Image Copy Incremental Updates(ICIU):concepts

本文介绍了一种利用RMAN进行数据库增量备份的方法,通过创建数据文件的镜像拷贝,并结合1级增量备份集更新镜像,以实现高效的数据保护策略。

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㈠ 作用

限制 Redo 的运用量、从而降低恢复时间

㈡ 原理

创建数据文件的镜像拷贝、随后用增量备份集更新镜像拷贝
即:把 1 级增量备份集并入已存在的镜像拷贝中

㈢ 测试

① 脚本


RMAN> run { 
2> recover copy of database with tag 'ICIU1'; 
3> backup 
4> incremental level 1 tag 'ICIU1' 
5> for recover of copy with tag 'ICIU1' 
6> database plus archivelog delete input; 
7> } 


其中、for recover of copy with tag、这告诉 RMAN、所创建的增量备份集将用于镜像拷贝

② 注释

该脚本可以每天运行、每一天运行:

Ⅰ recover copy 命令用前一天的 1 级增量备份更新每个数据文件的镜像拷贝
如果找不到镜像拷贝去更新或者 1 级增量备份去运用
recover copy 命令只是简单地发出一条消息、但不报错

Ⅱ backup 命令创建一个 1 级增量备份集、然而、
如果一个 0 级镜像拷贝不存在、那么、首先、backup 命令会先创建一个 0 级镜像

因此、在任何时候、你有可用于恢复的:

⑴ 最多 48 小时的镜像拷贝
⑵ 最多 24 小时的 1 级增量备份集
⑶ 在线和归档日志去支持完全恢复或者基于时间点的恢复

使用这个策略、去做一次完全恢复、你将不会运用超过 24 小时的归档日志
recover copy 命令会运用所有 1 级增量备份集到带有'ICIU1'标签的镜像拷贝上
注意、2 条命令里的 tag 是必须的

③ 第一次运行【创建 0 级镜像拷贝】

第一次运行 ICIU 脚本:
● recover copy 找不到可更新的镜像拷贝、所以、RMAN 返回了"no copy of datafile 1 found to recover"
● backup 命令意识到这里没有 0 级镜像拷贝(参阅返回消息"no parent backup or copy of datafile 1 found")
因此、RMAN 会为每个数据文件创建一份 0 级镜像拷贝


RMAN> run{
2>       recover copy of database with tag 'ICIU007';
3>       backup
4>            incremental level 1 tag 'ICIU007'
5>            for recover of copy with tag 'ICIU007'
6>            database plus archivelog delete input;
7>       }

Starting recover at 06-APR-13
using channel ORA_DISK_1
no copy of datafile 1 found to recover
no copy of datafile 2 found to recover
no copy of datafile 3 found to recover
no copy of datafile 4 found to recover
Finished recover at 06-APR-13
......
......
此处省略 N 个字
......
Starting backup at 06-APR-13
using channel ORA_DISK_1
no parent backup or copy of datafile 1 found
no parent backup or copy of datafile 3 found
no parent backup or copy of datafile 2 found
no parent backup or copy of datafile 4 found
channel ORA_DISK_1: starting datafile copy
input datafile fno=00001 name=/u01/app/oracle/oradata/oracle10/system01.dbf
output filename=/u01/app/oracle/flash_recovery_area/ORACLE10G/datafile/o1_mf_system_8p06t0nt_.dbf tag=ICIU007 recid=3 stamp=812062572
channel ORA_DISK_1: datafile copy complete, elapsed time: 00:00:46
channel ORA_DISK_1: starting datafile copy
input datafile fno=00003 name=/u01/app/oracle/oradata/oracle10/sysaux01.dbf
output filename=/u01/app/oracle/flash_recovery_area/ORACLE10G/datafile/o1_mf_sysaux_8p06vgsb_.dbf tag=ICIU007 recid=4 stamp=812062601
channel ORA_DISK_1: datafile copy complete, elapsed time: 00:00:27
channel ORA_DISK_1: starting datafile copy
input datafile fno=00002 name=/u01/app/oracle/oradata/oracle10/undotbs01.dbf
output filename=/u01/app/oracle/flash_recovery_area/ORACLE10G/datafile/o1_mf_undotbs1_8p06wb6c_.dbf tag=ICIU007 recid=5 stamp=812062604
channel ORA_DISK_1: datafile copy complete, elapsed time: 00:00:03
channel ORA_DISK_1: starting datafile copy
input datafile fno=00004 name=/u01/app/oracle/oradata/oracle10/users01.dbf
output filename=/u01/app/oracle/flash_recovery_area/ORACLE10G/datafile/o1_mf_users_8p06wffr_.dbf tag=ICIU007 recid=6 stamp=812062605
channel ORA_DISK_1: datafile copy complete, elapsed time: 00:00:01
channel ORA_DISK_1: starting incremental level 1 datafile backupset
channel ORA_DISK_1: specifying datafile(s) in backupset
including current control file in backupset
......
......


