i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-05 01:27:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Version 0.8.8: added "user_data" field in database. Added WifiMapping example. Fixed FATAL error when initializing rtabmap with no database.

Browse Source
This commit is contained in:
Mathieu Labbe
2015-03-25 13:31:12 -04:00
parent 2be511813e
commit 186dc60a49
32 changed files with 1064 additions and 141 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/DBDriverSqlite3.cpp
+108 -24
View File
@@ -458,10 +458,10 @@ void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures, boo
if(loadMetricData)
{
if(uStrNumCmp(_version, "0.7.0") < 0)
if(uStrNumCmp(_version, "0.7.0") >= 0)
{
query << "SELECT Image.data, "
"Depth.data, Depth.constant, Depth.local_transform, Depth.data2d "
"Depth.data, Depth.fx, Depth.fy, Depth.cx, Depth.cy, Depth.local_transform, Depth.data2d "
<< "FROM Image "
<< "LEFT OUTER JOIN Depth " // returns all images even if there are no metric data
<< "ON Image.id = Depth.id "
@@ -471,7 +471,7 @@ void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures, boo
else
{
query << "SELECT Image.data, "
"Depth.data, Depth.fx, Depth.fy, Depth.cx, Depth.cy, Depth.local_transform, Depth.data2d "
"Depth.data, Depth.constant, Depth.local_transform, Depth.data2d "
<< "FROM Image "
<< "LEFT OUTER JOIN Depth " // returns all images even if there are no metric data
<< "ON Image.id = Depth.id "
@@ -598,10 +598,10 @@ void DBDriverSqlite3::getNodeDataQuery(
sqlite3_stmt * ppStmt = 0;
std::stringstream query;
if(uStrNumCmp(_version, "0.7.0") < 0)
if(uStrNumCmp(_version, "0.7.0") >= 0)
{
query << "SELECT Image.data, "
"Depth.data, Depth.constant, Depth.local_transform, Depth.data2d "
"Depth.data, Depth.fx, Depth.fy, Depth.cx, Depth.cy, Depth.local_transform, Depth.data2d "
<< "FROM Image "
<< "LEFT OUTER JOIN Depth " // returns all images even if there are no metric data
<< "ON Image.id = Depth.id "
@@ -611,7 +611,7 @@ void DBDriverSqlite3::getNodeDataQuery(
else
{
query << "SELECT Image.data, "
"Depth.data, Depth.fx, Depth.fy, Depth.cx, Depth.cy, Depth.local_transform, Depth.data2d "
"Depth.data, Depth.constant, Depth.local_transform, Depth.data2d "
<< "FROM Image "
<< "LEFT OUTER JOIN Depth " // returns all images even if there are no metric data
<< "ON Image.id = Depth.id "
@@ -756,7 +756,8 @@ bool DBDriverSqlite3::getNodeInfoQuery(int signatureId,
int & mapId,
int & weight,
std::string & label,
double & stamp) const
double & stamp,
std::vector<unsigned char> & userData) const
{
bool found = false;
if(_ppDb && signatureId)
@@ -766,9 +767,16 @@ bool DBDriverSqlite3::getNodeInfoQuery(int signatureId,
std::stringstream query;
// Prepare the query... Get the map from signature and visual words
if(uStrNumCmp(_version, "0.8.5") >= 0)
if(uStrNumCmp(_version, "0.8.8") >= 0)
{
query << "SELECT pose, map_id, weight, label "
query << "SELECT pose, map_id, weight, label, stamp, user_data"
"FROM Node "
"WHERE id = " << signatureId <<
";";
}
else if(uStrNumCmp(_version, "0.8.5") >= 0)
{
query << "SELECT pose, map_id, weight, label, stamp "
"FROM Node "
"WHERE id = " << signatureId <<
";";
@@ -810,6 +818,19 @@ bool DBDriverSqlite3::getNodeInfoQuery(int signatureId,
{
label = reinterpret_cast<const char*>(p); // label
}
stamp = sqlite3_column_double(ppStmt, index++); // stamp
}
if(uStrNumCmp(_version, "0.8.8") >= 0)
{
data = sqlite3_column_blob(ppStmt, index);
dataSize = sqlite3_column_bytes(ppStmt, index++); // user_data
if(dataSize && data)
{
userData.resize(dataSize);
memcpy(userData.data(), data, dataSize);
}
}
rc = sqlite3_step(ppStmt); // next result...
