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Merged Audio branch to trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@560 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2012-06-24 17:19:34 +00:00
parent 06fb556e78
commit 17b8e10ed8
111 changed files with 8370 additions and 9779 deletions
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88
corelib/src/DBDriver.cpp
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@@ -20,7 +20,8 @@
#include "rtabmap/core/DBDriver.h"
#include "rtabmap/core/Signature.h"
#include "VWDictionary.h"
#include "rtabmap/core/VWDictionary.h"
#include "rtabmap/core/VisualWord.h"
#include "utilite/UConversion.h"
#include "utilite/UMath.h"
#include "utilite/ULogger.h"
@@ -33,7 +34,6 @@ DBDriver::DBDriver(const ParametersMap & parameters) :
_minSignaturesToSave(Parameters::defaultDbMinSignaturesToSave()),
_minWordsToSave(Parameters::defaultDbMinWordsToSave()),
_imagesCompressed(Parameters::defaultDbImagesCompressed()),
_asyncWaiting(true),
_emptyTrashesTime(0)
{
this->parseParameters(parameters);
@@ -109,16 +109,12 @@ long DBDriver::getMemoryUsed() const
void DBDriver::mainLoop()
{
UDEBUG("");
this->emptyTrashes();
UDEBUG("");
this->kill(); // Do it only once
UDEBUG("");
}
void DBDriver::killCleanup()
{
UDEBUG("");
}
void DBDriver::beginTransaction() const
@@ -166,8 +162,6 @@ void DBDriver::emptyTrashes(bool async)
_trashSignatures.clear();
_trashVisualWords.clear();
_asyncWaiting = true;
_dbSafeAccessMutex.lock();
}
_trashesMutex.unlock();
@@ -219,32 +213,35 @@ void DBDriver::emptyTrashes(bool async)
void DBDriver::asyncSave(Signature * s)
{
_trashesMutex.lock();
if(s)
{
_trashSignatures.insert(std::pair<int, Signature*>(s->id(), s));
if(_trashSignatures.size() > _minSignaturesToSave && this->isRunning() && _asyncWaiting)
UDEBUG("s=%d", s->id());
_trashesMutex.lock();
{
ULOGGER_DEBUG("(Sign) Releasing addSem...");
_asyncWaiting = false;
this->start();
_trashSignatures.insert(std::pair<int, Signature*>(s->id(), s));
if(_trashSignatures.size() > _minSignaturesToSave && this->isIdle())
{
this->start();
}
}
_trashesMutex.unlock();
}
_trashesMutex.unlock();
}
void DBDriver::asyncSave(VisualWord * vw)
{
_trashesMutex.lock();
if(vw)
{
_trashVisualWords.insert(std::pair<int, VisualWord*>(vw->id(), vw));
if(_trashVisualWords.size() > _minWordsToSave && this->isRunning() && _asyncWaiting)
_trashesMutex.lock();
{
ULOGGER_DEBUG("(Word) Releasing addSem...");
_asyncWaiting = false;
this->start();
_trashVisualWords.insert(std::pair<int, VisualWord*>(vw->id(), vw));
if(_trashVisualWords.size() > _minWordsToSave && this->isIdle())
{
this->start();
}
}
_trashesMutex.unlock();
}
_trashesMutex.unlock();
}
bool DBDriver::getSignature(int signatureId, Signature ** s)
@@ -350,11 +347,11 @@ bool DBDriver::load(VWDictionary * dictionary) const
return r;
}
bool DBDriver::loadLastSignatures(std::list<Signature *> & signatures) const
bool DBDriver::loadLastNodes(std::list<Signature *> & signatures) const
{
bool r;
_dbSafeAccessMutex.lock();
r = this->loadLastSignaturesQuery(signatures);
r = this->loadLastNodesQuery(signatures);
_dbSafeAccessMutex.unlock();
return r;
}
@@ -605,7 +602,7 @@ bool DBDriver::deleteAllObsoleteSSVWLinks() const
if(this->isConnected())
{
std::string query;
query += "DELETE FROM Map_SS_VW WHERE NOT EXISTS (SELECT id FROM VisualWord WHERE id = Map_SS_VW.visualWordId);";
query += "DELETE FROM Map_Node_Word WHERE NOT EXISTS (SELECT id FROM Word WHERE id = Map_Node_Word.word_id);";
_dbSafeAccessMutex.lock();
bool r = this->executeNoResultQuery(query);
@@ -620,7 +617,7 @@ bool DBDriver::deleteUnreferencedWords() const
ULOGGER_DEBUG("");
if(this->isConnected())
{
std::string query = "DELETE FROM visualword WHERE id NOT IN (SELECT visualWordid FROM map_ss_vw);";
std::string query = "DELETE FROM Word WHERE id NOT IN (SELECT word_id FROM Map_Node_Word);";
_dbSafeAccessMutex.lock();
bool r = this->executeNoResultQuery(query);
_dbSafeAccessMutex.unlock();
@@ -630,16 +627,25 @@ bool DBDriver::deleteUnreferencedWords() const
}
//TODO Check also in the trash ?
