mirror of
https://github.com/introlab/rtabmap.git
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91 lines
3.8 KiB
C
91 lines
3.8 KiB
C
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/*
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* Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
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*
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* This file is part of RTAB-Map.
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*
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* RTAB-Map is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* RTAB-Map is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with RTAB-Map. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef DBDRIVERSQLITE3_H_
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#define DBDRIVERSQLITE3_H_
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#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
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#include "rtabmap/core/DBDriver.h"
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#include <sqlite3.h>
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namespace rtabmap {
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class RTABMAP_EXP DBDriverSqlite3: public DBDriver {
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public:
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DBDriverSqlite3(const ParametersMap & parameters = ParametersMap());
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virtual ~DBDriverSqlite3();
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virtual void parseParameters(const ParametersMap & parameters);
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void setDbInMemory(bool dbInMemory);
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void setJournalMode(int journalMode);
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void setCacheSize(unsigned int cacheSize);
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private:
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virtual bool connectDatabaseQuery(const std::string & url);
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virtual void disconnectDatabaseQuery();
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virtual bool isConnectedQuery() const;
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virtual long getMemoryUsedQuery() const; // In bytes
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virtual bool executeNoResultQuery(const std::string & sql) const;
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virtual bool changeWordsRefQuery(const std::map<int, int> & refsToChange) const; // <oldWordId, activeWordId>
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virtual bool deleteWordsQuery(const std::vector<int> & ids) const;
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virtual bool getNeighborIdsQuery(int signatureId, std::set<int> & neighbors) const;
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virtual bool getWeightQuery(int signatureId, int & weight) const;
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virtual bool getLoopClosureIdQuery(int signatureId, int & loopId) const;
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virtual bool addNeighborQuery(int id, int neighbor, const std::list<std::vector<float> > & actuatorStates) const;
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virtual bool saveQuery(const std::vector<VisualWord *> & visualWords) const;
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virtual bool updateQuery(const std::list<Signature *> & signatures) const;
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virtual bool saveQuery(const KeypointSignature * ss) const;
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virtual bool saveQuery(const std::list<KeypointSignature *> & signatures) const;
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// Load objects
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virtual bool loadQuery(VWDictionary * dictionary) const;
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virtual bool loadLastSignaturesQuery(std::list<Signature *> & signatures) const;
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virtual bool loadQuery(int signatureId, Signature ** s) const;
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virtual bool loadQuery(int wordId, VisualWord ** vw) const;
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virtual bool loadQuery(int signatureId, KeypointSignature * ss) const;
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virtual bool loadKeypointSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures, bool onlyParents = false) const;
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virtual bool loadWordsQuery(const std::list<int> & wordIds, std::list<VisualWord *> & vws) const;
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virtual bool loadNeighborsQuery(int signatureId, std::map<int, std::list<std::vector<float> > > & neighbors) const;
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virtual bool getImageCompressedQuery(int id, CvMat ** compressed) const;
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virtual bool getAllSignatureIdsQuery(std::set<int> & ids) const;
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virtual bool getLastSignatureIdQuery(int & id) const;
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virtual bool getLastVisualWordIdQuery(int & id) const;
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virtual bool getSurfNiQuery(int signatureId, int & ni) const;
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virtual bool getChildrenIdsQuery(int signatureId, std::list<int> & ids) const;
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virtual bool getHighestWeightedSignaturesQuery(unsigned int count, std::multimap<int, int> & ids) const;
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private:
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int loadOrSaveDb(sqlite3 *pInMemory, const std::string & fileName, int isSave) const;
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private:
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sqlite3 * _ppDb;
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bool _dbInMemory;
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unsigned int _cacheSize;
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int _journalMode;
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};
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}
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#endif /* DBDRIVERSQLITE3_H_ */
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