mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
DbViewer: improved opening time of large databases when info tab is not visible
This commit is contained in:
matlabbe
@@ -105,6 +105,11 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
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savedMaximized_(false),
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firstCall_(true),
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iniFilePath_(ini),
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infoReducedGraph_(false),
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infoTotalOdom_(0.0),
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infoSessions_(0),
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infoBadcountInLTM_(0),
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infoBadCountInGraph_(0),
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useLastOptimizedGraphAsGuess_(false)
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{
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pathDatabase_ = QDir::homePath()+"/Documents/RTAB-Map"; //use home directory by default
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@@ -238,6 +243,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
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connect(ui_->dockWidget_graphView->toggleViewAction(), SIGNAL(triggered()), this, SLOT(updateGraphView()));
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connect(ui_->dockWidget_occupancyGridView->toggleViewAction(), SIGNAL(triggered()), this, SLOT(updateGraphView()));
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connect(ui_->dockWidget_statistics->toggleViewAction(), SIGNAL(triggered()), this, SLOT(updateStatistics()));
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connect(ui_->dockWidget_info->toggleViewAction(), SIGNAL(triggered()), this, SLOT(updateInfo()));
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connect(ui_->parameters_toolbox, SIGNAL(parametersChanged(const QStringList &)), this, SLOT(notifyParametersChanged(const QStringList &)));
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@@ -1576,16 +1582,16 @@ void DatabaseViewer::updateIds()
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}
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}
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double totalOdom = 0.0;
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infoTotalOdom_ = 0.0;
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Transform previousPose;
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int sessions = ids_.size()?1:0;
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double totalTime = 0.0;
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infoSessions_ = ids_.size()?1:0;
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infoTotalTime_ = 0.0;
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double previousStamp = 0.0;
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std::set<int> idsWithoutBad;
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dbDriver_->getAllNodeIds(idsWithoutBad, false, true);
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int badcountInLTM = 0;
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int badCountInGraph = 0;
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bool hasReducedGraph = false;
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infoBadcountInLTM_ = 0;
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infoBadCountInGraph_ = 0;
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infoReducedGraph_ = false;
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std::map<int, std::vector<int> > wmStates = dbDriver_->getAllStatisticsWmStates();
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for(int i=0; i<ids_.size(); ++i)
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{
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@@ -1618,17 +1624,17 @@ void DatabaseViewer::updateIds()
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{
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if(!p.isNull() && !previousPose.isNull())
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{
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totalOdom += p.getDistance(previousPose);
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infoTotalOdom_ += p.getDistance(previousPose);
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}
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if(previousStamp > 0.0 && s > 0.0)
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{
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totalTime += s-previousStamp;
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infoTotalTime_ += s-previousStamp;
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}
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}
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else
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{
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++sessions;
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++infoSessions_;
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}
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}
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previousStamp=s;
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@@ -1640,7 +1646,7 @@ void DatabaseViewer::updateIds()
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{
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if(jter->second.type() == Link::kNeighborMerged)
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{
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hasReducedGraph = true;
