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Fixed long loading time of large working memory

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This commit is contained in:
matlabbe
2018-11-05 11:50:49 -05:00
parent 9d62d04459
commit c2b1a9fbd7
1 changed files with 25 additions and 23 deletions
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48
corelib/src/Memory.cpp
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@@ -238,35 +238,37 @@ void Memory::loadDataFromDb(bool postInitClosingEvents)
// global loop closures.
_signatures.insert(std::pair<int, Signature *>((*iter)->id(), *iter));
_workingMem.insert(std::make_pair((*iter)->id(), UTimer::now()));
//update odomMaxInf vector
std::multimap<int, Link> links = this->getAllLinks(true, true);
for(std::multimap<int, Link>::iterator iter=links.begin(); iter!=links.end(); ++iter)
{
if(iter->second.type() == Link::kNeighbor &&
iter->second.infMatrix().cols == 6 &&
iter->second.infMatrix().rows == 6)
{
if(_odomMaxInf.empty())
{
_odomMaxInf.resize(6, 0.0);
}
for(int i=0; i<6; ++i)
{
const double & v = iter->second.infMatrix().at<double>(i,i);
if(_odomMaxInf[i] < v)
{
_odomMaxInf[i] = v;
}
}
}
}
}
else
{
delete *iter;
}
}
UDEBUG("update odomMaxInf vector");
std::multimap<int, Link> links = this->getAllLinks(true, true);
for(std::multimap<int, Link>::iterator iter=links.begin(); iter!=links.end(); ++iter)
{
if(iter->second.type() == Link::kNeighbor &&
iter->second.infMatrix().cols == 6 &&
iter->second.infMatrix().rows == 6)
{
if(_odomMaxInf.empty())
{
_odomMaxInf.resize(6, 0.0);
}
for(int i=0; i<6; ++i)
{
const double & v = iter->second.infMatrix().at<double>(i,i);
if(_odomMaxInf[i] < v)
{
_odomMaxInf[i] = v;
}
}
}
}
UDEBUG("update odomMaxInf vector, done!");
if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(std::string("Loading nodes to WM, done! (") + uNumber2Str(int(_workingMem.size() + _stMem.size())) + " loaded)"));
// Assign the last signature