refactored DBDriver (fixed the TODOs)

corelib/src/DBDriver.cpp

@@ -307,8 +307,6 @@ void DBDriver::loadSignatures(const std::list<int> & signIds,
 	bool valueFound = false;
 	_trashesMutex.lock();
 	{
-		_dbSafeAccessMutex.lock();
-		_dbSafeAccessMutex.unlock();
 		for(std::list<int>::iterator iter = ids.begin(); iter != ids.end();)
 		{
 			valueFound = false;
@@ -361,8 +359,6 @@ void DBDriver::loadWords(const std::set<int> & wordIds, std::list<VisualWord *>
 	{
 		if(_trashVisualWords.size())
 		{
-			_dbSafeAccessMutex.lock();
-			_dbSafeAccessMutex.unlock();
 			for(std::set<int>::iterator iter = ids.begin(); iter != ids.end();)
 			{
 				wIter = _trashVisualWords.find(*iter);
@@ -394,15 +390,26 @@ void DBDriver::loadWords(const std::set<int> & wordIds, std::list<VisualWord *>
 	}
 }
 
-//TODO Check also in the trash ?
 void DBDriver::loadNodeData(std::list<Signature *> & signatures, bool loadMetricData) const
 {
+	// Don't look in the trash, we assume that if we want to load
+	// data of a signature, it is not in thrash! Print an error if so.
+	_trashesMutex.lock();
+	if(_trashSignatures.size())
+	{
+		for(std::list<Signature *>::iterator iter=signatures.begin(); iter!=signatures.end(); ++iter)
+		{
+			UASSERT(*iter != 0);
+			UASSERT_MSG(uContains(_trashSignatures, (*iter)->id()), uFormat("Signature %d should not be used when transferred to trash!!!!", (*iter)->id()).c_str());
+		}
+	}
+	_trashesMutex.unlock();
+
 	_dbSafeAccessMutex.lock();
 	this->loadNodeDataQuery(signatures, loadMetricData);
 	_dbSafeAccessMutex.unlock();
 }
 
-//TODO Check also in the trash ?
 void DBDriver::getNodeData(
 		int signatureId,
 		cv::Mat & imageCompressed,
@@ -414,73 +421,216 @@ void DBDriver::getNodeData(
 		float & cy,
 		Transform & localTransform) const
 {
-	_dbSafeAccessMutex.lock();
+	bool found = false;
-	this->getNodeDataQuery(signatureId, imageCompressed, depthCompressed, laserScanCompressed, fx, fy, cx, cy, localTransform);
+	// look in the trash
-	_dbSafeAccessMutex.unlock();
+	_trashesMutex.lock();
+	if(uContains(_trashSignatures, signatureId))
+	{
+		const Signature * s = _trashSignatures.at(signatureId);
+		if(!s->getImageCompressed().empty() || !s->isSaved())
+		{
+			imageCompressed = s->getImageCompressed();
+			depthCompressed = s->getDepthCompressed();
+			laserScanCompressed = s->getLaserScanCompressed();
+			fx = s->getDepthFx();
+			fy = s->getDepthFy();
+			cx = s->getDepthCx();
+			cy = s->getDepthCy();
+			localTransform = s->getLocalTransform();
+			found = true;
+		}
+	}
+	_trashesMutex.unlock();
+
+	if(!found)
+	{
+		_dbSafeAccessMutex.lock();
+		this->getNodeDataQuery(signatureId, imageCompressed, depthCompressed, laserScanCompressed, fx, fy, cx, cy, localTransform);
+		_dbSafeAccessMutex.unlock();
+	}
 }
 
-//TODO Check also in the trash ?
 void DBDriver::getNodeData(int signatureId, cv::Mat & imageCompressed) const
 {
-	_dbSafeAccessMutex.lock();
+	bool found = false;
-	this->getNodeDataQuery(signatureId, imageCompressed);
+	// look in the trash
-	_dbSafeAccessMutex.unlock();
+	_trashesMutex.lock();
+	if(uContains(_trashSignatures, signatureId))
+	{
+		const Signature * s = _trashSignatures.at(signatureId);
+		if(!s->getImageCompressed().empty() || !s->isSaved())
+		{
+			imageCompressed = s->getImageCompressed();
+			found = true;
+		}
+	}
+	_trashesMutex.unlock();
+
+	if(!found)
+	{
+		_dbSafeAccessMutex.lock();
+		this->getNodeDataQuery(signatureId, imageCompressed);
+		_dbSafeAccessMutex.unlock();
+	}
 }
 
