataFrom = memory_->getNodeData(from, true); SensorData dataFrom = memory_->getNodeData(from, true, false);
SensorData dataTo = memory_->getNodeData(to, true); SensorData dataTo = memory_->getNodeData(to, true, false);
if(from > to) if(from > to)
{ {
@@ -3459,8 +3471,8 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool updateGra
Memory tmpMemory(parameters); Memory tmpMemory(parameters);
// Add signatures // Add signatures
SensorData dataFrom = memory_->getNodeData(from, true); SensorData dataFrom = memory_->getNodeData(from, true, false);
SensorData dataTo = memory_->getNodeData(to, true); SensorData dataTo = memory_->getNodeData(to, true, false);
if(from > to) if(from > to)
{ {