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Fixed actions saved in db

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git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@59 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-06-06 05:12:27 +00:00
parent 6fccc56e7a
commit 147bee0e63
5 changed files with 31 additions and 21 deletions
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9
corelib/ConsoleApp/main.cpp
View File

@@ -413,12 +413,9 @@ int main(int argc, char * argv[])
if(i<maxTeleopActions)
{
// ONLY TESTING HERE if maxTeleopActions>0
std::vector<float> v(5);
v[0] = 1;
v[1] = 16;
v[2] = 32;
v[3] = 64;
v[4] = 128;
std::vector<float> v(2);
v[0] = 2;
v[1] = 0;
teleopActions.push_back(v);
smState = new SMState(image, teleopActions);
}

2
corelib/include/rtabmap/core/SMState.h
View File

@@ -61,7 +61,7 @@ public:
}
for(unsigned int i=0; i<sensors.size() && i<i+sensorStep; i+=sensorStep)
{
_sensors.push_back(std::vector<float>(sensors.data()+i, sensors.data()+i+actuatorStep));
_sensors.push_back(std::vector<float>(sensors.data()+i, sensors.data()+i+sensorStep));
}
for(unsigned int i=0; i<actuators.size() && i<i+actuatorStep; i+=actuatorStep)
{

35
corelib/src/DBDriverSqlite3.cpp
View File

@@ -868,7 +868,7 @@ bool DBDriverSqlite3::addNeighborQuery(int id, int neighbor, const std::list<std
}
actions.insert(actions.end(), iter->begin(), iter->end());
}
rc = sqlite3_bind_blob(ppStmt, 4, (unsigned char *)actions.data(), actions.size()*sizeof(float), SQLITE_STATIC);
rc = sqlite3_bind_blob(ppStmt, 4, actions.data(), actions.size()*sizeof(float), SQLITE_STATIC);
if (rc != SQLITE_OK)
{
ULOGGER_ERROR("DB error 2.4: %s", sqlite3_errmsg(_ppDb));
@@ -1970,20 +1970,30 @@ bool DBDriverSqlite3::loadNeighborsQuery(int signatureId, NeighborsMap & neighbo
rc = sqlite3_step(ppStmt);
while(rc == SQLITE_ROW)
{
actions.clear();
nid = sqlite3_column_int(ppStmt, 0);
actionSize = sqlite3_column_int(ppStmt, 1);
data = (const float *)sqlite3_column_blob(ppStmt, 2); // actions array
dataSize = sqlite3_column_bytes(ppStmt, 2)/sizeof(float);
//UDEBUG("%d=%s", nid, uBytes2Hex((char *)data, dataSize*sizeof(float)).c_str());
//UDEBUG("actionSize=%d, dataSize=%d", actionSize, dataSize);
//std::stringstream stream;
//stream << nid << "=";
for(int i=0; i<dataSize; i+=actionSize)
{
//stream << "[";
std::vector<float> action(actionSize);
for(int j=0; j<actionSize; ++j)
{
action[j] = data[i*actionSize + j];
action[j] = data[i + j];
//stream << action[j] << ",";
}
actions.push_back(action);
//stream << "],";
}
//UDEBUG("%s", stream.str().c_str());
neighbors.insert(neighbors.end(), std::pair<int, std::list<std::vector<float> > >(nid, actions)); // nid
rc = sqlite3_step(ppStmt);
}
@@ -2168,10 +2178,10 @@ bool DBDriverSqlite3::updateQuery(const std::list<Signature *> & signatures) con
rc = sqlite3_finalize(ppStmt);
return false;
}
std::vector<float> actions;
if(actionSize)
{
//Concatenate actions
std::vector<float> actions;
for(std::list<std::vector<float> >::const_iterator iter=i->second.begin(); iter!=i->second.end(); ++iter)
{