-//TODO Check also in the trash ?
 void DBDriver::getPose(int signatureId, Transform & pose, int & mapId) const
 {
-	_dbSafeAccessMutex.lock();
+	bool found = false;
-	this->getPoseQuery(signatureId, pose, mapId);
+	// look in the trash
-	_dbSafeAccessMutex.unlock();
+	_trashesMutex.lock();
+	if(uContains(_trashSignatures, signatureId))
+	{
+		pose = _trashSignatures.at(signatureId)->getPose();
+		mapId = _trashSignatures.at(signatureId)->mapId();
+		found = true;
+	}
+	_trashesMutex.unlock();
+
+	if(!found)
+	{
+		_dbSafeAccessMutex.lock();
+		this->getPoseQuery(signatureId, pose, mapId);
+		_dbSafeAccessMutex.unlock();
+	}
 }
 
-//TODO Check also in the trash ?
 void DBDriver::loadLinks(int signatureId, std::map<int, Link> & links, Link::Type type) const
 {
-	_dbSafeAccessMutex.lock();
+	bool found = false;
-	this->loadLinksQuery(signatureId, links, type);
+	// look in the trash
-	_dbSafeAccessMutex.unlock();
+	_trashesMutex.lock();
+	if(uContains(_trashSignatures, signatureId))
+	{
+		const Signature * s = _trashSignatures.at(signatureId);
+		UASSERT(s != 0);
+		for(std::multimap<int, Link>::const_iterator nIter = s->getLinks().begin();
+				nIter!=s->getLinks().end();
+				++nIter)
+		{
+			if(type == Link::kUndef || nIter->second.type() == type)
+			{
+				links.insert(*nIter);
+			}
+		}
+		found = true;
+	}
+	_trashesMutex.unlock();
+
+	if(!found)
+	{
+		_dbSafeAccessMutex.lock();
+		this->loadLinksQuery(signatureId, links, type);
+		_dbSafeAccessMutex.unlock();
+	}
 }
 
-//TODO Check also in the trash ?
 void DBDriver::getWeight(int signatureId, int & weight) const
 {
-	_dbSafeAccessMutex.lock();
+	bool found = false;
-	this->getWeightQuery(signatureId, weight);
+	// look in the trash
-	_dbSafeAccessMutex.unlock();
+	_trashesMutex.lock();
+	if(uContains(_trashSignatures, signatureId))
+	{
+		weight = _trashSignatures.at(signatureId)->getWeight();
+		found = true;
+	}
+	_trashesMutex.unlock();
+
+	if(!found)
+	{
+		_dbSafeAccessMutex.lock();
+		this->getWeightQuery(signatureId, weight);
+		_dbSafeAccessMutex.unlock();
+	}
 }
 
-//TODO Check also in the trash ?
 void DBDriver::getAllNodeIds(std::set<int> & ids, bool ignoreChildren) const
 {
+	// look in the trash
+	_trashesMutex.lock();
+	if(_trashSignatures.size())
+	{
+		for(std::map<int, Signature*>::const_iterator sIter = _trashSignatures.begin(); sIter!=_trashSignatures.end(); ++sIter)
+		{
+			bool hasNeighbors = !ignoreChildren;
+			if(ignoreChildren)
+			{
+				for(std::multimap<int, Link>::const_iterator nIter = sIter->second->getLinks().begin();
+						nIter!=sIter->second->getLinks().end();
+						++nIter)
+				{
+					if(nIter->second.type() == Link::kNeighbor)
+					{
+						hasNeighbors = true;
+						break;
+					}
+				}
+			}
+			if(hasNeighbors)
+			{
+				ids.insert(sIter->first);
+			}
+		}
+
+		std::vector<int> keys = uKeys(_trashSignatures);
+
+	}
+	_trashesMutex.unlock();
+
 	_dbSafeAccessMutex.lock();
 	this->getAllNodeIdsQuery(ids, ignoreChildren);
 	_dbSafeAccessMutex.unlock();
 }
 
