rtabmap/archive/8483d62401f16c9adcb43dbb8e7940c7a930bd8a.tar.gz

/*

Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke

All rights reserved.


Redistribution and use in source and binary forms, with or without

modification, are permitted provided that the following conditions are met:

    * Redistributions of source code must retain the above copyright

      notice, this list of conditions and the following disclaimer.

    * Redistributions in binary form must reproduce the above copyright

      notice, this list of conditions and the following disclaimer in the

      documentation and/or other materials provided with the distribution.

    * Neither the name of the Universite de Sherbrooke nor the

      names of its contributors may be used to endorse or promote products

      derived from this software without specific prior written permission.


THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND

ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED

WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE

DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY

DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES

(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;

LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND

ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT

(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS

SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

*/


#ifndef DBDRIVERSQLITE3_H_

#define DBDRIVERSQLITE3_H_


#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines

#include "rtabmap/core/DBDriver.h"

#if CV_MAJOR_VERSION < 5

#include <opencv2/features2d/features2d.hpp>

#else

#include <opencv2/features.hpp>

#endif


typedef struct sqlite3_stmt sqlite3_stmt;

typedef struct sqlite3 sqlite3;


namespace rtabmap {


class RTABMAP_CORE_EXPORT DBDriverSqlite3: public DBDriver {

public:

  DBDriverSqlite3(const ParametersMap & parameters = ParametersMap());

  virtual ~DBDriverSqlite3();


  virtual void parseParameters(const ParametersMap & parameters);

  virtual bool isInMemory() const {return getUrl().empty() || _dbInMemory;}

  void setDbInMemory(bool dbInMemory);

  void setJournalMode(int journalMode);


  void setCacheSize(unsigned int cacheSize);


  void setSynchronous(int synchronous);


  void setTempStore(int tempStore);


protected:

  void asyncSave(Signature * s) = delete;

  void asyncSave(VisualWord * vw) = delete;

  void loadSignatures(const std::list<int> & ids, std::list<Signature *> & signatures, std::set<int> * loadedFromTrash = 0, bool loadWordIdsOnly = false) = delete;

  void loadWords(const std::set<int> & wordIds, std::list<VisualWord *> & vws) = delete;

  void loadNodeData(Signature & signature, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const = delete;

  void loadNodeData(std::list<Signature *> & signatures, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const = delete;

  void getNodeData(int signatureId, SensorData & data, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const = delete;

  bool getCalibration(int signatureId, std::vector<CameraModel> & models, std::vector<StereoCameraModel> & stereoModels) const = delete;

  bool getLaserScanInfo(int signatureId, LaserScan & info) const = delete;

  bool getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps, EnvSensors & sensors) const = delete;

  void getLocalFeatures(int signatureId, std::multimap<int, int> & words, std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & points, cv::Mat & descriptors) const = delete;

  void loadLinks(int signatureId, std::multimap<int, Link> & links, Link::Type type = Link::kUndef) const = delete;

  void getWeight(int signatureId, int & weight) const = delete;

  void getAllNodeIds(std::set<int> & ids, bool ignoreChildren = false, bool ignoreBadSignatures = false, bool ignoreIntermediateNodes = false) const = delete;

  void getAllOdomPoses(std::map<int, Transform> & poses, bool ignoreChildren = false, bool ignoreIntermediateNodes = false) const = delete;

  void getAllLinks(std::multimap<int, Link> & links, bool ignoreNullLinks = true, bool withLandmarks = false) const = delete;

  void getLastNodeId(int & id) const = delete;

  void getLastMapId(int & mapId) const = delete;

  void getLastWordId(int & id) const = delete;

  void getInvertedIndexNi(int signatureId, int & ni) const = delete;

  void getNodesObservingLandmark(int landmarkId, std::map<int, Link> & nodes) const = delete;

  void getNodeIdByLabel(const std::string & label, int & id) const = delete;

  void getAllLabels(std::map<int, std::string> & labels) const = delete;

  virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false, bool readOnly = false);

  virtual void disconnectDatabaseQuery(bool save = true, const std::string & outputUrl = "");

  virtual bool isConnectedQuery() const;

  virtual unsigned 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;

  virtual int getTotalDictionarySizeQuery() const;

  virtual ParametersMap getLastParametersQuery() const;

  virtual std::map<std::string, float> getStatisticsQuery(int nodeId, double & stamp, std::vector<int> * wmState) const;

  virtual std::map<int, std::pair<std::map<std::string, float>, double> > getAllStatisticsQuery() const;

  virtual std::map<int, std::vector<int> > getAllStatisticsWmStatesQuery() const;


  virtual void executeNoResultQuery(const std::string & sql) const;


  virtual void getWeightQuery(int signatureId, int & weight) const;


  virtual void saveQuery(const std::list<Signature *> & signatures);

  virtual void saveQuery(const std::list<VisualWord *> & words) const;

  virtual void updateQuery(const std::list<Signature *> & signatures, bool updateTimestamp) const;