bool DBDriver::getImage(int id, IplImage ** img) const
bool DBDriver::getRawData(int id, std::list<Sensor> & rawData) const
{
_dbSafeAccessMutex.lock();
bool result = this->getImageQuery(id, img);
bool result = this->getRawDataQuery(id, rawData);
_dbSafeAccessMutex.unlock();
return result;
}
//TODO Check also in the trash ?
bool DBDriver::getNeighborIds(int signatureId, std::list<int> & neighbors, bool onlyWithActions) const
bool DBDriver::getActuatorData(int id, std::list<Actuator> & data) const
{
_dbSafeAccessMutex.lock();
bool result = this->getActuatorDataQuery(id, data);
_dbSafeAccessMutex.unlock();
return result;
}
//TODO Check also in the trash ?
bool DBDriver::getNeighborIds(int signatureId, std::set<int> & neighbors, bool onlyWithActions) const
{
bool r;
_dbSafeAccessMutex.lock();
@@ -679,50 +685,50 @@ bool DBDriver::getLoopClosureIds(int signatureId, std::set<int> & loopIds, std::
}
//TODO Check also in the trash ?
bool DBDriver::getAllSignatureIds(std::set<int> & ids) const
bool DBDriver::getAllNodeIds(std::set<int> & ids) const
{
bool r;
_dbSafeAccessMutex.lock();
r = this->getAllSignatureIdsQuery(ids);
r = this->getAllNodeIdsQuery(ids);
_dbSafeAccessMutex.unlock();
return r;
}
//TODO Check also in the trash ?
bool DBDriver::getLastSignatureId(int & id) const
bool DBDriver::getLastNodeId(int & id) const
{
bool r;
_dbSafeAccessMutex.lock();
r = this->getLastSignatureIdQuery(id);
r = this->getLastNodeIdQuery(id);
_dbSafeAccessMutex.unlock();
return r;
}
//TODO Check also in the trash ?
bool DBDriver::getLastVisualWordId(int & id) const
bool DBDriver::getLastWordId(int & id) const
{
bool r;
_dbSafeAccessMutex.lock();
r = this->getLastVisualWordIdQuery(id);
r = this->getLastWordIdQuery(id);
_dbSafeAccessMutex.unlock();
return r;
}
//TODO Check also in the trash ?
bool DBDriver::getSurfNi(int signatureId, int & ni) const
bool DBDriver::getInvertedIndexNi(int signatureId, int & ni) const
{
bool r;
_dbSafeAccessMutex.lock();
r = this->getSurfNiQuery(signatureId, ni);
r = this->getInvertedIndexNiQuery(signatureId, ni);
_dbSafeAccessMutex.unlock();
return r;
}
bool DBDriver::getHighestWeightedSignatures(unsigned int count, std::multimap<int, int> & ids) const
bool DBDriver::getHighestWeightedNodeIds(unsigned int count, std::multimap<int, int> & ids) const
{
bool r;
_dbSafeAccessMutex.lock();
r = this->getHighestWeightedSignaturesQuery(count, ids);
r = this->getHighestWeightedNodeIdsQuery(count, ids);
_dbSafeAccessMutex.unlock();
return r;
}
@@ -733,7 +739,7 @@ bool DBDriver::addStatisticsAfterRun(int stMemSize, int lastSignAdded, int proce
if(this->isConnected())
{
std::stringstream query;
query << "INSERT INTO StatisticsAfterRun(stMemSize,lastSignAdded,processMemUsed,databaseMemUsed) values("
query << "INSERT INTO Statistics(STM_size,last_sign_added,process_mem_used,database_mem_used) values("
<< stMemSize << ","
<< lastSignAdded << ","
<< processMemUsed << ","
@@ -751,7 +757,7 @@ bool DBDriver::addStatisticsAfterRunSurf(int dictionarySize) const
if(this->isConnected())
{
std::stringstream query;
query << "INSERT INTO StatisticsAfterRunSurf(dictionarySize) values(" << dictionarySize << ");";
query << "INSERT INTO StatisticsDictionary(dictionary_size) values(" << dictionarySize << ");";
bool r = this->executeNoResultQuery(query.str());
return r;