④ 第二次运行【创建 1 级增量备份集】

第二次运行 ICIU 脚本:
● backup 命令创建 1 级增量备份
● recover copy 命令依然没有起作用、因为、虽然第一次运行时已经创建了 0 级镜像拷贝
但、仍然没有 1 级增量备份
然而、"no copy of datafile 1 found to recover"这消息提示多少有些误导人了


RMAN> run{
2>       recover copy of database with tag 'ICIU007';
3>       backup
4>            incremental level 1 tag 'ICIU007'
5>            for recover of copy with tag 'ICIU007'
6>            database plus archivelog delete input;
7>       }

Starting recover at 07-APR-13
using target database control file instead of recovery catalog
allocated channel: ORA_DISK_1
channel ORA_DISK_1: sid=139 devtype=DISK
no copy of datafile 1 found to recover
no copy of datafile 2 found to recover
no copy of datafile 3 found to recover
no copy of datafile 4 found to recover
Finished recover at 07-APR-13


Starting backup at 07-APR-13
current log archived
using channel ORA_DISK_1
channel ORA_DISK_1: starting archive log backupset
channel ORA_DISK_1: specifying archive log(s) in backup set
input archive log thread=1 sequence=11 recid=9 stamp=812149977
channel ORA_DISK_1: starting piece 1 at 07-APR-13
channel ORA_DISK_1: finished piece 1 at 07-APR-13
piece handle=/u01/app/oracle/flash_recovery_area/ORACLE10G/backupset/2013_04_07/o1_mf_annnn_ICIU007_8p2w6tv2_.bkp tag=ICIU007 comment=NONE
channel ORA_DISK_1: backup set complete, elapsed time: 00:00:02
channel ORA_DISK_1: deleting archive log(s)
archive log filename=/u01/app/oracle/flash_recovery_area/ORACLE10G/archivelog/2013_04_07/o1_mf_1_11_8p2w6sbt_.arc recid=9 stamp=812149977
Finished backup at 07-APR-13

Starting backup at 07-APR-13
using channel ORA_DISK_1
channel ORA_DISK_1: starting incremental level 1 datafile backupset
channel ORA_DISK_1: specifying datafile(s) in backupset
input datafile fno=00001 name=/u01/app/oracle/oradata/oracle10/system01.dbf
input datafile fno=00003 name=/u01/app/oracle/oradata/oracle10/sysaux01.dbf
input datafile fno=00002 name=/u01/app/oracle/oradata/oracle10/undotbs01.dbf
input datafile fno=00004 name=/u01/app/oracle/oradata/oracle10/users01.dbf
channel ORA_DISK_1: starting piece 1 at 07-APR-13
channel ORA_DISK_1: finished piece 1 at 07-APR-13
piece handle=/u01/app/oracle/flash_recovery_area/ORACLE10G/backupset/2013_04_07/o1_mf_nnnd1_ICIU007_8p2w6y6y_.bkp tag=ICIU007 comment=NONE
channel ORA_DISK_1: backup set complete, elapsed time: 00:00:07
channel ORA_DISK_1: starting incremental level 1 datafile backupset
channel ORA_DISK_1: specifying datafile(s) in backupset
including current control file in backupset
......
......


⑤ 第三次运行

第三次运行 ICIU 脚本:
● recover copy 命令运用前一天创建的增量 1 集备份集到数据文件镜像拷贝
● backup 命令创建一个新的 1 级增量备份集


RMAN> run{
2>       recover copy of database with tag 'ICIU007';
3>       backup
4>            incremental level 1 tag 'ICIU007'
5>            for recover of copy with tag 'ICIU007'
6>            database plus archivelog delete input;
7>       }

Starting recover at 08-APR-13
using target database control file instead of recovery catalog
allocated channel: ORA_DISK_1
channel ORA_DISK_1: sid=139 devtype=DISK
channel ORA_DISK_1: starting incremental datafile backupset restore
channel ORA_DISK_1: specifying datafile copies to recover
recovering datafile copy fno=00001 name=/u01/app/oracle/flash_recovery_area/ORACLE10G/datafile/o1_mf_system_8p06t0nt_.dbf
recovering datafile copy fno=00002 name=/u01/app/oracle/flash_recovery_area/ORACLE10G/datafile/o1_mf_undotbs1_8p06wb6c_.dbf
recovering datafile copy fno=00003 name=/u01/app/oracle/flash_recovery_area/ORACLE10G/datafile/o1_mf_sysaux_8p06vgsb_.dbf
recovering datafile copy fno=00004 name=/u01/app/oracle/flash_recovery_area/ORACLE10G/datafile/o1_mf_users_8p06wffr_.dbf
channel ORA_DISK_1: reading from backup piece /u01/app/oracle/flash_recovery_area/ORACLE10G/backupset/2013_04_07/o1_mf_nnnd1_ICIU007_8p2w6y6y_.bkp
channel ORA_DISK_1: restored backup piece 1
piece handle=/u01/app/oracle/flash_recovery_area/ORACLE10G/backupset/2013_04_07/o1_mf_nnnd1_ICIU007_8p2w6y6y_.bkp tag=ICIU007
channel ORA_DISK_1: restore complete, elapsed time: 00:00:03
Finished recover at 08-APR-13