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infoReducedGraph_ = true;
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}
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std::multimap<int, Link>::iterator invertedLinkIter = graph::findLink(links, jter->second.to(), jter->second.from(), false);
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@@ -1692,10 +1698,10 @@ void DatabaseViewer::updateIds()
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if(idsWithoutBad.find(ids_[i]) == idsWithoutBad.end())
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{
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++badcountInLTM;
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++infoBadcountInLTM_;
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if(addPose)
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{
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++badCountInGraph;
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++infoBadCountInGraph_;
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}
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}
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}
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@@ -1749,84 +1755,11 @@ void DatabaseViewer::updateIds()
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updateStatistics();
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}
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UINFO("Update database info...");
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ui_->textEdit_info->clear();
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ui_->textEdit_info->append(tr("Path:\t\t%1").arg(dbDriver_->getUrl().c_str()));
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ui_->textEdit_info->append(tr("Version:\t\t%1").arg(dbDriver_->getDatabaseVersion().c_str()));
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ui_->textEdit_info->append(tr("Sessions:\t\t%1").arg(sessions));
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if(hasReducedGraph)
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if(ui_->textEdit_info->isVisible())
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{
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ui_->textEdit_info->append(tr("Total odometry length:\t%1 m (approx. as graph has been reduced)").arg(totalOdom));
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updateInfo();
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}
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else
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{
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ui_->textEdit_info->append(tr("Total odometry length:\t%1 m").arg(totalOdom));
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}
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ui_->textEdit_info->append(tr("Total time:\t\t%1").arg(QDateTime::fromMSecsSinceEpoch(totalTime*1000).toUTC().toString("hh:mm:ss.zzz")));
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ui_->textEdit_info->append(tr("LTM:\t\t%1 nodes and %2 words").arg(ids.size()).arg(dbDriver_->getTotalDictionarySize()));
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ui_->textEdit_info->append(tr("WM:\t\t%1 nodes and %2 words").arg(dbDriver_->getLastNodesSize()).arg(dbDriver_->getLastDictionarySize()));
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ui_->textEdit_info->append(tr("Global graph:\t%1 poses and %2 links").arg(odomPoses_.size()).arg(links_.size()));
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ui_->textEdit_info->append(tr("Ground truth:\t%1 poses").arg(groundTruthPoses_.size()));
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ui_->textEdit_info->append(tr("GPS:\t%1 poses").arg(gpsValues_.size()));
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ui_->textEdit_info->append("");
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long total = 0;
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long dbSize = UFile::length(dbDriver_->getUrl());
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long mem = dbSize;
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ui_->textEdit_info->append(tr("Database size:\t%1 %2").arg(mem>1000000?mem/1000000:mem>1000?mem/1000:mem).arg(mem>1000000?"MB":mem>1000?"KB":"Bytes"));
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mem = dbDriver_->getNodesMemoryUsed();
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total+=mem;
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ui_->textEdit_info->append(tr("Nodes size:\t\t%1 %2\t%3%").arg(mem>1000000?mem/1000000:mem>1000?mem/1000:mem).arg(mem>1000000?"MB":mem>1000?"KB":"Bytes").arg(dbSize>0?QString::number(double(mem)/double(dbSize)*100.0, 'f', 2 ):"0"));
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mem = dbDriver_->getLinksMemoryUsed();
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total+=mem;
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ui_->textEdit_info->append(tr("Links size:\t\t%1 %2\t%3%").arg(mem>1000000?mem/1000000:mem>1000?mem/1000:mem).arg(mem>1000000?"MB":mem>1000?"KB":"Bytes").arg(dbSize>0?QString::number(double(mem)/double(dbSize)*100.0, 'f', 2 ):"0"));
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mem = dbDriver_->getImagesMemoryUsed();
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total+=mem;
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ui_->textEdit_info->append(tr("RGB Images size:\t%1 %2\t%3%").arg(mem>1000000?mem/1000000:mem>1000?mem/1000:mem).arg(mem>1000000?"MB":mem>1000?"KB":"Bytes").arg(dbSize>0?QString::number(double(mem)/double(dbSize)*100.0, 'f', 2 ):"0"));
