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

corelib/include/rtabmap/core/DBDriver.h

@@ -107,11 +107,17 @@ public:
 	bool isConnected() const;
 	long getMemoryUsed() const; // In bytes
 	std::string getDatabaseVersion() const;
+	long getNodesMemoryUsed() const;
+	long getLinksMemoryUsed() const;
 	long getImagesMemoryUsed() const;
 	long getDepthImagesMemoryUsed() const;
+	long getCalibrationsMemoryUsed() const;
+	long getGridsMemoryUsed() const;
 	long getLaserScansMemoryUsed() const;
 	long getUserDataMemoryUsed() const;
 	long getWordsMemoryUsed() const;
+	long getFeaturesMemoryUsed() const;
+	long getStatisticsMemoryUsed() const;
 	int getLastNodesSize() const; // working memory
 	int getLastDictionarySize() const; // working memory
 	int getTotalNodesSize() const;
@@ -152,11 +158,17 @@ private:
 	virtual bool isConnectedQuery() const = 0;
 	virtual long getMemoryUsedQuery() const = 0; // In bytes
 	virtual bool getDatabaseVersionQuery(std::string & version) const = 0;
+	virtual long getNodesMemoryUsedQuery() const = 0;
+	virtual long getLinksMemoryUsedQuery() const = 0;
 	virtual long getImagesMemoryUsedQuery() const = 0;
 	virtual long getDepthImagesMemoryUsedQuery() const = 0;
+	virtual long getCalibrationsMemoryUsedQuery() const = 0;
+	virtual long getGridsMemoryUsedQuery() const = 0;
 	virtual long getLaserScansMemoryUsedQuery() const = 0;
 	virtual long getUserDataMemoryUsedQuery() const = 0;
 	virtual long getWordsMemoryUsedQuery() const = 0;
+	virtual long getFeaturesMemoryUsedQuery() const = 0;
+	virtual long getStatisticsMemoryUsedQuery() const = 0;
 	virtual int getLastNodesSizeQuery() const = 0;
 	virtual int getLastDictionarySizeQuery() const = 0;
 	virtual int getTotalNodesSizeQuery() const = 0;

corelib/src/DBDriver.cpp

@@ -116,6 +116,22 @@ long DBDriver::getMemoryUsed() const
 	return bytes;
 }
 
+long DBDriver::getNodesMemoryUsed() const
+{
+	long bytes;
+	_dbSafeAccessMutex.lock();
+	bytes = getNodesMemoryUsedQuery();
+	_dbSafeAccessMutex.unlock();
+	return bytes;
+}
+long DBDriver::getLinksMemoryUsed() const
+{
+	long bytes;
+	_dbSafeAccessMutex.lock();
+	bytes = getLinksMemoryUsedQuery();
+	_dbSafeAccessMutex.unlock();
+	return bytes;
+}
 long DBDriver::getImagesMemoryUsed() const
 {
 	long bytes;
@@ -132,6 +148,22 @@ long DBDriver::getDepthImagesMemoryUsed() const
 	_dbSafeAccessMutex.unlock();
 	return bytes;
 }
+long DBDriver::getCalibrationsMemoryUsed() const
+{
+	long bytes;
+	_dbSafeAccessMutex.lock();
+	bytes = getCalibrationsMemoryUsedQuery();
+	_dbSafeAccessMutex.unlock();
+	return bytes;
+}
+long DBDriver::getGridsMemoryUsed() const
+{
+	long bytes;
+	_dbSafeAccessMutex.lock();
+	bytes = getGridsMemoryUsedQuery();
+	_dbSafeAccessMutex.unlock();
+	return bytes;
+}
 long DBDriver::getLaserScansMemoryUsed() const
 {
 	long bytes;
@@ -156,6 +188,22 @@ long DBDriver::getWordsMemoryUsed() const
 	_dbSafeAccessMutex.unlock();
 	return bytes;
 }
+long DBDriver::getFeaturesMemoryUsed() const
+{
+	long bytes;
+	_dbSafeAccessMutex.lock();
+	bytes = getFeaturesMemoryUsedQuery();
+	_dbSafeAccessMutex.unlock();
+	return bytes;
+}
+long DBDriver::getStatisticsMemoryUsed() const
+{
+	long bytes;
+	_dbSafeAccessMutex.lock();
+	bytes = getStatisticsMemoryUsedQuery();
+	_dbSafeAccessMutex.unlock();
+	return bytes;
+}
 int DBDriver::getLastNodesSize() const
 {
 	int nodes;

