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Added Memory::getAllLabels(), added labels to statistics and added DBDriver::getNodeInfo()

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This commit is contained in:
Mathieu Labbe
2015-03-06 16:14:09 -05:00
parent 64fc7a05ae
commit 0c55d30f76
13 changed files with 235 additions and 55 deletions
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6
corelib/include/rtabmap/core/DBDriver.h
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@@ -97,7 +97,7 @@ public:
void loadNodeData(std::list<Signature *> & signatures, bool loadMetricData) const;
void getNodeData(int signatureId, cv::Mat & imageCompressed, cv::Mat & depthCompressed, cv::Mat & laserScanCompressed, float & fx, float & fy, float & cx, float & cy, Transform & localTransform) const;
void getNodeData(int signatureId, cv::Mat & imageCompressed) const;
void getPose(int signatureId, Transform & pose, int & mapId) const;
bool getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp) const;
void loadLinks(int signatureId, std::map<int, Link> & links, Link::Type type = Link::kUndef) const;
void getWeight(int signatureId, int & weight) const;
void getAllNodeIds(std::set<int> & ids, bool ignoreChildren = false) const;
@@ -105,6 +105,7 @@ public:
void getLastWordId(int & id) const;
void getInvertedIndexNi(int signatureId, int & ni) const;
void getNodeIdByLabel(const std::string & label, int & id) const;
void getAllLabels(std::map<int, std::string> & labels) const;
protected:
DBDriver(const ParametersMap & parameters = ParametersMap());
@@ -135,11 +136,12 @@ private:
virtual void loadNodeDataQuery(std::list<Signature *> & signatures, bool loadMetricData) const = 0;
virtual void getNodeDataQuery(int signatureId, cv::Mat & imageCompressed, cv::Mat & depthCompressed, cv::Mat & laserScanCompressed, float & fx, float & fy, float & cx, float & cy, Transform & localTransform) const = 0;
virtual void getNodeDataQuery(int signatureId, cv::Mat & imageCompressed) const = 0;
virtual void getPoseQuery(int signatureId, Transform & pose, int & mapId) const = 0;
virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp) const = 0;
virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren) const = 0;
virtual void getLastIdQuery(const std::string & tableName, int & id) const = 0;
virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const = 0;
virtual void getNodeIdByLabelQuery(const std::string & label, int & id) const = 0;
virtual void getAllLabelsQuery(std::map<int, std::string> & labels) const = 0;
private:
//non-abstract methods

13
corelib/include/rtabmap/core/Memory.h
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@@ -96,9 +96,6 @@ public:
const std::set<int> & getWorkingMem() const {return _workingMem;}
const std::set<int> & getStMem() const {return _stMem;}
int getMaxStMemSize() const {return _maxStMemSize;}
void getPose(int locationId,
Transform & pose,
bool lookInDatabase = false) const;
std::map<int, Link> getNeighborLinks(int signatureId,
bool lookInDatabase = false) const;
std::map<int, Link> getLoopClosureLinks(int signatureId,
@@ -111,9 +108,17 @@ public:
const Signature * getLastWorkingSignature() const;
int getSignatureIdByLabel(const std::string & label, bool lookInDatabase = true) const;
bool labelSignature(int id, const std::string & label);
std::map<int, std::string> getAllLabels() const;
int getDatabaseMemoryUsed() const; // in bytes
double getDbSavingTime() const;
int getMapId(int signatureId) const;
Transform getOdomPose(int signatureId, bool lookInDatabase = false) const;
bool getNodeInfo(int signatureId,
Transform & odomPose,
int & mapId,
int & weight,
std::string & label,
double & stamp,
bool lookInDatabase = false) const;
cv::Mat getImageCompressed(int signatureId) const;
Signature getSignatureData(int locationId, bool uncompressedData = false);
Signature getSignatureDataConst(int locationId) const;

2
corelib/include/rtabmap/core/Rtabmap.h
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@@ -113,11 +113,13 @@ public:
std::map<int, Transform> & poses,
std::multimap<int, Link> & constraints,
std::map<int, int> & mapIds,
std::map<int, std::string> & labels,
bool optimized,
bool global) const;
void getGraph(std::map<int, Transform> & poses,
std::multimap<int, Link> & constraints,
std::map<int, int> & mapIds,
std::map<int, std::string> & labels,
bool optimized,
bool global);
void clearPath();

8
corelib/include/rtabmap/core/RtabmapEvent.h
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@@ -148,12 +148,14 @@ public:
const std::map<int, Signature> & signatures,
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & constraints,
const std::map<int, int> & mapIds) :
const std::map<int, int> & mapIds,
const std::map<int, std::string> & labels) :
UEvent(0),
_signatures(signatures),
_poses(poses),
_constraints(constraints),
_mapIds(mapIds)
_mapIds(mapIds),
_labels(labels)
{}
virtual ~RtabmapEvent3DMap() {}
@@ -162,6 +164,7 @@ public:
const std::map<int, Transform> & getPoses() const {return _poses;}
const std::multimap<int, Link> & getConstraints() const {return _constraints;}
const std::map<int, int> & getMapIds() const {return _mapIds;}
const std::map<int, std::string> & getLabels() const {return _labels;}
virtual std::string getClassName() const {return std::string("RtabmapEvent3DMap");}
@@ -170,6 +173,7 @@ private:
std::map<int, Transform> _poses;
std::multimap<int, Link> _constraints;
std::map<int, int> _mapIds;
std::map<int, std::string> _labels;
};
} // namespace rtabmap

3
corelib/include/rtabmap/core/Statistics.h
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@@ -128,6 +128,7 @@ public:
void setLocalLoopClosureId(int localLoopClosureId) {_localLoopClosureId = localLoopClosureId;}
void setMapIds(const std::map<int, int> & mapIds) {_mapIds = mapIds;}
void setLabels(const std::map<int, std::string> & labels) {_labels = labels;}
void setSignature(const Signature & s) {_signature = s;}
void setPoses(const std::map<int, Transform> & poses) {_poses = poses;}
@@ -147,6 +148,7 @@ public:
int localLoopClosureId() const {return _localLoopClosureId;}
const std::map<int, int> & getMapIds() const {return _mapIds;}
const std::map<int, std::string> & getLabels() const {return _labels;}
const Signature & getSignature() const {return _signature;}
const std::map<int, Transform> & poses() const {return _poses;}
@@ -170,6 +172,7 @@ private:
// extended data start here...
std::map<int, int> _mapIds;
std::map<int, std::string> _labels;
// Signature data
Signature _signature;