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DbViewer: added a progress dialog when loading a database

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This commit is contained in:
matlabbe
2019-04-17 16:46:03 -04:00
parent 23602935e1
commit bc2f89e66f
1 changed files with 96 additions and 0 deletions
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96
guilib/src/DatabaseViewer.cpp
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@@ -40,6 +40,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QtCore/QTextStream>
#include <QtCore/QDateTime>
#include <QtCore/QSettings>
#include <QThread>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UDirectory.h>
#include <rtabmap/utilite/UConversion.h>
@@ -1519,6 +1520,30 @@ void DatabaseViewer::updateIds()
return;
}
rtabmap::ProgressDialog * progressDialog = new rtabmap::ProgressDialog(this);
progressDialog->setAttribute(Qt::WA_DeleteOnClose);
int progressSteps = 5;
if(ui_->graphViewer->isVisible() || ui_->dockWidget_occupancyGridView->isVisible())
{
++progressSteps;
}
if(ui_->textEdit_info->isVisible())
{
++progressSteps;
}
if(ui_->toolBox_statistics->isVisible())
{
++progressSteps;
}
progressDialog->setMaximumSteps(progressSteps);
progressDialog->show();
progressDialog->setCancelButtonVisible(false);
progressDialog->appendText(tr("Loading all ids..."));
QApplication::processEvents();
QThread::msleep(100);
QApplication::processEvents();
UINFO("Loading all IDs...");
std::set<int> ids;
dbDriver_->getAllNodeIds(ids);
@@ -1566,6 +1591,14 @@ void DatabaseViewer::updateIds()
linksRemoved_.clear();
ui_->toolBox_statistics->clear();
ui_->label_optimizeFrom->setText(tr("Root"));
progressDialog->appendText(tr("%1 ids loaded!").arg(ids.size()));
progressDialog->incrementStep();
progressDialog->appendText(tr("Loading all links..."));
QApplication::processEvents();
QThread::msleep(100);
QApplication::processEvents();
std::multimap<int, Link> unilinks;
dbDriver_->getAllLinks(unilinks, true);
UDEBUG("%d total links loaded", (int)unilinks.size());
@@ -1580,6 +1613,13 @@ void DatabaseViewer::updateIds()
}
}
progressDialog->appendText(tr("%1 links loaded!").arg(unilinks.size()));
progressDialog->incrementStep();
progressDialog->appendText("Loading Working Memory state...");
QApplication::processEvents();
QThread::msleep(100);
QApplication::processEvents();
infoTotalOdom_ = 0.0;
Transform previousPose;
infoSessions_ = ids_.size()?1:0;
@@ -1587,6 +1627,14 @@ void DatabaseViewer::updateIds()
double previousStamp = 0.0;
infoReducedGraph_ = false;
std::map<int, std::vector<int> > wmStates = dbDriver_->getAllStatisticsWmStates();
progressDialog->appendText("Loading Working Memory state... done!");
progressDialog->incrementStep();
progressDialog->appendText("Loading info for all nodes...");
QApplication::processEvents();
QThread::msleep(100);
QApplication::processEvents();
for(int i=0; i<ids_.size(); ++i)
{
idToIndex_.insert(ids_[i], i);
@@ -1691,6 +1739,13 @@ void DatabaseViewer::updateIds()
}
}
progressDialog->appendText("Loading info for all nodes... done!");
progressDialog->incrementStep();
progressDialog->appendText("Loading optimized poses and maps...");
QApplication::processEvents();
QThread::msleep(100);
QApplication::processEvents();
dbOptimizedPoses_ = dbDriver_->loadOptimizedPoses();
if(!groundTruthPoses_.empty() || !gpsPoses_.empty())
@@ -1734,16 +1789,45 @@ void DatabaseViewer::updateIds()
UINFO("Loaded %d ids, %d poses and %d links", (int)ids_.size(), (int)odomPoses_.size(), (int)links_.size());
progressDialog->appendText("Loading optimized poses and maps... done!");
progressDialog->incrementStep();
QApplication::processEvents();
QThread::msleep(100);
QApplication::processEvents();
if(ids_.size() && ui_->toolBox_statistics->isVisible())
{
progressDialog->appendText("Loading statistics...");
QApplication::processEvents();
QThread::msleep(100);
QApplication::processEvents();
UINFO("Update statistics...");
updateStatistics();
progressDialog->appendText("Loading statistics... done!");
progressDialog->incrementStep();
QApplication::processEvents();
QThread::msleep(100);
QApplication::processEvents();
}
ui_->textEdit_info->clear();
if(ui_->textEdit_info->isVisible())
{
progressDialog->appendText("Update database info...");
QApplication::processEvents();
QThread::msleep(100);
QApplication::processEvents();
updateInfo();
progressDialog->appendText("Update database info... done!");
progressDialog->incrementStep();
QApplication::processEvents();
QThread::msleep(100);
QApplication::processEvents();
}
if(ids.size())
@@ -1844,9 +1928,21 @@ void DatabaseViewer::updateIds()
updateLoopClosuresSlider();
if(ui_->graphViewer->isVisible() || ui_->dockWidget_occupancyGridView->isVisible())
{
progressDialog->appendText("Updating Graph View...");
QApplication::processEvents();
QThread::msleep(100);
QApplication::processEvents();
updateGraphView();
progressDialog->appendText("Updating Graph View... done!");
progressDialog->incrementStep();
QApplication::processEvents();
QThread::msleep(100);
QApplication::processEvents();
}
}
progressDialog->setValue(progressDialog->maximumSteps());
}
void DatabaseViewer::updateInfo()