  virtual void updateQuery(const std::list<VisualWord *> & words, bool updateTimestamp) const;


  virtual void addLinkQuery(const Link & link) const;

  virtual void updateLinkQuery(const Link & link) const;


  virtual void updateOccupancyGridQuery(

      int nodeId,

      const cv::Mat & ground,

      const cv::Mat & obstacles,

      const cv::Mat & empty,

      float cellSize,

      const cv::Point3f & viewpoint) const;


  virtual void updateCalibrationQuery(

      int nodeId,

      const std::vector<CameraModel> & models,

      const std::vector<StereoCameraModel> & stereoModels) const;


  virtual void updateDepthImageQuery(

      int nodeId,

      const cv::Mat & image,

      const std::string & format) const;


  void updateLaserScanQuery(

      int nodeId,

      const LaserScan & scan) const;


  virtual void addStatisticsQuery(const Statistics & statistics, bool saveWmState) const;

  virtual void savePreviewImageQuery(const cv::Mat & image) const;

  virtual cv::Mat loadPreviewImageQuery() const;

  virtual void saveOptimizedPosesQuery(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const;

  virtual std::map<int, Transform> loadOptimizedPosesQuery(Transform * lastlocalizationPose = 0) const;

  virtual void save2DMapQuery(const cv::Mat & map, float xMin, float yMin, float cellSize) const;

  virtual cv::Mat load2DMapQuery(float & xMin, float & yMin, float & cellSize) const;

  virtual void saveOptimizedMeshQuery(

      const cv::Mat & cloud,

      const std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons,

#if PCL_VERSION_COMPARE(>=, 1, 8, 0)

      const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,

#else

      const std::vector<std::vector<Eigen::Vector2f> > & texCoords,

#endif

      const cv::Mat & textures) const;

  virtual cv::Mat loadOptimizedMeshQuery(

      std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > * polygons,

#if PCL_VERSION_COMPARE(>=, 1, 8, 0)

      std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords,

#else

      std::vector<std::vector<Eigen::Vector2f> > * texCoords,

#endif

      cv::Mat * textures) const;


  virtual void saveFlannIndexQuery(const std::vector<unsigned char> & indexData) const;


  // Load objects

  virtual void loadQuery(VWDictionary & dictionary, bool lastStateOnly = true, bool idsOnly = false) const;

  virtual void loadLastNodesQuery(std::list<Signature *> & signatures, bool loadWordIdsOnly) const;

  virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures, bool loadWordIdsOnly) const;

  virtual void loadWordsQuery(const std::set<int> & wordIds, std::list<VisualWord *> & vws) const;

  virtual void loadLinksQuery(int signatureId, std::multimap<int, Link> & links, Link::Type type = Link::kUndef) const;


  virtual void loadNodeDataQuery(std::list<Signature *> & signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const;

  virtual bool getCalibrationQuery(int signatureId, std::vector<CameraModel> & models, std::vector<StereoCameraModel> & stereoModels) const;

  virtual bool getLaserScanInfoQuery(int signatureId, LaserScan & info) const;

  virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps, EnvSensors & sensors) const;

  virtual void getLocalFeaturesQuery(int signatureId, std::multimap<int, int> & words, std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & points, cv::Mat & descriptors) const;

  virtual void getLastNodeIdsQuery(std::set<int> & ids) const;

  virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures, bool ignoreIntermediateNodes) const;

  virtual void getAllOdomPosesQuery(std::map<int, Transform> & poses, bool ignoreChildren, bool ignoreIntermediateNodes) const;

  virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks, bool withLandmarks) const;

  virtual void getLastIdQuery(const std::string & tableName, int & id, const std::string & fieldName="id") const;

  virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const;

  virtual void getNodesObservingLandmarkQuery(int landmarkId, std::map<int, Link> & nodes) const;

  virtual void getNodeIdByLabelQuery(const std::string & label, int & id) const;

  virtual void getAllLabelsQuery(std::map<int, std::string> & labels) const;


private:

  std::string queryStepNode() const;

  std::string queryStepImage() const;

  std::string queryStepDepth() const;

  std::string queryStepCalibrationUpdate() const;

  std::string queryStepDepthUpdate() const;

  std::string queryStepScanUpdate() const;

  std::string queryStepSensorData() const;

  std::string queryStepLinkUpdate() const;

  std::string queryStepLink() const;

  std::string queryStepWordsChanged() const;

  std::string queryStepKeypoint() const;

  std::string queryStepGlobalDescriptor() const;

  std::string queryStepOccupancyGridUpdate() const;

  void stepNode(sqlite3_stmt * ppStmt, const Signature * s) const;

  void stepImage(sqlite3_stmt * ppStmt, int id, const cv::Mat & imageBytes) const;

  void stepDepth(sqlite3_stmt * ppStmt, const SensorData & sensorData) const;

  void stepCalibrationUpdate(sqlite3_stmt * ppStmt, int nodeId, const std::vector<CameraModel> & models, const std::vector<StereoCameraModel> & stereoModels) const;