if(iter->size() != actionSize)
@@ -2180,7 +2190,7 @@ bool DBDriverSqlite3::updateQuery(const std::list<Signature *> & signatures) con
}
actions.insert(actions.end(), iter->begin(), iter->end());
}
rc = sqlite3_bind_blob(ppStmt, 4, (unsigned char *)actions.data(), actions.size()*sizeof(float), SQLITE_STATIC);
rc = sqlite3_bind_blob(ppStmt, 4, actions.data(), actions.size()*sizeof(float), SQLITE_STATIC);
}
else
{
@@ -2435,6 +2445,7 @@ bool DBDriverSqlite3::saveQuery(const KeypointSignature * ss) const
if(compressed)
{
cvReleaseMat(&compressed);
compressed=0;
}
return false;
}
@@ -2444,6 +2455,7 @@ bool DBDriverSqlite3::saveQuery(const KeypointSignature * ss) const
if(compressed)
{
cvReleaseMat(&compressed);// release before any return false
compressed=0;
}
if (rc != SQLITE_DONE)
{
@@ -2607,10 +2619,10 @@ bool DBDriverSqlite3::saveQuery(const KeypointSignature * ss) const
rc = sqlite3_finalize(ppStmt);
return false;
}
std::vector<float> actions;
if(actionSize)
{
//Concatenate actions
std::vector<float> actions;
for(std::list<std::vector<float> >::const_iterator iter=i->second.begin(); iter!=i->second.end(); ++iter)
{
if(iter->size() != actionSize)
@@ -2619,7 +2631,7 @@ bool DBDriverSqlite3::saveQuery(const KeypointSignature * ss) const
}
actions.insert(actions.end(), iter->begin(), iter->end());
}
rc = sqlite3_bind_blob(ppStmt, 4, (unsigned char *)actions.data(), actions.size()*sizeof(float), SQLITE_STATIC);
rc = sqlite3_bind_blob(ppStmt, 4, actions.data(), actions.size()*sizeof(float), SQLITE_STATIC);
}
else
{
@@ -2755,6 +2767,7 @@ bool DBDriverSqlite3::saveQuery(const std::list<KeypointSignature *> & signature
if(compressed)
{
cvReleaseMat(&compressed);
compressed = 0;
}
return false;
}
@@ -2932,10 +2945,10 @@ bool DBDriverSqlite3::saveQuery(const std::list<KeypointSignature *> & signature
rc = sqlite3_finalize(ppStmt);
return false;
}
std::vector<float> actions;
if(actionSize)
{
//Concatenate actions
std::vector<float> actions;
for(std::list<std::vector<float> >::const_iterator iter=i->second.begin(); iter!=i->second.end(); ++iter)
{
if(iter->size() != actionSize)
@@ -2944,7 +2957,11 @@ bool DBDriverSqlite3::saveQuery(const std::list<KeypointSignature *> & signature
}
actions.insert(actions.end(), iter->begin(), iter->end());
}
rc = sqlite3_bind_blob(ppStmt, 4, (unsigned char *)actions.data(), actions.size()*sizeof(float), SQLITE_STATIC);
//UDEBUG("actions.size()=%d",actions.size());
//UDEBUG("%d=%s", i->first, uBytes2Hex((char*)actions.data(), actions.size()*sizeof(float)).c_str());
rc = sqlite3_bind_blob(ppStmt, 4, actions.data(), actions.size()*sizeof(float), SQLITE_STATIC);
}
else
{
@@ -3032,7 +3049,7 @@ bool DBDriverSqlite3::saveQuery(const std::vector<VisualWord *> & visualWords) c
rc = sqlite3_finalize(ppStmt);
return false;
}
rc = sqlite3_bind_blob(ppStmt, 3, (unsigned char *)w->getDescriptor(), w->getDim()*sizeof(float), SQLITE_STATIC);
rc = sqlite3_bind_blob(ppStmt, 3, w->getDescriptor(), w->getDim()*sizeof(float), SQLITE_STATIC);
if (rc != SQLITE_OK)
{
ULOGGER_ERROR("DB error 2.4: %s", sqlite3_errmsg(_ppDb));