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mem = dbDriver_->getDepthImagesMemoryUsed();
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total+=mem;
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ui_->textEdit_info->append(tr("Depth Images size:\t%1 %2\t%3%").arg(mem>1000000?mem/1000000:mem>1000?mem/1000:mem).arg(mem>1000000?"MB":mem>1000?"KB":"Bytes").arg(dbSize>0?QString::number(double(mem)/double(dbSize)*100.0, 'f', 2 ):"0"));
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mem = dbDriver_->getCalibrationsMemoryUsed();
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total+=mem;
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ui_->textEdit_info->append(tr("Calibrations size:\t%1 %2\t%3%").arg(mem>1000000?mem/1000000:mem>1000?mem/1000:mem).arg(mem>1000000?"MB":mem>1000?"KB":"Bytes").arg(dbSize>0?QString::number(double(mem)/double(dbSize)*100.0, 'f', 2 ):"0"));
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mem = dbDriver_->getGridsMemoryUsed();
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total+=mem;
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ui_->textEdit_info->append(tr("Grids size:\t\t%1 %2\t%3%").arg(mem>1000000?mem/1000000:mem>1000?mem/1000:mem).arg(mem>1000000?"MB":mem>1000?"KB":"Bytes").arg(dbSize>0?QString::number(double(mem)/double(dbSize)*100.0, 'f', 2 ):"0"));
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mem = dbDriver_->getLaserScansMemoryUsed();
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total+=mem;
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ui_->textEdit_info->append(tr("Scans size:\t\t%1 %2\t%3%").arg(mem>1000000?mem/1000000:mem>1000?mem/1000:mem).arg(mem>1000000?"MB":mem>1000?"KB":"Bytes").arg(dbSize>0?QString::number(double(mem)/double(dbSize)*100.0, 'f', 2 ):"0"));
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mem = dbDriver_->getUserDataMemoryUsed();
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total+=mem;
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ui_->textEdit_info->append(tr("User data size:\t%1 %2\t%3%").arg(mem>1000000?mem/1000000:mem>1000?mem/1000:mem).arg(mem>1000000?"MB":mem>1000?"KB":"Bytes").arg(dbSize>0?QString::number(double(mem)/double(dbSize)*100.0, 'f', 2 ):"0"));
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mem = dbDriver_->getWordsMemoryUsed();
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total+=mem;
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ui_->textEdit_info->append(tr("Dictionary size:\t%1 %2\t%3%").arg(mem>1000000?mem/1000000:mem>1000?mem/1000:mem).arg(mem>1000000?"MB":mem>1000?"KB":"Bytes").arg(dbSize>0?QString::number(double(mem)/double(dbSize)*100.0, 'f', 2 ):"0"));
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mem = dbDriver_->getFeaturesMemoryUsed();
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total+=mem;
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ui_->textEdit_info->append(tr("Features size:\t%1 %2\t%3%").arg(mem>1000000?mem/1000000:mem>1000?mem/1000:mem).arg(mem>1000000?"MB":mem>1000?"KB":"Bytes").arg(dbSize>0?QString::number(double(mem)/double(dbSize)*100.0, 'f', 2 ):"0"));
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mem = dbDriver_->getStatisticsMemoryUsed();
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total+=mem;
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ui_->textEdit_info->append(tr("Statistics size:\t%1 %2\t%3%").arg(mem>1000000?mem/1000000:mem>1000?mem/1000:mem).arg(mem>1000000?"MB":mem>1000?"KB":"Bytes").arg(dbSize>0?QString::number(double(mem)/double(dbSize)*100.0, 'f', 2 ):"0"));
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mem = dbSize - total;
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ui_->textEdit_info->append(tr("Other (indexing):\t%1 %2\t%3%").arg(mem>1000000?mem/1000000:mem>1000?mem/1000:mem).arg(mem>1000000?"MB":mem>1000?"KB":"Bytes").arg(dbSize>0?QString::number(double(mem)/double(dbSize)*100.0, 'f', 2 ):"0"));
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ui_->textEdit_info->append("");
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ui_->textEdit_info->append(tr("%1 bad signatures in LTM").arg(badcountInLTM));
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ui_->textEdit_info->append(tr("%1 bad signatures in the global graph").arg(badCountInGraph));
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ui_->textEdit_info->append("");
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ParametersMap parameters = dbDriver_->getLastParameters();
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QFontMetrics metrics(ui_->textEdit_info->font());
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int tabW = ui_->textEdit_info->tabStopWidth();
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for(ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
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{
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int strW = metrics.width(QString(iter->first.c_str()) + "=");
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ui_->textEdit_info->append(tr("%1=%2%3")
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.arg(iter->first.c_str())
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.arg(strW < tabW?"\t\t\t\t":strW < tabW*2?"\t\t\t":strW < tabW*3?"\t\t":"\t")
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.arg(iter->second.c_str()));
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}
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// move back the cursor at the beginning
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ui_->textEdit_info->moveCursor(QTextCursor::Start) ;