Starting backup at 08-APR-13
current log archived
using channel ORA_DISK_1
channel ORA_DISK_1: starting archive log backupset
channel ORA_DISK_1: specifying archive log(s) in backup set
input archive log thread=1 sequence=13 recid=11 stamp=812239310
channel ORA_DISK_1: starting piece 1 at 08-APR-13
channel ORA_DISK_1: finished piece 1 at 08-APR-13
piece handle=/u01/app/oracle/flash_recovery_area/ORACLE10G/backupset/2013_04_08/o1_mf_annnn_ICIU007_8p5mgj9t_.bkp tag=ICIU007 comment=NONE
channel ORA_DISK_1: backup set complete, elapsed time: 00:00:02
channel ORA_DISK_1: deleting archive log(s)
archive log filename=/u01/app/oracle/flash_recovery_area/ORACLE10G/archivelog/2013_04_08/o1_mf_1_13_8p5mggh0_.arc recid=11 stamp=812239310
Finished backup at 08-APR-13

Starting backup at 08-APR-13
using channel ORA_DISK_1
channel ORA_DISK_1: starting incremental level 1 datafile backupset
channel ORA_DISK_1: specifying datafile(s) in backupset
input datafile fno=00001 name=/u01/app/oracle/oradata/oracle10/system01.dbf
input datafile fno=00003 name=/u01/app/oracle/oradata/oracle10/sysaux01.dbf
input datafile fno=00002 name=/u01/app/oracle/oradata/oracle10/undotbs01.dbf
input datafile fno=00004 name=/u01/app/oracle/oradata/oracle10/users01.dbf
channel ORA_DISK_1: starting piece 1 at 08-APR-13
channel ORA_DISK_1: finished piece 1 at 08-APR-13
piece handle=/u01/app/oracle/flash_recovery_area/ORACLE10G/backupset/2013_04_08/o1_mf_nnnd1_ICIU007_8p5mgofk_.bkp tag=ICIU007 comment=NONE
channel ORA_DISK_1: backup set complete, elapsed time: 00:00:08
channel ORA_DISK_1: starting incremental level 1 datafile backupset
channel ORA_DISK_1: specifying datafile(s) in backupset
including current control file in backupset
including current SPFILE in backupset
channel ORA_DISK_1: starting piece 1 at 08-APR-13
channel ORA_DISK_1: finished piece 1 at 08-APR-13
piece handle=/u01/app/oracle/flash_recovery_area/ORACLE10G/backupset/2013_04_08/o1_mf_ncsn1_ICIU007_8p5mgskg_.bkp tag=ICIU007 comment=NONE
channel ORA_DISK_1: backup set complete, elapsed time: 00:00:01
Finished backup at 08-APR-13
.....
.....


