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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/src/DBDriver.cpp
+11 -3
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@@ -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;