corelib/src/DBDriverSqlite3.cpp

@@ -490,6 +490,90 @@ long DBDriverSqlite3::getMemoryUsedQuery() const
 	//}
 }
 
+long DBDriverSqlite3::getNodesMemoryUsedQuery() const
+{
+	UDEBUG("");
+	long size = 0L;
+	if(_ppDb)
+	{
+		std::string query;
+		if(uStrNumCmp(_version, "0.13.0") >= 0)
+		{
+			query = "SELECT sum(length(id) + length(map_id) + length(weight) + length(pose) + length(stamp) + ifnull(length(label),0) + length(ground_truth_pose) + ifnull(length(velocity),0) + length(time_enter)) from Node;";
+		}
+		else if(uStrNumCmp(_version, "0.11.1") >= 0)
+		{
+			query = "SELECT sum(length(id) + length(map_id) + length(weight) + length(pose) + length(stamp) + ifnull(length(label),0) + length(ground_truth_pose)+ length(time_enter)) from Node;";
+		}
+		else if(uStrNumCmp(_version, "0.8.5") >= 0)
+		{
+			query = "SELECT sum(length(id) + length(map_id) + length(weight) + length(pose) + length(stamp) + ifnull(length(label),0) + length(time_enter)) from Node;";
+		}
+		else
+		{
+			query = "SELECT sum(length(id) + length(map_id) + length(weight) + length(pose)+ length(time_enter)) from Node;";
+		}
+
+		int rc = SQLITE_OK;
+		sqlite3_stmt * ppStmt = 0;
+		rc = sqlite3_prepare_v2(_ppDb, query.c_str(), -1, &ppStmt, 0);
+		UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+		rc = sqlite3_step(ppStmt);
+		if(rc == SQLITE_ROW)
+		{
+			size = sqlite3_column_int64(ppStmt, 0);
+			rc = sqlite3_step(ppStmt);
+		}
+		UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+		rc = sqlite3_finalize(ppStmt);
+		UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+	}
+	return size;
+}
+long DBDriverSqlite3::getLinksMemoryUsedQuery() const
+{
+	UDEBUG("");
+	long size = 0L;
+	if(_ppDb)
+	{
+		std::string query;
+		if(uStrNumCmp(_version, "0.13.0") >= 0)
+		{
+			query = "SELECT sum(length(type) + length(information_matrix) + length(transform) + ifnull(length(user_data),0) + length(from_id) + length(to_id)) from Link;";
+		}
+		else if(uStrNumCmp(_version, "0.10.10") >= 0)
+		{
+			query = "SELECT sum(length(type) + length(rot_variance) + length(trans_variance) + length(transform) + ifnull(length(user_data),0) + length(from_id) + length(to_id)) from Link;";
+		}
+		else if(uStrNumCmp(_version, "0.8.4") >= 0)
+		{
+			query = "SELECT sum(length(type) + length(rot_variance) + length(trans_variance) + length(transform) + length(from_id) + length(to_id)) from Link;";
+		}
+		else if(uStrNumCmp(_version, "0.7.4") >= 0)
+		{
+			query = "SELECT sum(length(type) + length(variance) + length(transform) + length(from_id) + length(to_id)) from Link;";
+		}
+		else
+		{
+			query = "SELECT sum(length(type) + length(transform) + length(from_id) + length(to_id)) from Link;";
+		}
+
+		int rc = SQLITE_OK;
+		sqlite3_stmt * ppStmt = 0;
+		rc = sqlite3_prepare_v2(_ppDb, query.c_str(), -1, &ppStmt, 0);
+		UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+		rc = sqlite3_step(ppStmt);
+		if(rc == SQLITE_ROW)
+		{
+			size = sqlite3_column_int64(ppStmt, 0);
+			rc = sqlite3_step(ppStmt);
+		}
+		UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+		rc = sqlite3_finalize(ppStmt);
+		UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+	}
+	return size;
+}
 long DBDriverSqlite3::getImagesMemoryUsedQuery() const
 {
 	UDEBUG("");
@@ -499,11 +583,11 @@ long DBDriverSqlite3::getImagesMemoryUsedQuery() const
 		std::string query;
 		if(uStrNumCmp(_version, "0.10.0") >= 0)
 		{
-			query = "SELECT sum(length(image)) from Data;";
+			query = "SELECT sum(ifnull(length(image),0) + ifnull(length(time_enter),0)) from Data;";
 		}
 		else
 		{
-			query = "SELECT sum(length(data)) from Image;";
+			query = "SELECT sum(length(data) + ifnull(length(time_enter),0)) from Image;";
 		}
 
