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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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14
corelib/src/DBDriver.cpp
View File

@@ -45,7 +45,7 @@ DBDriver * DBDriver::create(const ParametersMap & parameters)
DBDriver::DBDriver(const ParametersMap & parameters) :
_emptyTrashesTime(0),
_timestampUpdate(true)
_timestampUpdate(false)
{
this->parseParameters(parameters);
}
@@ -73,7 +73,15 @@ void DBDriver::closeConnection(bool save, const std::string & outputUrl)
else
{
_trashesMutex.lock();
for(auto & iter: _trashSignatures)
{
delete iter.second;
}
_trashSignatures.clear();
for(auto & iter: _trashVisualWords)
{
delete iter.second;
}
_trashVisualWords.clear();
_trashesMutex.unlock();
}
@@ -83,12 +91,12 @@ void DBDriver::closeConnection(bool save, const std::string & outputUrl)
UDEBUG("");
}
bool DBDriver::openConnection(const std::string & url, bool overwritten)
bool DBDriver::openConnection(const std::string & url, bool overwritten, bool readOnly)
{
UDEBUG("");
_url = url;
_dbSafeAccessMutex.lock();
if(this->connectDatabaseQuery(url, overwritten))
if(this->connectDatabaseQuery(url, overwritten, readOnly))
{
_dbSafeAccessMutex.unlock();
return true;

16
corelib/src/DBDriverSqlite3.cpp
View File

@@ -320,7 +320,7 @@ bool DBDriverSqlite3::getDatabaseVersionQuery(std::string & version) const
return false;
}
bool DBDriverSqlite3::connectDatabaseQuery(const std::string & url, bool overwritten)
bool DBDriverSqlite3::connectDatabaseQuery(const std::string & url, bool overwritten, bool readOnly)
{
this->disconnectDatabaseQuery();
// Open a database connection
@@ -332,7 +332,7 @@ bool DBDriverSqlite3::connectDatabaseQuery(const std::string & url, bool overwri
if(!url.empty())
{
dbFileExist = UFile::exists(url.c_str());
if(dbFileExist && overwritten)
if(dbFileExist && overwritten && !readOnly)
{
UINFO("Deleting database %s...", url.c_str());
UASSERT(UFile::erase(url.c_str()) == 0);
@@ -354,12 +354,12 @@ bool DBDriverSqlite3::connectDatabaseQuery(const std::string & url, bool overwri
{
ULOGGER_INFO("Using empty database in the memory.");
}
rc = sqlite3_open_v2(":memory:", &_ppDb, SQLITE_OPEN_READWRITE | SQLITE_OPEN_CREATE, 0);
rc = sqlite3_open_v2(":memory:", &_ppDb, readOnly ? SQLITE_OPEN_READONLY : SQLITE_OPEN_READWRITE | SQLITE_OPEN_CREATE, 0);
}
else
{
ULOGGER_INFO("Using database \"%s\" from the hard drive.", url.c_str());
rc = sqlite3_open_v2(url.c_str(), &_ppDb, SQLITE_OPEN_READWRITE | SQLITE_OPEN_CREATE, 0);
rc = sqlite3_open_v2(url.c_str(), &_ppDb, readOnly ? SQLITE_OPEN_READONLY : SQLITE_OPEN_READWRITE | SQLITE_OPEN_CREATE, 0);
}
if(rc != SQLITE_OK)
{
@@ -4343,7 +4343,7 @@ void DBDriverSqlite3::loadLinksQuery(std::list<Signature *> & signatures) const
void DBDriverSqlite3::updateQuery(const std::list<Signature *> & nodes, bool updateTimestamp) const
{
UDEBUG("nodes = %d", nodes.size());
UDEBUG("nodes = %d, updateTimestamp = %s", nodes.size(), updateTimestamp?"true":"false");
if(_ppDb && nodes.size())
{
UTimer timer;
@@ -4382,7 +4382,7 @@ void DBDriverSqlite3::updateQuery(const std::list<Signature *> & nodes, bool upd
{
s = *i;
int index = 1;
if(s)
if(s && (s->isModified() || updateTimestamp))
{
rc = sqlite3_bind_int(ppStmt, index++, s->getWeight());
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
@@ -4406,7 +4406,7 @@ void DBDriverSqlite3::updateQuery(const std::list<Signature *> & nodes, bool upd
//step
rc=sqlite3_step(ppStmt);
UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s (node id = %d map=%d)", _version.c_str(), sqlite3_errmsg(_ppDb), s->id(), s->mapId()).c_str());
rc = sqlite3_reset(ppStmt);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
@@ -5751,7 +5751,7 @@ cv::Mat DBDriverSqlite3::loadOptimizedMeshQuery(
void DBDriverSqlite3::saveFlannIndexQuery(const std::vector<unsigned char> & data) const
{
UDEBUG("");
UDEBUG("data size = %ld bytes", data.size());
if(_ppDb && uStrNumCmp(_version, "0.23.0") >= 0)
{
UTimer timer;

