rtabmap/corelib/src/DBDriverSqlite3.h

/*
 * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
 *
 * This file is part of RTAB-Map.
 *
 * RTAB-Map is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * RTAB-Map is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef DBDRIVERSQLITE3_H_
#define DBDRIVERSQLITE3_H_

#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include "rtabmap/core/DBDriver.h"
#include <opencv2/features2d/features2d.hpp>
#include "sqlite3/sqlite3.h"
#include <pcl/point_types.h>

namespace rtabmap {

class RTABMAP_EXP DBDriverSqlite3: public DBDriver {
public:
	DBDriverSqlite3(const ParametersMap & parameters = ParametersMap());
	virtual ~DBDriverSqlite3();

	virtual void parseParameters(const ParametersMap & parameters);
	void setDbInMemory(bool dbInMemory);
	void setJournalMode(int journalMode);
	void setCacheSize(unsigned int cacheSize);
	void setSynchronous(int synchronous);
	void setTempStore(int tempStore);

private:
	virtual bool connectDatabaseQuery(const std::string & url, bool overwirtten = false);
	virtual void disconnectDatabaseQuery();
	virtual bool isConnectedQuery() const;
	virtual long getMemoryUsedQuery() const; // In bytes

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

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

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

	// Load objects
	virtual void loadQuery(VWDictionary * dictionary) const;
	virtual void loadLastNodesQuery(std::list<Signature *> & signatures) const;
	virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures) const;
	virtual void loadWordsQuery(const std::set<int> & wordIds, std::list<VisualWord *> & vws) const;
	virtual void loadNeighborsQuery(int signatureId, std::map<int, Transform> & neighbors) const;
	virtual void loadLoopClosuresQuery(
			int signatureId,
			std::map<int, Transform> & loopIds,
			std::map<int, Transform> & childIds) const;

	virtual void loadNodeDataQuery(std::list<Signature *> & signatures, bool loadMetricData) const;
	virtual void getNodeDataQuery(
			int signatureId,
			std::vector<unsigned char> & image,
			std::vector<unsigned char> & depth,
			std::vector<unsigned char> & depth2d,
			float & fx,
			float & fy,
			float & cx,
			float & cy,
			Transform & localTransform) const;
	virtual void getNodeDataQuery(int signatureId, std::vector<unsigned char> & image) const;
	virtual void getPoseQuery(int signatureId, Transform & pose, int & mapId) const;
	virtual void getAllNodeIdsQuery(std::set<int> & ids) const;
	virtual void getLastIdQuery(const std::string & tableName, int & id) const;
	virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const;

private:
	std::string queryStepNode() const;
	std::string queryStepImage() const;
	std::string queryStepDepth() const;
	std::string queryStepLink() const;
	std::string queryStepWordsChanged() const;
	std::string queryStepKeypoint() const;
	void stepNode(sqlite3_stmt * ppStmt, const Signature * s) const;
	void stepImage(
			sqlite3_stmt * ppStmt,
			int id,
			const std::vector<unsigned char> & image) const;
	void stepDepth(
			sqlite3_stmt * ppStmt,
			int id,
			const std::vector<unsigned char> & depth,
			const std::vector<unsigned char> & depth2d,
			float fx,
			float fy,
			float cx,
			float cy,
			const Transform & localTransform) const;
	void stepLink(sqlite3_stmt * ppStmt, int fromId, int toId, int type, const Transform & transform) const;
	void stepWordsChanged(sqlite3_stmt * ppStmt, int signatureId, int oldWordId, int newWordId) const;
	void stepKeypoint(sqlite3_stmt * ppStmt, int signatureId, int wordId, const cv::KeyPoint & kp, const pcl::PointXYZ & pt) const;

private:
	void loadLinksQuery(std::list<Signature *> & signatures) const;
	int loadOrSaveDb(sqlite3 *pInMemory, const std::string & fileName, int isSave) const;
	bool getVersion(std::string &) const;

private:
	sqlite3 * _ppDb;
	std::string _version;
	bool _dbInMemory;
	unsigned int _cacheSize;
	int _journalMode;
	int _synchronous;
	int _tempStore;
};

}

#endif /* DBDRIVERSQLITE3_H_ */