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DbViewer: added more info about size of all tables in database

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This commit is contained in:
matlabbe
2017-06-06 18:22:19 -04:00
parent 7a0a82bcb4
commit ff6e42fa6d
7 changed files with 381 additions and 19 deletions
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9
guilib/src/DataRecorder.cpp
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@@ -70,11 +70,12 @@ bool DataRecorder::init(const QString & path, bool recordInRAM)
if(!memory_)
{
ParametersMap customParameters;
customParameters.insert(ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0")); // desactivate rehearsal
customParameters.insert(ParametersPair(Parameters::kKpMaxFeatures(), "-1")); // desactivate keypoints extraction
customParameters.insert(ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0")); // deactivate rehearsal
customParameters.insert(ParametersPair(Parameters::kKpMaxFeatures(), "-1")); // deactivate keypoints extraction
customParameters.insert(ParametersPair(Parameters::kMemBinDataKept(), "true")); // to keep images
customParameters.insert(ParametersPair(Parameters::kMemMapLabelsAdded(), "false")); // don't create map labels
customParameters.insert(ParametersPair(Parameters::kMemBadSignaturesIgnored(), "true")); // make usre memory cleanup is done
customParameters.insert(ParametersPair(Parameters::kMemBadSignaturesIgnored(), "true")); // make sure memory cleanup is done
customParameters.insert(ParametersPair(Parameters::kMemIntermediateNodeDataKept(), "true"));
if(!recordInRAM)
{
customParameters.insert(ParametersPair(Parameters::kDbSqlite3InMemory(), "false"));
@@ -147,7 +148,7 @@ void DataRecorder::addData(const rtabmap::SensorData & data, const Transform & p
{
memory_->emptyTrash();
}
UDEBUG("Time to process a message = %f s", time.ticks());
UDEBUG("Time to process a message = %f s, totalSizeKB_=%d", time.ticks(), totalSizeKB_);
}
memoryMutex_.unlock();
}

63
guilib/src/DatabaseViewer.cpp
View File

@@ -1054,13 +1054,14 @@ void DatabaseViewer::exportDatabase()
progressDialog->setAttribute(Qt::WA_DeleteOnClose);
progressDialog->setMaximumSteps(ids.size());
progressDialog->show();
progressDialog->setCancelButtonVisible(true);
UINFO("Decompress: rgb=%d depth=%d scan=%d userData=%d",
dialog.isRgbExported()?1:0,
dialog.isDepthExported()?1:0,
dialog.isDepth2dExported()?1:0,
dialog.isUserDataExported()?1:0);
for(int i=0; i<ids.size(); ++i)
for(int i=0; i<ids.size() && !progressDialog->isCanceled(); ++i)
{
int id = ids.at(i);
@@ -1311,6 +1312,7 @@ void DatabaseViewer::updateIds()
dbDriver_->getAllNodeIds(idsWithoutBad, false, true);
int badcountInLTM = 0;
int badCountInGraph = 0;
bool hasReducedGraph = false;
for(int i=0; i<ids_.size(); ++i)
{
idToIndex_.insert(ids_[i], i);
@@ -1350,6 +1352,11 @@ void DatabaseViewer::updateIds()
bool addPose = false;
for(std::multimap<int, Link>::iterator jter=links.find(ids_[i]); jter!=links.end() && jter->first == ids_[i]; ++jter)
{
if(jter->second.type() == Link::kNeighborMerged)
{
hasReducedGraph = true;
}
std::multimap<int, Link>::iterator invertedLinkIter = graph::findLink(links, jter->second.to(), jter->second.from(), false);
if( jter->second.isValid() && // null transform means a rehearsed location
ids.find(jter->second.from()) != ids.end() &&
@@ -1411,19 +1418,59 @@ void DatabaseViewer::updateIds()
ui_->textEdit_info->clear();
ui_->textEdit_info->append(tr("Version:\t\t%1").arg(dbDriver_->getDatabaseVersion().c_str()));
ui_->textEdit_info->append(tr("Sessions:\t\t%1").arg(sessions));
ui_->textEdit_info->append(tr("Total odometry length:\t%1 m").arg(totalOdom));
if(hasReducedGraph)
{
ui_->textEdit_info->append(tr("Total odometry length:\t%1 m (approx. as graph has been reduced)").arg(totalOdom));
}
else
{
ui_->textEdit_info->append(tr("Total odometry length:\t%1 m").arg(totalOdom));
}
ui_->textEdit_info->append(tr("Total time:\t\t%1").arg(QDateTime::fromMSecsSinceEpoch(totalTime*1000).toUTC().toString("hh:mm:ss.zzz")));
ui_->textEdit_info->append(tr("LTM:\t\t%1 nodes and %2 words").arg(ids.size()).arg(dbDriver_->getTotalDictionarySize()));
ui_->textEdit_info->append(tr("WM:\t\t%1 nodes and %2 words").arg(dbDriver_->getLastNodesSize()).arg(dbDriver_->getLastDictionarySize()));
ui_->textEdit_info->append(tr("Global graph:\t%1 poses and %2 links").arg(poses_.size()).arg(links_.size()));
ui_->textEdit_info->append(tr("Ground truth:\t%1 poses").arg(groundTruthPoses_.size()));
ui_->textEdit_info->append("");
ui_->textEdit_info->append(tr("Database size:\t%1 MB").arg(dbDriver_->getMemoryUsed()/1000000));
ui_->textEdit_info->append(tr("Images size:\t%1 MB").arg(dbDriver_->getImagesMemoryUsed()/1000000));
ui_->textEdit_info->append(tr("Depths size:\t%1 MB").arg(dbDriver_->getDepthImagesMemoryUsed()/1000000));
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()));
long total = 0;
long dbSize = UFile::length(dbDriver_->getUrl());
long mem = dbSize;
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"));
mem = dbDriver_->getNodesMemoryUsed();
total+=mem;
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"));
mem = dbDriver_->getLinksMemoryUsed();
total+=mem;
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"));
mem = dbDriver_->getImagesMemoryUsed();
total+=mem;
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"));
mem = dbDriver_->getDepthImagesMemoryUsed();
total+=mem;
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"));
mem = dbDriver_->getCalibrationsMemoryUsed();
total+=mem;
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"));
mem = dbDriver_->getGridsMemoryUsed();
total+=mem;
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"));
mem = dbDriver_->getLaserScansMemoryUsed();
total+=mem;
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"));
mem = dbDriver_->getUserDataMemoryUsed();
total+=mem;
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"));
mem = dbDriver_->getWordsMemoryUsed();
total+=mem;
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"));
mem = dbDriver_->getFeaturesMemoryUsed();
total+=mem;
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"));
mem = dbDriver_->getStatisticsMemoryUsed();
total+=mem;
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"));
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(badcountInLTM));
ui_->textEdit_info->append(tr("%1 bad signatures in the global graph").arg(badCountInGraph));