 		int rc = SQLITE_OK;
@@ -531,11 +615,81 @@ long DBDriverSqlite3::getDepthImagesMemoryUsedQuery() const
 		std::string query;
 		if(uStrNumCmp(_version, "0.10.0") >= 0)
 		{
-			query = "SELECT sum(length(depth)) from Data;";
+			query = "SELECT sum(ifnull(length(depth),0) + ifnull(length(time_enter),0)) from Data;";
 		}
 		else
 		{
-			query = "SELECT sum(length(data)) from Depth;";
+			query = "SELECT sum(length(data) + ifnull(length(time_enter),0)) from Depth;";
+		}
+
+		int rc = SQLITE_OK;
+		sqlite3_stmt * ppStmt = 0;
+		rc = sqlite3_prepare_v2(_ppDb, query.c_str(), -1, &ppStmt, 0);
+		UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+		rc = sqlite3_step(ppStmt);
+		if(rc == SQLITE_ROW)
+		{
+			size = sqlite3_column_int64(ppStmt, 0);
+			rc = sqlite3_step(ppStmt);
+		}
+		UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+		rc = sqlite3_finalize(ppStmt);
+		UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+	}
+	return size;
+}
+long DBDriverSqlite3::getCalibrationsMemoryUsedQuery() const
+{
+	UDEBUG("");
+	long size = 0L;
+	if(_ppDb)
+	{
+		std::string query;
+
+		if(uStrNumCmp(_version, "0.10.0") >= 0)
+		{
+			query = "SELECT sum(length(calibration)) from Data;";
+		}
+		else if(uStrNumCmp(_version, "0.7.0") >= 0)
+		{
+			query = "SELECT sum(length(fx) + length(fy) + length(cx) + length(cy) + length(local_transform)) from Depth;";
+		}
+		else
+		{
+			query = "SELECT sum(length(constant) + length(local_transform)) from Depth;";
+		}
+
+		int rc = SQLITE_OK;
+		sqlite3_stmt * ppStmt = 0;
+		rc = sqlite3_prepare_v2(_ppDb, query.c_str(), -1, &ppStmt, 0);
+		UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+		rc = sqlite3_step(ppStmt);
+		if(rc == SQLITE_ROW)
+		{
+			size = sqlite3_column_int64(ppStmt, 0);
+			rc = sqlite3_step(ppStmt);
+		}
+		UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+		rc = sqlite3_finalize(ppStmt);
+		UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+	}
+	return size;
+}
+long DBDriverSqlite3::getGridsMemoryUsedQuery() const
+{
+	UDEBUG("");
+	long size = 0L;
+	if(_ppDb)
+	{
+		std::string query;
+
+		if(uStrNumCmp(_version, "0.11.10") >= 0)
+		{
+			query = "SELECT sum(ifnull(length(ground_cells),0) + ifnull(length(obstacle_cells),0) + length(cell_size) + length(view_point_x) + length(view_point_y) + length(view_point_z)) from Data;";
+		}
+		else
+		{
+			return size;
 		}
 