35
corelib/src/Memory.cpp
View File

@@ -83,6 +83,7 @@ Memory::Memory(const ParametersMap & parameters) :
_rgbCompressionFormat(Parameters::defaultMemImageCompressionFormat()),
_depthCompressionFormat(Parameters::defaultMemDepthCompressionFormat()),
_incrementalMemory(Parameters::defaultMemIncrementalMemory()),
_localizationReadOnly(Parameters::defaultMemLocalizationReadOnly()),
_localizationDataSaved(Parameters::defaultMemLocalizationDataSaved()),
_flannIndexSaved(Parameters::defaultKpFlannIndexSaved()),
_reduceGraph(Parameters::defaultMemReduceGraph()),
@@ -185,10 +186,6 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
_dbDriver = 0; // HACK for the clear() below to think that there is no db
}
}
else if(!_memoryChanged && _linksChanged)
{
_dbDriver->setTimestampUpdateEnabled(false); // update links only
}
this->clear();
if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Clearing memory, done!"));
@@ -212,10 +209,10 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
bool success = true;
if(_dbDriver)
{
_dbDriver->setTimestampUpdateEnabled(true); // make sure that timestamp update is enabled (may be disabled above)
success = false;
if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(std::string("Connecting to database \"") + dbUrl + "\"..."));
if(_dbDriver->openConnection(dbUrl, dbOverwritten))
if(_dbDriver->openConnection(dbUrl, dbOverwritten, isReadOnly()))
{
success = true;
if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(std::string("Connecting to database \"") + dbUrl + "\", done!"));
@@ -245,6 +242,7 @@ void Memory::loadDataFromDb(bool postInitClosingEvents)
if(loadAllNodesInWM)
{
UDEBUG("Loading all nodes to WM...");
if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(std::string("Loading all nodes to WM...")));
std::set<int> ids;
_dbDriver->getAllNodeIds(ids, true);
@@ -252,6 +250,7 @@ void Memory::loadDataFromDb(bool postInitClosingEvents)
}
else
{
UDEBUG("Loading last nodes to WM...");
// load previous session working memory
if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(std::string("Loading last nodes to WM...")));
_dbDriver->loadLastNodes(dbSignatures, !_loadVisualLocalFeaturesOnInit);
@@ -531,16 +530,23 @@ void Memory::close(bool databaseSaved, bool postInitClosingEvents, const std::st
UDEBUG("_memoryChanged=%d _linksChanged=%d databaseNameChanged=%d", _memoryChanged?1:0, _linksChanged?1:0, databaseNameChanged?1:0);
if(!databaseSaved || (!_memoryChanged && !_linksChanged && !databaseNameChanged))
if(!databaseSaved || (!_memoryChanged && !_linksChanged && !databaseNameChanged) || this->isReadOnly())
{
if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(uFormat("No changes added to database.")));
UINFO("No changes added to database.");
if(_dbDriver)
{
saveFlannIndex(postInitClosingEvents);
if(!this->isReadOnly()) {
saveFlannIndex(postInitClosingEvents);
}
else if(_memoryChanged || _linksChanged || databaseNameChanged)
{
UWARN("Memory has been modified (nodes=%s links=%s name=%s) but the database is read-only, changes are not saved to database.",
_memoryChanged?"true":"false", _linksChanged?"true":"false", databaseNameChanged?"true":"false");
}
if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(uFormat("Closing database \"%s\"...", _dbDriver->getUrl().c_str())));
_dbDriver->closeConnection(false, ouputDatabasePath);
_dbDriver->closeConnection(false);
delete _dbDriver;
_dbDriver = 0;
if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Closing database, done!"));
@@ -556,12 +562,6 @@ void Memory::close(bool databaseSaved, bool postInitClosingEvents, const std::st
if(!_memoryChanged && _dbDriver)
{
saveFlannIndex(postInitClosingEvents);
if(_linksChanged) {
// don't update the time stamps!
UDEBUG("");
_dbDriver->setTimestampUpdateEnabled(false);
}
}
this->clear();
if(_dbDriver)
@@ -663,6 +663,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
Parameters::parse(params, Parameters::kMarkerVarianceOrientationIgnored(), _markerOrientationIgnored);
Parameters::parse(params, Parameters::kMemLocalizationDataSaved(), _localizationDataSaved);
Parameters::parse(params, Parameters::kKpFlannIndexSaved(), _flannIndexSaved);
Parameters::parse(params, Parameters::kMemLocalizationReadOnly(), _localizationReadOnly);
if(_markerAngVariance>=9999)
{
@@ -1865,6 +1866,7 @@ void Memory::clear()
uInsert(parameters, parameters_);
parameters.erase(Parameters::kRtabmapWorkingDirectory()); // don't save working directory as it is machine dependent
UDEBUG("");
_dbDriver->setTimestampUpdateEnabled(true); // Only re-stamp if we updated the memory
_dbDriver->addInfoAfterRun(memSize,
_lastSignature?_lastSignature->id():0,
UProcessInfo::getMemoryUsage(),
@@ -1938,6 +1940,7 @@ void Memory::clear()
_dbDriver->join(true);
cleanUnusedWords();
_dbDriver->emptyTrashes();
_dbDriver->setTimestampUpdateEnabled(false);
}
_vwd->clear(_dbDriver!=NULL);
UDEBUG("");
@@ -3626,7 +3629,7 @@ void Memory::updateLink(const Link & link, bool updateInDatabase)
if(oldType!=Link::kVirtualClosure || link.type()!=Link::kVirtualClosure)
{
_linksChanged = true;
_linksChanged = _incrementalMemory || (fromS->isSaved() && toS->isSaved());
}
}
else

5
corelib/src/Rtabmap.cpp
View File

@@ -507,6 +507,11 @@ void Rtabmap::close(bool databaseSaved, const std::string & ouputDatabasePath)
}
if(_memory)
{
if(_memory->isReadOnly() && databaseSaved)
{
UWARN("Database is read-only, latest optimized poses, latest localization pose and latest state of the memory are not saved.");
databaseSaved = false;
}
if(databaseSaved)
{
if(_memory->isGraphReduced() && _memory->isIncremental())