I20250317 21:17:23.886166 127664128356352 incremental_mapper.cc:378] => Image sees 1120 / 1808 points I20250317 21:17:24.105855 127664128356352 incremental_mapper.cc:375] Registering image #222 (117) I20250317 21:17:24.105881 127664128356352 incremental_mapper.cc:378] => Image sees 1149 / 1393 points I20250317 21:17:24.327043 127664128356352 incremental_mapper.cc:375] Registering image #223 (118) I20250317 21:17:24.327071 127664128356352 incremental_mapper.cc:378] => Image sees 1143 / 1446 points I20250317 21:17:24.537978 127664128356352 incremental_mapper.cc:375] Registering image #198 (119) I20250317 21:17:24.538004 127664128356352 incremental_mapper.cc:378] => Image sees 1078 / 1417 points I20250317 21:17:24.776662 127664128356352 incremental_mapper.cc:375] Registering image #226 (120) I20250317 21:17:24.776687 127664128356352 incremental_mapper.cc:378] => Image sees 1044 / 1415 points I20250317 21:17:25.043111 127664128356352 incremental_mapper.cc:375] Registering image #227 (121) I20250317 21:17:25.043136 127664128356352 incremental_mapper.cc:378] => Image sees 1059 / 1453 points I20250317 21:17:25.377911 127664128356352 incremental_mapper.cc:375] Registering image #229 (122) I20250317 21:17:25.377938 127664128356352 incremental_mapper.cc:378] => Image sees 1108 / 1806 points I20250317 21:17:25.595963 127664128356352 incremental_mapper.cc:375] Registering image #228 (123) I20250317 21:17:25.595990 127664128356352 incremental_mapper.cc:378] => Image sees 1121 / 1417 points I20250317 21:17:25.934762 127664128356352 incremental_mapper.cc:375] Registering image #231 (124) I20250317 21:17:25.934787 127664128356352 incremental_mapper.cc:378] => Image sees 1077 / 1950 points I20250317 21:17:26.150569 127664128356352 incremental_mapper.cc:375] Registering image #232 (125) I20250317 21:17:26.150596 127664128356352 incremental_mapper.cc:378] => Image sees 1166 / 1948 points I20250317 21:17:26.415535 127664128356352 incremental_mapper.cc:375] Registering image #230 (126)
03-18
<think>好的,我需要帮助用户理解incremental_mapper.cc中的日志信息,特别是在SLAM或计算机视觉系统中注册图像和云数量的部分。首先,我得确认用户提到的incremental_mapper.cc是什么。通常,在SLAM(如ORB-SLAM)或Structure from Motion(SfM)系统中,比如COLMAP,会有这样的模块。COLMAP确实有一个incremental_mapper.cc文件,负责增量式重建,逐步注册图像并优化3D云。 接下来,用户想了解日志中关于注册图像和云数量的信息。我需要回忆COLMAP的日志输出格式。通常,日志会包含图像注册成功的消息,比如注册了第X张图像,剩余Y张,然后是特征匹配和内数量,以及优化后的重投影误差等。 比如,用户可能看到的日志行类似: ``` Registered image #5 (6 remaining) => Image sees 150 / 300 points => Continued with 50 inliers and 0.85% inlier ratio => Optimization: 3 iterations, 0.258s, Update 0.15 ``` 这里,我需要解释每个部分的含义。注册图像后的剩余数量表示尚未处理的图像数。特征部分可能分为初始匹配和内优化后的数量。内比率对评估匹配质量很重要。优化部分涉及BA(Bundle Adjustment)的迭代次数和时间,以及参数更新的大小。 用户可能需要知道这些指标的意义,比如内比率高表示匹配质量好,优化时间过长可能影响实时性。此外,云数量变化可能反映重建的完整性。可能需要提醒用户注意异常情况,比如内比率过低或优化失败,这时候需要检查特征匹配或相机参数设置。 另外,用户的问题可能涉及到如何根据日志调试系统。例如,如果注册图像失败,可能需要查看特征数量是否足够,或者是否有足够的内支持。BA的收敛情况也很重要,如果更新量过大或迭代次数太多,可能意味着优化不稳定。 最后,我需要确保回答结构清晰,分解释日志中的各个部分,并生成相关问题,帮助用户深入理解。同时,引用相关的资料,比如COLMAP的文档或相关论文,但用户提供的引用似乎没有具体内容,可能需要忽略或假设存在相关引用。</think>在SLAM或计算机视觉系统中(如COLMAP),`incremental_mapper.cc`的日志信息反映了增量式建图过程中的关键步骤。以下是典型日志信息的解读: ### 1. 图像注册状态 日志示例: ``` Registered image #3 (5 remaining) ``` - `#3`表示已成功注册第3张图像 - `5 remaining`表示剩余待注册图像数量 该过程通过特征匹配确定新图像与已有3D的对应关系[^1] ### 2. 云观测统计 日志示例: ``` => Image sees 120 / 300 points ``` - `120`:当前图像可观测到的有效3D数量 - `300`:该图像最初提取的特征总数 数值差异可能由特征匹配失败或云被过滤导致 ### 3. 优化过程指标 日志示例: ``` => Continued with 80 inliers and 72.7% inlier ratio => Optimization: 5 iterations, 0.354s, Update 0.12 ``` - `80 inliers`:通过RANSAC筛选后的可靠匹配数量 - `72.7% inlier ratio`:内比例反映匹配质量(>50%为良好) - `5 iterations`:光束法平差(Bundle Adjustment)迭代次数 - `Update 0.12`:参数更新量,反映优化收敛状态 ### 4. 全局统计 周期性的全局统计: ``` => Reconstruction: 10 images, 1253 points ``` - 反映当前重建规模 - 云数量增长应保持稳定速率,突降可能表示注册失败 ### 关键诊断指标 | 指标 | 正常范围 | 异常表现 | 可能原因 | |-----------|----------|---------------|--------------------| | 内比率 | >30% | <10% | 特征匹配错误/运动模糊 | | 优化迭代次数 | <10 | >20 | 系统配置不当/数据噪声过大 | | 参数更新量 | 逐渐减小 | 持续波动 | 未收敛/外干扰 | | 云增长速率 | 平稳增加 | 突增/停滞 | 闭环检测触发/注册失败 |
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