-//TODO Check also in the trash ?
 void DBDriver::getLastNodeId(int & id) const
 {
+	// look in the trash
+	_trashesMutex.lock();
+	if(_trashSignatures.size())
+	{
+		id = _trashSignatures.rbegin()->first;
+	}
+	_trashesMutex.unlock();
+
 	_dbSafeAccessMutex.lock();
 	this->getLastIdQuery("Node", id);
 	_dbSafeAccessMutex.unlock();
 }
 
-//TODO Check also in the trash ?
 void DBDriver::getLastWordId(int & id) const
 {
+	// look in the trash
+	_trashesMutex.lock();
+	if(_trashVisualWords.size())
+	{
+		id = _trashVisualWords.rbegin()->first;
+	}
+	_trashesMutex.unlock();
+
 	_dbSafeAccessMutex.lock();
 	this->getLastIdQuery("Word", id);
 	_dbSafeAccessMutex.unlock();
 }
 
-//TODO Check also in the trash ?
 void DBDriver::getInvertedIndexNi(int signatureId, int & ni) const
 {
-	_dbSafeAccessMutex.lock();
+	bool found = false;
-	this->getInvertedIndexNiQuery(signatureId, ni);
+	// look in the trash
-	_dbSafeAccessMutex.unlock();
+	_trashesMutex.lock();
+	if(uContains(_trashSignatures, signatureId))
+	{
+		ni = _trashSignatures.at(signatureId)->getWords().size();
+		found = true;
+	}
+	_trashesMutex.unlock();
+
+	if(!found)
+	{
+		_dbSafeAccessMutex.lock();
+		this->getInvertedIndexNiQuery(signatureId, ni);
+		_dbSafeAccessMutex.unlock();
+	}
 }
 
 void DBDriver::getNodeIdByLabel(const std::string & label, int & id) const

guilib/include/rtabmap/gui/MainWindow.h

@@ -113,6 +113,7 @@ protected:
 	virtual void showEvent(QShowEvent* anEvent);
 	virtual void moveEvent(QMoveEvent* anEvent);
 	virtual void resizeEvent(QResizeEvent* anEvent);
+	virtual bool eventFilter(QObject *obj, QEvent *event);
 
 private slots:
 	void changeState(MainWindow::State state);

guilib/src/MainWindow.cpp

@@ -173,6 +173,19 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 		//_ui->dockWidget_odometry->setVisible(false);
 		//_ui->dockWidget_cloudViewer->setVisible(false);
 		//_ui->dockWidget_imageView->setVisible(false);
+
+		// catch resize events
+		_ui->dockWidget_posterior->installEventFilter(this);
+		_ui->dockWidget_likelihood->installEventFilter(this);
+		_ui->dockWidget_rawlikelihood->installEventFilter(this);
+		_ui->dockWidget_statsV2->installEventFilter(this);
+		_ui->dockWidget_console->installEventFilter(this);
+		_ui->dockWidget_loopClosureViewer->installEventFilter(this);
+		_ui->dockWidget_mapVisibility->installEventFilter(this);
+		_ui->dockWidget_graphViewer->installEventFilter(this);
+		_ui->dockWidget_odometry->installEventFilter(this);
+		_ui->dockWidget_cloudViewer->installEventFilter(this);
+		_ui->dockWidget_imageView->installEventFilter(this);
 	}
 
 	_ui->widget_mainWindow->setVisible(false);
@@ -2175,6 +2188,15 @@ void MainWindow::resizeEvent(QResizeEvent* anEvent)
 	}
 }
 
+bool MainWindow::eventFilter(QObject *obj, QEvent *event)
+{
+	if (event->type() == QEvent::Resize && qobject_cast<QDockWidget*>(obj))
+	{
+		this->setWindowModified(true);
+	}
+	return QWidget::eventFilter(obj, event);
+}
+
 void MainWindow::updateSelectSourceImageMenu(bool used, PreferencesDialog::Src src)
 {
 	_ui->actionUsbCamera->setChecked(used && src == PreferencesDialog::kSrcUsbDevice);