merged attention branch to trunk

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@657 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/src/DBDriver.cpp

@@ -19,9 +19,8 @@
 
 #include "rtabmap/core/DBDriver.h"
 
-#include "rtabmap/core/Signature.h"
-#include "rtabmap/core/VWDictionary.h"
-#include "rtabmap/core/VisualWord.h"
+#include "Signature.h"
+#include "VisualWord.h"
 #include "utilite/UConversion.h"
 #include "utilite/UMath.h"
 #include "utilite/ULogger.h"
@@ -31,8 +30,6 @@
 namespace rtabmap {
 
 DBDriver::DBDriver(const ParametersMap & parameters) :
-	_minSignaturesToSave(Parameters::defaultDbMinSignaturesToSave()),
-	_minWordsToSave(Parameters::defaultDbMinWordsToSave()),
 	_imagesCompressed(Parameters::defaultDbImagesCompressed()),
 	_emptyTrashesTime(0)
 {
@@ -48,14 +45,6 @@ DBDriver::~DBDriver()
 void DBDriver::parseParameters(const ParametersMap & parameters)
 {
 	ParametersMap::const_iterator iter;
-	if((iter=parameters.find(Parameters::kDbMinSignaturesToSave())) != parameters.end())
-	{
-		_minSignaturesToSave = std::atoi((*iter).second.c_str());
-	}
-	if((iter=parameters.find(Parameters::kDbMinWordsToSave())) != parameters.end())
-	{
-		_minWordsToSave = std::atoi((*iter).second.c_str());
-	}
 	if((iter=parameters.find(Parameters::kDbImagesCompressed())) != parameters.end())
 	{
 		_imagesCompressed = uStr2Bool((*iter).second.c_str());
@@ -131,18 +120,15 @@ void DBDriver::commit() const
 	_transactionMutex.unlock();
 }
 
-bool DBDriver::executeNoResult(const std::string & sql) const
+void DBDriver::executeNoResult(const std::string & sql) const
 {
-	bool r;
 	_dbSafeAccessMutex.lock();
-	r = this->executeNoResultQuery(sql);
+	this->executeNoResultQuery(sql);
 	_dbSafeAccessMutex.unlock();
-	return r;
 }
 
 void DBDriver::emptyTrashes(bool async)
 {
-	ULOGGER_DEBUG("");
 	if(async)
 	{
 		ULOGGER_DEBUG("Async emptying, start the trash thread");
@@ -153,11 +139,12 @@ void DBDriver::emptyTrashes(bool async)
 	UTimer totalTime;
 	totalTime.start();
 
-	std::vector<Signature*> signatures;
+	std::map<int, Signature*> signatures;
 	std::map<int, VisualWord*> visualWords;
 	_trashesMutex.lock();
 	{
-		signatures = uValues(_trashSignatures);
+		ULOGGER_DEBUG("signatures=%d, visualWords=%d", _trashSignatures.size(), _trashVisualWords.size());
+		signatures = _trashSignatures;
 		visualWords = _trashVisualWords;
 		_trashSignatures.clear();
 		_trashVisualWords.clear();
@@ -168,7 +155,6 @@ void DBDriver::emptyTrashes(bool async)
 
 	if(signatures.size() || visualWords.size())
 	{
-		ULOGGER_DEBUG("trashSignatures size = %d, trashVisualWords size = %d", signatures.size(), visualWords.size());
 		this->beginTransaction();
 		UTimer timer;
 		timer.start();
@@ -177,16 +163,16 @@ void DBDriver::emptyTrashes(bool async)
 			if(this->isConnected())
 			{
 				//Only one query to the database
-				this->saveOrUpdate(signatures);
+				this->saveOrUpdate(uValues(signatures));
 			}
 
-			for(std::vector<Signature *>::iterator iter=signatures.begin(); iter!=signatures.end(); ++iter)
+			for(std::map<int, Signature *>::iterator iter=signatures.begin(); iter!=signatures.end(); ++iter)
 			{
-				delete *iter;
+				delete iter->second;
 			}
 			signatures.clear();
+			ULOGGER_DEBUG("Time emptying memory signatures trash = %f...", timer.ticks());
 		}
-		ULOGGER_DEBUG("Time emptying memory signatures trash = %f...", timer.ticks());
 		if(visualWords.size())
 		{
 			if(this->isConnected())
@@ -200,8 +186,9 @@ void DBDriver::emptyTrashes(bool async)
 				delete (*iter).second;
 			}
 			visualWords.clear();
+			ULOGGER_DEBUG("Time emptying memory visualWords trash = %f...", timer.ticks());
 		}
-		ULOGGER_DEBUG("Time emptying memory visualWords trash = %f...", timer.ticks());
+
 		this->commit();
 	}
 
