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DBViewer: improved loading time on large dbs

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matlabbe
2019-04-17 14:57:56 -04:00
parent 38cdc76790
commit aaefdae794
2 changed files with 18 additions and 20 deletions
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2
guilib/include/rtabmap/gui/DatabaseViewer.h
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@@ -240,8 +240,6 @@ private:
double infoTotalOdom_; double infoTotalOdom_;
double infoTotalTime_; double infoTotalTime_;
int infoSessions_; int infoSessions_;
int infoBadcountInLTM_;
int infoBadCountInGraph_;
bool useLastOptimizedGraphAsGuess_; bool useLastOptimizedGraphAsGuess_;
std::map<int, Transform> lastOptimizedGraph_; std::map<int, Transform> lastOptimizedGraph_;

36
guilib/src/DatabaseViewer.cpp
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@@ -108,8 +108,6 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
infoReducedGraph_(false), infoReducedGraph_(false),
infoTotalOdom_(0.0), infoTotalOdom_(0.0),
infoSessions_(0), infoSessions_(0),
infoBadcountInLTM_(0),
infoBadCountInGraph_(0),
useLastOptimizedGraphAsGuess_(false) useLastOptimizedGraphAsGuess_(false)
{ {
pathDatabase_ = QDir::homePath()+"/Documents/RTAB-Map"; //use home directory by default pathDatabase_ = QDir::homePath()+"/Documents/RTAB-Map"; //use home directory by default
@@ -1587,10 +1585,6 @@ void DatabaseViewer::updateIds()
infoSessions_ = ids_.size()?1:0; infoSessions_ = ids_.size()?1:0;
infoTotalTime_ = 0.0; infoTotalTime_ = 0.0;
double previousStamp = 0.0; double previousStamp = 0.0;
std::set<int> idsWithoutBad;
dbDriver_->getAllNodeIds(idsWithoutBad, false, true);
infoBadcountInLTM_ = 0;
infoBadCountInGraph_ = 0;
infoReducedGraph_ = false; infoReducedGraph_ = false;
std::map<int, std::vector<int> > wmStates = dbDriver_->getAllStatisticsWmStates(); std::map<int, std::vector<int> > wmStates = dbDriver_->getAllStatisticsWmStates();
for(int i=0; i<ids_.size(); ++i) for(int i=0; i<ids_.size(); ++i)
@@ -1695,15 +1689,6 @@ void DatabaseViewer::updateIds()
gpsPoses_.insert(std::make_pair(ids_[i], pose)); gpsPoses_.insert(std::make_pair(ids_[i], pose));
} }
} }
if(idsWithoutBad.find(ids_[i]) == idsWithoutBad.end())
{
++infoBadcountInLTM_;
if(addPose)
{
++infoBadCountInGraph_;
}
}
} }
dbOptimizedPoses_ = dbDriver_->loadOptimizedPoses(); dbOptimizedPoses_ = dbDriver_->loadOptimizedPoses();
@@ -1929,8 +1914,23 @@ void DatabaseViewer::updateInfo()
mem = dbSize - total; 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(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("");
ui_->textEdit_info->append(tr("%1 bad signatures in LTM").arg(infoBadcountInLTM_)); std::set<int> idsWithoutBad;
ui_->textEdit_info->append(tr("%1 bad signatures in the global graph").arg(infoBadCountInGraph_)); 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(""); ui_->textEdit_info->append("");
ParametersMap parameters = dbDriver_->getLastParameters(); ParametersMap parameters = dbDriver_->getLastParameters();
QFontMetrics metrics(ui_->textEdit_info->font()); QFontMetrics metrics(ui_->textEdit_info->font());
@@ -5545,7 +5545,7 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
else else
{ {
SensorData data; SensorData data;
dbDriver_->getNodeData(ids.at(i), data); dbDriver_->getNodeData(ids.at(i), data, false, false, false);
cv::Mat ground, obstacles, empty; cv::Mat ground, obstacles, empty;
data.uncompressData(0, 0, 0, 0, &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))); localMaps_.insert(std::make_pair(ids.at(i), std::make_pair(std::make_pair(ground, obstacles), empty)));