@@ -1073,7 +1094,13 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
unsigned int loaded = 0;
// Load nodes information
if(uStrNumCmp(_version, "0.8.5") >= 0)
if(uStrNumCmp(_version, "0.8.8") >= 0)
{
query << "SELECT id, map_id, weight, pose, stamp, label, user_data "
<< "FROM Node "
<< "WHERE id=?;";
}
else if(uStrNumCmp(_version, "0.8.5") >= 0)
{
query << "SELECT id, map_id, weight, pose, stamp, label "
<< "FROM Node "
@@ -1104,6 +1131,7 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
const void * data = 0;
int dataSize = 0;
std::string label;
std::vector<unsigned char> userData;
// Process the result if one
rc = sqlite3_step(ppStmt);
@@ -1123,14 +1151,26 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
if(uStrNumCmp(_version, "0.8.5") >= 0)
{
stamp = sqlite3_column_double(ppStmt, index++);
const unsigned char * p = sqlite3_column_text(ppStmt, index++);
stamp = sqlite3_column_double(ppStmt, index++); // stamp
const unsigned char * p = sqlite3_column_text(ppStmt, index++); // label
if(p)
{
label = reinterpret_cast<const char*>(p);
}
}
if(uStrNumCmp(_version, "0.8.8") >= 0)
{
data = sqlite3_column_blob(ppStmt, index);
dataSize = sqlite3_column_bytes(ppStmt, index++); // user_data
if(dataSize && data)
{
userData.resize(dataSize);
memcpy(userData.data(), data, dataSize);
}
}
rc = sqlite3_step(ppStmt);
}
UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
@@ -1147,7 +1187,8 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
label,
std::multimap<int, cv::KeyPoint>(),
std::multimap<int, pcl::PointXYZ>(),
pose);
pose,
userData);
s->setSaved(true);
nodes.push_back(s);
++loaded;
@@ -1704,7 +1745,18 @@ void DBDriverSqlite3::updateQuery(const std::list<Signature *> & nodes, bool upd
Signature * s = 0;
std::string query;
if(uStrNumCmp(_version, "0.8.5") >= 0)
if(uStrNumCmp(_version, "0.8.8") >= 0)
{
if(updateTimestamp)
{
query = "UPDATE Node SET weight=?, label=?, user_data=?, time_enter = DATETIME('NOW') WHERE id=?;";
}
else
{
query = "UPDATE Node SET weight=?, label=?, user_data=? WHERE id=?;";
}
}
else if(uStrNumCmp(_version, "0.8.5") >= 0)
{
if(updateTimestamp)
{
@@ -1752,6 +1804,20 @@ void DBDriverSqlite3::updateQuery(const std::list<Signature *> & nodes, bool upd
}
}
if(uStrNumCmp(_version, "0.8.8") >= 0)
{
if(s->getUserData().empty())
{
rc = sqlite3_bind_null(ppStmt, index++);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
}
else
{
rc = sqlite3_bind_blob(ppStmt, index++, s->getUserData().data(), (int)s->getUserData().size(), SQLITE_STATIC);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
}
}
rc = sqlite3_bind_int(ppStmt, index++, s->id());
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
@@ -2049,7 +2115,11 @@ void DBDriverSqlite3::saveQuery(const std::list<VisualWord *> & words) const
std::string DBDriverSqlite3::queryStepNode() const
{
if(uStrNumCmp(_version, "0.8.5") >= 0)
if(uStrNumCmp(_version, "0.8.8") >= 0)
{
return "INSERT INTO Node(id, map_id, weight, pose, stamp, label, user_data) VALUES(?,?,?,?,?,?,?);";
}
else if(uStrNumCmp(_version, "0.8.5") >= 0)
{
return "INSERT INTO Node(id, map_id, weight, pose, stamp, label) VALUES(?,?,?,?,?,?);";
}
@@ -2091,6 +2161,20 @@ void DBDriverSqlite3::stepNode(sqlite3_stmt * ppStmt, const Signature * s) const
}
}
if(uStrNumCmp(_version, "0.8.8") >= 0)
{
if(s->getUserData().empty())
{
rc = sqlite3_bind_null(ppStmt, index++);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
}
else
{
rc = sqlite3_bind_blob(ppStmt, index++, s->getUserData().data(), (int)s->getUserData().size(), SQLITE_STATIC);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
}
}
//step
rc=sqlite3_step(ppStmt);
UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
@@ -2139,13 +2223,13 @@ void DBDriverSqlite3::stepImage(sqlite3_stmt * ppStmt,
std::string DBDriverSqlite3::queryStepDepth() const
{
if(uStrNumCmp(_version, "0.7.0") < 0)
if(uStrNumCmp(_version, "0.7.0") >= 0)
{
return "INSERT INTO Depth(id, data, constant, local_transform, data2d) VALUES(?,?,?,?,?);";
return "INSERT INTO Depth(id, data, fx, fy, cx, cy, local_transform, data2d) VALUES(?,?,?,?,?,?,?,?);";
}
else
{
return "INSERT INTO Depth(id, data, fx, fy, cx, cy, local_transform, data2d) VALUES(?,?,?,?,?,?,?,?);";
return "INSERT INTO Depth(id, data, constant, local_transform, data2d) VALUES(?,?,?,?,?);";
}
}
void DBDriverSqlite3::stepDepth(sqlite3_stmt * ppStmt,
@@ -2180,12 +2264,7 @@ void DBDriverSqlite3::stepDepth(sqlite3_stmt * ppStmt,
}
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
if(uStrNumCmp(_version, "0.7.0") < 0)
{
rc = sqlite3_bind_double(ppStmt, index++, 1.0f/fx);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
}
else
if(uStrNumCmp(_version, "0.7.0") >= 0)
{
rc = sqlite3_bind_double(ppStmt, index++, fx);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
@@ -2196,6 +2275,11 @@ void DBDriverSqlite3::stepDepth(sqlite3_stmt * ppStmt,
rc = sqlite3_bind_double(ppStmt, index++, cy);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
}
else
{
rc = sqlite3_bind_double(ppStmt, index++, 1.0f/fx);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
}
rc = sqlite3_bind_blob(ppStmt, index++, localTransform.data(), localTransform.size()*sizeof(float), SQLITE_STATIC);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());