 		int rc = SQLITE_OK;
@@ -561,9 +715,22 @@ long DBDriverSqlite3::getLaserScansMemoryUsedQuery() const
 	if(_ppDb)
 	{
 		std::string query;
-		if(uStrNumCmp(_version, "0.10.0") >= 0)
+
+		if(uStrNumCmp(_version, "0.11.10") >= 0)
 		{
-			query = "SELECT sum(length(scan)) from Data;";
+			query = "SELECT sum(ifnull(length(scan_info),0) + ifnull(length(scan),0)) from Data;";
+		}
+		else if(uStrNumCmp(_version, "0.10.7") >= 0)
+		{
+			query = "SELECT sum(length(scan_max_pts) + length(scan_max_range) + ifnull(length(scan),0)) from Data;";
+		}
+		else if(uStrNumCmp(_version, "0.10.0") >= 0)
+		{
+			query = "SELECT sum(length(scan_max_pts) + ifnull(length(scan),0)) from Data;";
+		}
+		else if(uStrNumCmp(_version, "0.8.11") >= 0)
+		{
+			query = "SELECT sum(length(data2d) + length(data2d_max_pts)) from Depth;";
 		}
 		else
 		{
@@ -628,7 +795,83 @@ long DBDriverSqlite3::getWordsMemoryUsedQuery() const
 	long size = 0L;
 	if(_ppDb)
 	{
-		std::string query = "SELECT sum(length(descriptor)) from Word;";
+		std::string query = "SELECT sum(length(id) + length(descriptor_size) + length(descriptor) + length(time_enter)) from Word;";
+
+		int rc = SQLITE_OK;
+		sqlite3_stmt * ppStmt = 0;
+		rc = sqlite3_prepare_v2(_ppDb, query.c_str(), -1, &ppStmt, 0);
+		UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+		rc = sqlite3_step(ppStmt);
+		if(rc == SQLITE_ROW)
+		{
+			size = sqlite3_column_int64(ppStmt, 0);
+			rc = sqlite3_step(ppStmt);
+		}
+		UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+		rc = sqlite3_finalize(ppStmt);
+		UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+	}
+	return size;
+}
+long DBDriverSqlite3::getFeaturesMemoryUsedQuery() const
+{
+	UDEBUG("");
+	long size = 0L;
+	if(_ppDb)
+	{
+		std::string query;
+		if(uStrNumCmp(_version, "0.13.0") >= 0)
+		{
+			query = "SELECT sum(length(word_id) + length(pos_x) + length(pos_y) + length(size) + length(dir) + length(response) + length(octave) + length(depth_x) + length(depth_y) + length(depth_z) + length(descriptor_size) + length(descriptor)) "
+					 "FROM Feature";
+		}
+		else if(uStrNumCmp(_version, "0.12.0") >= 0)
+		{
+			query = "SELECT sum(length(word_id) + length(pos_x) + length(pos_y) + length(size) + length(dir) + length(response) + length(octave) + length(depth_x) + length(depth_y) + length(depth_z) + length(descriptor_size) + length(descriptor)) "
+					 "FROM Map_Node_Word";
+		}
+		else if(uStrNumCmp(_version, "0.11.2") >= 0)
+		{
+			query = "SELECT sum(length(word_id) + length(pos_x) + length(pos_y) + length(size) + length(dir) + length(response) + length(depth_x) + length(depth_y) + length(depth_z) + length(descriptor_size) + length(descriptor)) "
+					 "FROM Map_Node_Word";
+		}
+		else
+		{
+			query = "SELECT sum(length(word_id) + length(pos_x) + length(pos_y) + length(size) + length(dir) + length(response) + length(depth_x) + length(depth_y) + length(depth_z)) "
+					 "FROM Map_Node_Word";
+		}
+
+		int rc = SQLITE_OK;
+		sqlite3_stmt * ppStmt = 0;
+		rc = sqlite3_prepare_v2(_ppDb, query.c_str(), -1, &ppStmt, 0);
+		UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+		rc = sqlite3_step(ppStmt);
+		if(rc == SQLITE_ROW)
+		{
+			size = sqlite3_column_int64(ppStmt, 0);
+			rc = sqlite3_step(ppStmt);
+		}
+		UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+		rc = sqlite3_finalize(ppStmt);
+		UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+	}
+	return size;
+}
+long DBDriverSqlite3::getStatisticsMemoryUsedQuery() const
+{
+	UDEBUG("");
+	long size = 0L;
+	if(_ppDb)
+	{
+		std::string query;
+		if(uStrNumCmp(_version, "0.11.11") >= 0)
+		{
+			query = "SELECT sum(length(id) + length(stamp) + length(data)) FROM Statistics";
+		}
+		else
+		{
+			return size;
+		}
 
