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Need for speed - Speed up loading map time #1267
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Thanks for the PR. Would it make more sense to save the flann index inside the database instead of creating new file(s)? I won't have much time in next 2 weeks to review it or try a database version, but you may check to fix the CI errors in the mean time. cheers, |
Hi, |
Hmm, I am not sure why the last step AppVeyor failed. All build on Ubuntu succeed |
For the windows build, maybe it is because the Eigen version used is not CMAKE_CXX_STANDARD 17 compatible. We may have to update windows dependencies to support it. For database usage, the dictionary could be loaded from a database field in Admin table (with a new field rtabmap/corelib/src/Memory.cpp Line 423 in 9505a21
We may add a new parameter (e.g.,
If the field in database exists, inside load, there could be a call to a function like When closing rtabmap, the flann index state could be saved before removing the visual words from the dictionary... before this line: rtabmap/corelib/src/Memory.cpp Line 1863 in 9505a21
like:
This would overwrite the last Note that by default I would keep the new parameter |
This PR saves the FLANN index, and its data points and serializes the associated data.
Saving FLANN data points will take a long time to save data points, only do it once. The loading will be faster by x10 by using saved files.