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DBDriver: added ignoreBadSignatures param to getAllNodeIds()

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This commit is contained in:
matlabbe
2015-10-28 16:50:18 -04:00
parent f97dd2b05b
commit f561a59a09
5 changed files with 30 additions and 16 deletions
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16
guilib/src/DatabaseViewer.cpp
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@@ -1062,6 +1062,10 @@ void DatabaseViewer::updateIds()
int sessions = ids_.size()?1:0;
double totalTime = 0.0;
double previousStamp = 0.0;
std::set<int> idsWithoutBad;
dbDriver_->getAllNodeIds(idsWithoutBad, false, true);
int badcountInLTM = 0;
int badCountInGraph = 0;
for(int i=0; i<ids_.size(); ++i)
{
idToIndex_.insert(ids_[i], i);
@@ -1129,6 +1133,15 @@ void DatabaseViewer::updateIds()
{
poses_.insert(std::make_pair(ids_[i], p));
}
if(idsWithoutBad.find(ids_[i]) == idsWithoutBad.end())
{
++badcountInLTM;
if(addPose)
{
++badCountInGraph;
}
}
}
UINFO("Loaded %d ids, %d poses and %d links", (int)ids_.size(), (int)poses_.size(), (int)links_.size());
@@ -1148,6 +1161,9 @@ void DatabaseViewer::updateIds()
ui_->textEdit_info->append(tr("Scans size:\t\t%1 MB").arg(dbDriver_->getLaserScansMemoryUsed()/1000000));
ui_->textEdit_info->append(tr("User data size:\t%1 bytes").arg(dbDriver_->getUserDataMemoryUsed()));
ui_->textEdit_info->append(tr("Dictionary size:\t%1 bytes").arg(dbDriver_->getWordsMemoryUsed()));
ui_->textEdit_info->append("");
ui_->textEdit_info->append(tr("%1 bad signatures in LTM").arg(badcountInLTM));
ui_->textEdit_info->append(tr("%1 bad signatures in the global graph").arg(badCountInGraph));
if(ids.size())
{