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ui_->textEdit_info->ensureCursorVisible() ;
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if(ids.size())
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{
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@@ -1931,6 +1864,97 @@ void DatabaseViewer::updateIds()
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}
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}
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void DatabaseViewer::updateInfo()
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{
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UINFO("Update database info...");
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if(dbDriver_)
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{
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if(ui_->textEdit_info->toPlainText().isEmpty())
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{
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ui_->textEdit_info->append(tr("Path:\t\t%1").arg(dbDriver_->getUrl().c_str()));
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ui_->textEdit_info->append(tr("Version:\t\t%1").arg(dbDriver_->getDatabaseVersion().c_str()));
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ui_->textEdit_info->append(tr("Sessions:\t\t%1").arg(infoSessions_));
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if(infoReducedGraph_)
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{
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ui_->textEdit_info->append(tr("Total odometry length:\t%1 m (approx. as graph has been reduced)").arg(infoTotalOdom_));
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}
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else
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{
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ui_->textEdit_info->append(tr("Total odometry length:\t%1 m").arg(infoTotalOdom_));
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}
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ui_->textEdit_info->append(tr("Total time:\t\t%1").arg(QDateTime::fromMSecsSinceEpoch(infoTotalTime_*1000).toUTC().toString("hh:mm:ss.zzz")));
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ui_->textEdit_info->append(tr("LTM:\t\t%1 nodes and %2 words").arg(ids_.size()).arg(dbDriver_->getTotalDictionarySize()));
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ui_->textEdit_info->append(tr("WM:\t\t%1 nodes and %2 words").arg(dbDriver_->getLastNodesSize()).arg(dbDriver_->getLastDictionarySize()));
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ui_->textEdit_info->append(tr("Global graph:\t%1 poses and %2 links").arg(odomPoses_.size()).arg(links_.size()));
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ui_->textEdit_info->append(tr("Ground truth:\t%1 poses").arg(groundTruthPoses_.size()));
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ui_->textEdit_info->append(tr("GPS:\t%1 poses").arg(gpsValues_.size()));
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ui_->textEdit_info->append("");
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long total = 0;
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long dbSize = UFile::length(dbDriver_->getUrl());
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long mem = dbSize;
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ui_->textEdit_info->append(tr("Database size:\t%1 %2").arg(mem>1000000?mem/1000000:mem>1000?mem/1000:mem).arg(mem>1000000?"MB":mem>1000?"KB":"Bytes"));
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mem = dbDriver_->getNodesMemoryUsed();
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total+=mem;
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ui_->textEdit_info->append(tr("Nodes size:\t\t%1 %2\t%3%").arg(mem>1000000?mem/1000000:mem>1000?mem/1000:mem).arg(mem>1000000?"MB":mem>1000?"KB":"Bytes").arg(dbSize>0?QString::number(double(mem)/double(dbSize)*100.0, 'f', 2 ):"0"));
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mem = dbDriver_->getLinksMemoryUsed();
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total+=mem;
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ui_->textEdit_info->append(tr("Links size:\t\t%1 %2\t%3%").arg(mem>1000000?mem/1000000:mem>1000?mem/1000:mem).arg(mem>1000000?"MB":mem>1000?"KB":"Bytes").arg(dbSize>0?QString::number(double(mem)/double(dbSize)*100.0, 'f', 2 ):"0"));
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mem = dbDriver_->getImagesMemoryUsed();
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total+=mem;
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ui_->textEdit_info->append(tr("RGB Images size:\t%1 %2\t%3%").arg(mem>1000000?mem/1000000:mem>1000?mem/1000:mem).arg(mem>1000000?"MB":mem>1000?"KB":"Bytes").arg(dbSize>0?QString::number(double(mem)/double(dbSize)*100.0, 'f', 2 ):"0"));
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mem = dbDriver_->getDepthImagesMemoryUsed();
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total+=mem;
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ui_->textEdit_info->append(tr("Depth Images size:\t%1 %2\t%3%").arg(mem>1000000?mem/1000000:mem>1000?mem/1000:mem).arg(mem>1000000?"MB":mem>1000?"KB":"Bytes").arg(dbSize>0?QString::number(double(mem)/double(dbSize)*100.0, 'f', 2 ):"0"));
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mem = dbDriver_->getCalibrationsMemoryUsed();
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total+=mem;
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ui_->textEdit_info->append(tr("Calibrations size:\t%1 %2\t%3%").arg(mem>1000000?mem/1000000:mem>1000?mem/1000:mem).arg(mem>1000000?"MB":mem>1000?"KB":"Bytes").arg(dbSize>0?QString::number(double(mem)/double(dbSize)*100.0, 'f', 2 ):"0"));