 		int rc = SQLITE_OK;
 		sqlite3_stmt * ppStmt = 0;

corelib/src/DBDriverSqlite3.h

@@ -53,11 +53,17 @@ private:
 	virtual bool isConnectedQuery() const;
 	virtual long getMemoryUsedQuery() const; // In bytes
 	virtual bool getDatabaseVersionQuery(std::string & version) const;
+	virtual long getNodesMemoryUsedQuery() const;
+	virtual long getLinksMemoryUsedQuery() const;
 	virtual long getImagesMemoryUsedQuery() const;
 	virtual long getDepthImagesMemoryUsedQuery() const;
+	virtual long getCalibrationsMemoryUsedQuery() const;
+	virtual long getGridsMemoryUsedQuery() const;
 	virtual long getLaserScansMemoryUsedQuery() const;
 	virtual long getUserDataMemoryUsedQuery() const;
 	virtual long getWordsMemoryUsedQuery() const;
+	virtual long getFeaturesMemoryUsedQuery() const;
+	virtual long getStatisticsMemoryUsedQuery() const;
 	virtual int getLastNodesSizeQuery() const;
 	virtual int getLastDictionarySizeQuery() const;
 	virtual int getTotalNodesSizeQuery() const;

corelib/src/resources/DatabaseSchema.sql.in

@@ -123,6 +123,11 @@ BEGIN
  UPDATE Node SET time_enter = DATETIME('NOW')  WHERE rowid = new.rowid;
 END;
 
+CREATE TRIGGER insert_Data_timeEnter AFTER INSERT ON Data
+BEGIN
+ UPDATE Node SET time_enter = DATETIME('NOW')  WHERE rowid = new.rowid;
+END;
+
 CREATE TRIGGER insert_Word_timeEnter AFTER INSERT ON Word
 BEGIN
  UPDATE Word SET time_enter = DATETIME('NOW')  WHERE rowid = new.rowid;

guilib/src/DataRecorder.cpp

@@ -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::kMemRehearsalSimilarity(), "1.0")); // deactivate rehearsal
-		customParameters.insert(ParametersPair(Parameters::kKpMaxFeatures(), "-1")); // desactivate keypoints extraction
+		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();
 }

guilib/src/DatabaseViewer.cpp

@@ -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));
+	long total = 0;
-	ui_->textEdit_info->append(tr("Images size:\t%1 MB").arg(dbDriver_->getImagesMemoryUsed()/1000000));
+	long dbSize = UFile::length(dbDriver_->getUrl());
-	ui_->textEdit_info->append(tr("Depths size:\t%1 MB").arg(dbDriver_->getDepthImagesMemoryUsed()/1000000));
+	long mem = dbSize;
-	ui_->textEdit_info->append(tr("Scans size:\t\t%1 MB").arg(dbDriver_->getLaserScansMemoryUsed()/1000000));
+	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"));
-	ui_->textEdit_info->append(tr("User data size:\t%1 bytes").arg(dbDriver_->getUserDataMemoryUsed()));
+	mem = dbDriver_->getNodesMemoryUsed();
-	ui_->textEdit_info->append(tr("Dictionary size:\t%1 bytes").arg(dbDriver_->getWordsMemoryUsed()));
+	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));