i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

DBViewer: improved loading time on large dbs

Browse Source
This commit is contained in:
matlabbe
2019-04-17 14:57:56 -04:00
parent 38cdc76790
commit aaefdae794
2 changed files with 18 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
guilib/include/rtabmap/gui/DatabaseViewer.h
View File

@@ -240,8 +240,6 @@ private:
double infoTotalOdom_;
double infoTotalTime_;
int infoSessions_;
int infoBadcountInLTM_;
int infoBadCountInGraph_;
bool useLastOptimizedGraphAsGuess_;
std::map<int, Transform> lastOptimizedGraph_;

36
guilib/src/DatabaseViewer.cpp
View File

@@ -108,8 +108,6 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
infoReducedGraph_(false),
infoTotalOdom_(0.0),
infoSessions_(0),
infoBadcountInLTM_(0),
infoBadCountInGraph_(0),
useLastOptimizedGraphAsGuess_(false)
{
pathDatabase_ = QDir::homePath()+"/Documents/RTAB-Map"; //use home directory by default
@@ -1587,10 +1585,6 @@ void DatabaseViewer::updateIds()
infoSessions_ = ids_.size()?1:0;
infoTotalTime_ = 0.0;
double previousStamp = 0.0;
std::set<int> idsWithoutBad;
dbDriver_->getAllNodeIds(idsWithoutBad, false, true);
infoBadcountInLTM_ = 0;
infoBadCountInGraph_ = 0;
infoReducedGraph_ = false;
std::map<int, std::vector<int> > wmStates = dbDriver_->getAllStatisticsWmStates();
for(int i=0; i<ids_.size(); ++i)
@@ -1695,15 +1689,6 @@ void DatabaseViewer::updateIds()
gpsPoses_.insert(std::make_pair(ids_[i], pose));
}
}
if(idsWithoutBad.find(ids_[i]) == idsWithoutBad.end())
{
++infoBadcountInLTM_;
if(addPose)
{
++infoBadCountInGraph_;
}
}
}
dbOptimizedPoses_ = dbDriver_->loadOptimizedPoses();
@@ -1929,8 +1914,23 @@ void DatabaseViewer::updateInfo()
mem = dbSize - total;
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"));
ui_->textEdit_info->append("");
ui_->textEdit_info->append(tr("%1 bad signatures in LTM").arg(infoBadcountInLTM_));
ui_->textEdit_info->append(tr("%1 bad signatures in the global graph").arg(infoBadCountInGraph_));
std::set<int> idsWithoutBad;
dbDriver_->getAllNodeIds(idsWithoutBad, false, true);
int infoBadcountInLTM = 0;
int infoBadCountInGraph = 0;
for(int i=0; i<ids_.size(); ++i)
{
if(idsWithoutBad.find(ids_[i]) == idsWithoutBad.end())
{
++infoBadcountInLTM;
if(odomPoses_.find(ids_[i]) != odomPoses_.end())
{
++infoBadCountInGraph;
}
}
}
ui_->textEdit_info->append(tr("%1 bad signatures in LTM").arg(infoBadcountInLTM));
ui_->textEdit_info->append(tr("%1 bad signatures in the global graph").arg(infoBadCountInGraph));
ui_->textEdit_info->append("");
ParametersMap parameters = dbDriver_->getLastParameters();
QFontMetrics metrics(ui_->textEdit_info->font());
@@ -5545,7 +5545,7 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
else
{
SensorData data;
dbDriver_->getNodeData(ids.at(i), data);
dbDriver_->getNodeData(ids.at(i), data, false, false, false);
cv::Mat ground, obstacles, empty;
data.uncompressData(0, 0, 0, 0, &ground, &obstacles, &empty);
localMaps_.insert(std::make_pair(ids.at(i), std::make_pair(std::make_pair(ground, obstacles), empty)));