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mem = dbDriver_->getGridsMemoryUsed();
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total+=mem;
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ui_->textEdit_info->append(tr("Grids size:\t\t%1 %2\t%3%").arg(mem>1000000?mem/1000000:mem>1000?mem/1000:mem).arg(mem>1000000?"MB":mem>1000?"KB":"Bytes").arg(dbSize>0?QString::number(double(mem)/double(dbSize)*100.0, 'f', 2 ):"0"));
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mem = dbDriver_->getLaserScansMemoryUsed();
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total+=mem;
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ui_->textEdit_info->append(tr("Scans size:\t\t%1 %2\t%3%").arg(mem>1000000?mem/1000000:mem>1000?mem/1000:mem).arg(mem>1000000?"MB":mem>1000?"KB":"Bytes").arg(dbSize>0?QString::number(double(mem)/double(dbSize)*100.0, 'f', 2 ):"0"));
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mem = dbDriver_->getUserDataMemoryUsed();
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total+=mem;
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ui_->textEdit_info->append(tr("User data size:\t%1 %2\t%3%").arg(mem>1000000?mem/1000000:mem>1000?mem/1000:mem).arg(mem>1000000?"MB":mem>1000?"KB":"Bytes").arg(dbSize>0?QString::number(double(mem)/double(dbSize)*100.0, 'f', 2 ):"0"));
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mem = dbDriver_->getWordsMemoryUsed();
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total+=mem;
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ui_->textEdit_info->append(tr("Dictionary size:\t%1 %2\t%3%").arg(mem>1000000?mem/1000000:mem>1000?mem/1000:mem).arg(mem>1000000?"MB":mem>1000?"KB":"Bytes").arg(dbSize>0?QString::number(double(mem)/double(dbSize)*100.0, 'f', 2 ):"0"));
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mem = dbDriver_->getFeaturesMemoryUsed();
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total+=mem;
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ui_->textEdit_info->append(tr("Features size:\t%1 %2\t%3%").arg(mem>1000000?mem/1000000:mem>1000?mem/1000:mem).arg(mem>1000000?"MB":mem>1000?"KB":"Bytes").arg(dbSize>0?QString::number(double(mem)/double(dbSize)*100.0, 'f', 2 ):"0"));
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mem = dbDriver_->getStatisticsMemoryUsed();
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total+=mem;
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ui_->textEdit_info->append(tr("Statistics size:\t%1 %2\t%3%").arg(mem>1000000?mem/1000000:mem>1000?mem/1000:mem).arg(mem>1000000?"MB":mem>1000?"KB":"Bytes").arg(dbSize>0?QString::number(double(mem)/double(dbSize)*100.0, 'f', 2 ):"0"));
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mem = dbSize - total;
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ui_->textEdit_info->append(tr("Other (indexing):\t%1 %2\t%3%").arg(mem>1000000?mem/1000000:mem>1000?mem/1000:mem).arg(mem>1000000?"MB":mem>1000?"KB":"Bytes").arg(dbSize>0?QString::number(double(mem)/double(dbSize)*100.0, 'f', 2 ):"0"));
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ui_->textEdit_info->append("");
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ui_->textEdit_info->append(tr("%1 bad signatures in LTM").arg(infoBadcountInLTM_));
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ui_->textEdit_info->append(tr("%1 bad signatures in the global graph").arg(infoBadCountInGraph_));
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ui_->textEdit_info->append("");
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ParametersMap parameters = dbDriver_->getLastParameters();
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QFontMetrics metrics(ui_->textEdit_info->font());
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int tabW = ui_->textEdit_info->tabStopWidth();
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for(ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
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{
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int strW = metrics.width(QString(iter->first.c_str()) + "=");
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ui_->textEdit_info->append(tr("%1=%2%3")
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.arg(iter->first.c_str())
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.arg(strW < tabW?"\t\t\t\t":strW < tabW*2?"\t\t\t":strW < tabW*3?"\t\t":"\t")
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.arg(iter->second.c_str()));
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}
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// move back the cursor at the beginning
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ui_->textEdit_info->moveCursor(QTextCursor::Start) ;
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ui_->textEdit_info->ensureCursorVisible() ;
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}
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}
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else
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{
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ui_->textEdit_info->clear();
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}
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}
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void DatabaseViewer::updateStatistics()
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{
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UDEBUG("");
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