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DBViewer: added total time info

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matlabbe
2015-10-27 13:39:29 -04:00
parent 8fa7b73aea
commit c884781741
2 changed files with 38 additions and 245 deletions
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guilib/src/DatabaseViewer.cpp
+25 -18
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@@ -1060,6 +1060,8 @@ void DatabaseViewer::updateIds()
double totalOdom = 0.0;
Transform previousPose;
int sessions = ids_.size()?1:0;
double totalTime = 0.0;
double previousStamp = 0.0;
for(int i=0; i<ids_.size(); ++i)
{
idToIndex_.insert(ids_[i], i);
@@ -1080,12 +1082,18 @@ void DatabaseViewer::updateIds()
{
totalOdom += p.getDistance(previousPose);
}
if(previousStamp > 0.0 && s > 0.0)
{
totalTime += s-previousStamp;
}
}
else
{
++sessions;
}
}
previousStamp=s;
previousPose=p;
//links
@@ -1122,24 +1130,25 @@ void DatabaseViewer::updateIds()
poses_.insert(std::make_pair(ids_[i], p));
}
}
UDEBUG("Update database info...");
ui_->label_odom->setText(tr("%1 m").arg(totalOdom));
ui_->label_sessions->setNum(sessions);
ui_->label_nodes->setText(tr("%1 nodes").arg(ids.size()));
ui_->label_version->setText(dbDriver_->getDatabaseVersion().c_str());
ui_->label_db_size->setText(tr("%1 MB").arg(dbDriver_->getMemoryUsed()/1000000));
ui_->label_words->setText(tr("%1 words").arg(dbDriver_->getTotalDictionarySize()));
ui_->label_global_map->setText(tr("%1 nodes").arg(poses_.size()));
ui_->label_rgb_size->setText(tr("%1 MB").arg(dbDriver_->getImagesMemoryUsed()/1000000));
ui_->label_depth_size->setText(tr("%1 MB").arg(dbDriver_->getDepthImagesMemoryUsed()/1000000));
ui_->label_scan_size->setText(tr("%1 MB").arg(dbDriver_->getLaserScansMemoryUsed()/1000000));
ui_->label_userData_size->setText(tr("%1 bytes").arg(dbDriver_->getUserDataMemoryUsed()));
ui_->label_words_size->setText(tr("%1 bytes").arg(dbDriver_->getWordsMemoryUsed()));
ui_->label_wm->setText(tr("%1 nodes").arg(dbDriver_->getLastNodesSize()));
ui_->label_dictionary->setText(tr("%1 words").arg(dbDriver_->getLastDictionarySize()));
UINFO("Loaded %d ids, %d poses and %d links", (int)ids_.size(), (int)poses_.size(), (int)links_.size());
UINFO("Update database info...");
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));
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("");
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()));
if(ids.size())
{
if(poses_.size())
@@ -1201,8 +1210,6 @@ void DatabaseViewer::updateIds()
}
}
UINFO("Loaded %d ids", ids_.size());
if(ids_.size())
{
ui_->horizontalSlider_A->setMinimum(0);