  void stepDepthUpdate(sqlite3_stmt * ppStmt, int nodeId, const cv::Mat & image, const std::string & format) const;

  void stepScanUpdate(sqlite3_stmt * ppStmt, int nodeId, const LaserScan & image) const;

  void stepSensorData(sqlite3_stmt * ppStmt, const SensorData & sensorData) const;

  void stepLink(sqlite3_stmt * ppStmt, const Link & link) const;

  void stepWordsChanged(sqlite3_stmt * ppStmt, int signatureId, int oldWordId, int newWordId) const;

  void stepKeypoint(sqlite3_stmt * ppStmt, int nodeID, int wordId, const cv::KeyPoint & kp, const cv::Point3f & pt, const cv::Mat & descriptor) const;

  void stepGlobalDescriptor(sqlite3_stmt * ppStmt, int nodeId, const GlobalDescriptor & descriptor) const;

  void stepOccupancyGridUpdate(sqlite3_stmt * ppStmt,

      int nodeId,

      const cv::Mat & ground,

      const cv::Mat & obstacles,

      const cv::Mat & empty,

      float cellSize,

      const cv::Point3f & viewpoint) const;


private:

  void loadWordsQuery(std::list<Signature *> & signatures) const;

  void loadWordIdsQuery(std::list<Signature *> & signatures) const;

  void loadLinksQuery(std::list<Signature *> & signatures) const;

  int loadOrSaveDb(sqlite3 *pInMemory, const std::string & fileName, int isSave) const;


protected:

  sqlite3 * _ppDb;

  std::string _version;


private:

  unsigned long _memoryUsedEstimate;

  bool _dbInMemory;

  unsigned int _cacheSize;

  int _journalMode;

  int _synchronous;

  int _tempStore;

};


}


#endif /* DBDRIVERSQLITE3_H_ */

rtabmap::DBDriverSqlite3
SQLite3 implementation of DBDriver for RTAB-Map map databases.
Definition DBDriverSqlite3.h:70

rtabmap::DBDriverSqlite3::setDbInMemory
void setDbInMemory(bool dbInMemory)
Enable or disable in-memory mode. If connected, the connection is closed and reopened with the new mo...

rtabmap::DBDriverSqlite3::_ppDb
sqlite3 * _ppDb
Open SQLite connection (null when disconnected)
Definition DBDriverSqlite3.h:341

rtabmap::DBDriverSqlite3::_version
std::string _version
Schema version read from the database.
Definition DBDriverSqlite3.h:342

rtabmap::DBDriverSqlite3::setSynchronous
void setSynchronous(int synchronous)
Set how aggressively SQLite syncs the database file to disk (PRAGMA synchronous).

rtabmap::DBDriverSqlite3::DBDriverSqlite3
DBDriverSqlite3(const ParametersMap &parameters=ParametersMap())
Construct driver with optional SQLite-specific parameters.

rtabmap::DBDriverSqlite3::setTempStore
void setTempStore(int tempStore)
Set where SQLite stores temporary tables and indices (PRAGMA temp_store).

rtabmap::DBDriverSqlite3::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Apply SQLite parameters from the map; forwards to DBDriver::parseParameters().

rtabmap::DBDriverSqlite3::setJournalMode
void setJournalMode(int journalMode)
Set SQLite rollback journal mode (PRAGMA journal_mode).

rtabmap::DBDriverSqlite3::isInMemory
virtual bool isInMemory() const
True when the database runs in RAM instead of on disk.
Definition DBDriverSqlite3.h:85

rtabmap::DBDriverSqlite3::setCacheSize
void setCacheSize(unsigned int cacheSize)
Set the number of database pages kept in SQLite's page cache (PRAGMA cache_size).

rtabmap::DBDriver
Abstract database driver for RTAB-Map maps (signatures, links, words, statistics).
Definition DBDriver.h:72

rtabmap::GPS
WGS84 GPS fix attached to a sensor sample or graph node.
Definition GPS.h:47

rtabmap::GlobalDescriptor
Definition GlobalDescriptor.h:36

rtabmap::LaserScan
Represents 2D or 3D laser scan data with support for multiple point data formats.
Definition LaserScan.h:46

rtabmap::Link
Directed constraint between two nodes in RTAB-Map's pose graph.
Definition Link.h:55

rtabmap::Link::Type
Type
Link category and filter sentinels.
Definition Link.h:64

rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97

rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84

rtabmap::Statistics
Collects and manages runtime statistics for RTAB-Map.
Definition Statistics.h:108

rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53

rtabmap::VWDictionary
Manages a dictionary of visual words for visual place recognition and loop closure detection.
Definition VWDictionary.h:66

rtabmap::VisualWord
Represents a visual word (feature descriptor) used in the bag-of-words (BoW) model.
Definition VisualWord.h:50

rtabmap
Definition BayesFilter.h:42

rtabmap::EnvSensors
std::map< EnvSensor::Type, EnvSensor > EnvSensors
Map of environmental readings keyed by EnvSensor::Type (at most one per type).
Definition EnvSensor.h:114

rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44