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Read-only localization mode (#1643)

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* Read-only localization mode

* Localization: don't update map's node timestamps if statistic after run are not saved

* Updated Mem/LocalizationReadOnly description

* Updated description of Kp/FlannIndexSaved
This commit is contained in:
matlabbe
2026-01-22 15:59:55 -08:00
committed by GitHub
parent 48f529b4c6
commit da55168f60
11 changed files with 248 additions and 208 deletions
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corelib/include/rtabmap/core/DBDriver.h
+2 -2
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@@ -134,7 +134,7 @@ public:
public:
// Mutex-protected methods of abstract versions below
bool openConnection(const std::string & url, bool overwritten = false);
bool openConnection(const std::string & url, bool overwritten = false, bool readOnly = false);
void closeConnection(bool save = true, const std::string & outputUrl = "");
bool isConnected() const;
unsigned long getMemoryUsed() const; // In bytes
@@ -193,7 +193,7 @@ public:
protected:
DBDriver(const ParametersMap & parameters = ParametersMap());
virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false) = 0;
virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false, bool readOnly = false) = 0;
virtual void disconnectDatabaseQuery(bool save = true, const std::string & outputUrl = "") = 0;
virtual bool isConnectedQuery() const = 0;
virtual unsigned long getMemoryUsedQuery() const = 0; // In bytes
corelib/include/rtabmap/core/DBDriverSqlite3.h
+1 -1
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@@ -51,7 +51,7 @@ public:
void setTempStore(int tempStore);
protected:
virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false);
virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false, bool readOnly = false);
virtual void disconnectDatabaseQuery(bool save = true, const std::string & outputUrl = "");
virtual bool isConnectedQuery() const;
virtual unsigned long getMemoryUsedQuery() const; // In bytes
corelib/include/rtabmap/core/Memory.h
+2
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@@ -211,6 +211,7 @@ public:
std::set<int> getAllSignatureIds(bool ignoreChildren = true) const;
bool memoryChanged() const {return _memoryChanged;}
bool isIncremental() const {return _incrementalMemory;}
bool isReadOnly() const {return !_incrementalMemory && _localizationReadOnly;}
bool isLocalizationDataSaved() const {return _localizationDataSaved;}
const Signature * getSignature(int id) const;
bool isInSTM(int signatureId) const {return _stMem.find(signatureId) != _stMem.end();}
@@ -307,6 +308,7 @@ private:
std::string _rgbCompressionFormat;
std::string _depthCompressionFormat;
bool _incrementalMemory;
bool _localizationReadOnly;
bool _localizationDataSaved;
bool _flannIndexSaved;
bool _reduceGraph;
corelib/include/rtabmap/core/Parameters.h
+2 -1
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@@ -213,6 +213,7 @@ class RTABMAP_CORE_EXPORT Parameters
RTABMAP_PARAM_STR(Mem, DepthCompressionFormat, ".rvl", "Depth image compression format for 16UC1 depth type. It should be \".png\" or \".rvl\". If depth type is 32FC1, \".png\" is used.");
RTABMAP_PARAM(Mem, STMSize, unsigned int, 10, "Short-term memory size.");
RTABMAP_PARAM(Mem, IncrementalMemory, bool, true, "SLAM mode, otherwise it is Localization mode.");
RTABMAP_PARAM(Mem, LocalizationReadOnly, bool, false, uFormat("In localization mode, open the database in read-only mode (ignored if %s=true). Currrenty incompatible with memory management (%s and %s cannot be used) and if there are disjoint sessions in working memory. Last localization pose won't be saved back in the database at the end of the session, so the robot will always restart to original last localization pose, unless %s is used or an external initial pose is provided on initialization.", kMemIncrementalMemory().c_str(), kRtabmapLoopThr().c_str(), kRtabmapMemoryThr().c_str(), kRGBDStartAtOrigin().c_str()).c_str());
RTABMAP_PARAM(Mem, LocalizationDataSaved, bool, false, uFormat("Save localization data during localization session (when %s=false). When enabled, the database will then also grow in localization mode. This mode would be used only for debugging purpose.", kMemIncrementalMemory().c_str()).c_str());
RTABMAP_PARAM(Mem, ReduceGraph, bool, false, uFormat("Reduce graph. Merge nodes when loop closures are added (ignoring those with user data). Note that this approach assumes that 100%% of the loop closures accepted are good, so it is highly recommended to enable \"%s\" at the same time.", kRGBDOptimizeMaxError().c_str()));
RTABMAP_PARAM(Mem, RecentWmRatio, float, 0.2, "Ratio of locations after the last loop closure in WM that cannot be transferred.");
@@ -261,7 +262,7 @@ class RTABMAP_CORE_EXPORT Parameters
RTABMAP_PARAM_STR(Kp, RoiRatios, "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
RTABMAP_PARAM_STR(Kp, DictionaryPath, "", "Path of the pre-computed dictionary");
RTABMAP_PARAM(Kp, NewWordsComparedTogether, bool, true, "When adding new words to dictionary, they are compared also with each other (to detect same words in the same signature).");
RTABMAP_PARAM(Kp, FlannIndexSaved, bool, false, uFormat("Save FLANN index during localization session (when %s=false). The FLANN index will be saved to database after the first time localization mode is used, then on next sessions, the index is reloaded from the database instead of being rebuilt again. This can save significant loading time when the visual word dictionary is big (>1M words). Note that if the dictionary is modified (parameters or data), the index will be rebuilt and saved again on the next session.", kMemIncrementalMemory().c_str()).c_str());
RTABMAP_PARAM(Kp, FlannIndexSaved, bool, false, uFormat("Save FLANN index during localization session (when %s=false). The FLANN index will be saved to database after the first time localization mode is used, then on next sessions, the index is reloaded from the database instead of being rebuilt again. This can save significant loading time when the visual word dictionary is big (>1M words). Note that if the dictionary is modified (parameters or data), the index will be rebuilt and saved again on the next session. Ignored on initialization if %s is enabled.", kMemIncrementalMemory().c_str(), kMemInitWMWithAllNodes().c_str()).c_str());
RTABMAP_PARAM(Kp, SerializeWithChecksum, bool, true, "On serialization of the FLANN index, compute checksum of the data used by the FLANN index. This adds a slight overhead on serialization/deserialization to make sure that the dictionary data correspond to same data used when the index was built.");
RTABMAP_PARAM(Kp, SubPixWinSize, int, 3, "See cv::cornerSubPix().");
RTABMAP_PARAM(Kp, SubPixIterations, int, 0, "See cv::cornerSubPix(). 0 disables sub pixel refining.");