@@ -219,10 +206,6 @@ void DBDriver::asyncSave(Signature * s)
 		_trashesMutex.lock();
 		{
 			_trashSignatures.insert(std::pair<int, Signature*>(s->id(), s));
-			if(_trashSignatures.size() > _minSignaturesToSave && this->isIdle())
-			{
-				this->start();
-			}
 		}
 		_trashesMutex.unlock();
 	}
@@ -235,79 +218,13 @@ void DBDriver::asyncSave(VisualWord * vw)
 		_trashesMutex.lock();
 		{
 			_trashVisualWords.insert(std::pair<int, VisualWord*>(vw->id(), vw));
-			if(_trashVisualWords.size() > _minWordsToSave && this->isIdle())
-			{
-				this->start();
-			}
 		}
 		_trashesMutex.unlock();
 	}
 }
 
-bool DBDriver::getSignature(int signatureId, Signature ** s)
-{
-	*s = 0;
-	_trashesMutex.lock();
-	{
-		if(_trashSignatures.size())
-		{
-			_dbSafeAccessMutex.lock();
-			_dbSafeAccessMutex.unlock();
-			std::map<int, Signature*>::iterator iter =_trashSignatures.find(signatureId);
-			if(iter != _trashSignatures.end())
-			{
-				*s = iter->second;
-				_trashSignatures.erase(iter);
-			}
-		}
-	}
-	_trashesMutex.unlock();
-
-	if(*s == 0)
-	{
-		bool r;
-		_dbSafeAccessMutex.lock();
-		r = this->loadQuery(signatureId, s);
-		_dbSafeAccessMutex.unlock();
-		return r;
-	}
-
-	return true;
-}
-
-bool DBDriver::getVisualWord(int wordId, VisualWord ** vw)
-{
-	*vw = 0;
-	_trashesMutex.lock();
-	{
-		if(_trashVisualWords.size())
-		{
-			_dbSafeAccessMutex.lock();
-			_dbSafeAccessMutex.unlock();
-			std::map<int, VisualWord*>::iterator iter = _trashVisualWords.find(wordId);
-			if(iter != _trashVisualWords.end())
-			{
-				*vw = iter->second;
-				_trashVisualWords.erase(iter);
-			}
-		}
-	}
-	_trashesMutex.unlock();
-
-	if(*vw == 0)
-	{
-		bool r;
-		_dbSafeAccessMutex.lock();
-		r = this->loadQuery(wordId, vw);
-		_dbSafeAccessMutex.unlock();
-		return r;
-	}
-
-	return true;
-}
-
 //Automatically begin and commit a transaction
-bool DBDriver::saveOrUpdate(const std::vector<Signature *> & signatures) const
+void DBDriver::saveOrUpdate(const std::vector<Signature *> & signatures) const
 {
 	ULOGGER_DEBUG("");
 	std::list<Signature *> toSave;
@@ -335,28 +252,23 @@ bool DBDriver::saveOrUpdate(const std::vector<Signature *> & signatures) const
 			this->saveQuery(toSave);
 		}
 	}
-	return false;
 }
 
-bool DBDriver::load(VWDictionary * dictionary) const
+void DBDriver::load(VWDictionary * dictionary) const
 {
-	bool r;
 	_dbSafeAccessMutex.lock();
-	r = this->loadQuery(dictionary);
+	this->loadQuery(dictionary);
 	_dbSafeAccessMutex.unlock();
-	return r;
 }
 
-bool DBDriver::loadLastNodes(std::list<Signature *> & signatures) const
+void DBDriver::loadLastNodes(std::list<Signature *> & signatures) const
 {
-	bool r;
 	_dbSafeAccessMutex.lock();
-	r = this->loadLastNodesQuery(signatures);
+	this->loadLastNodesQuery(signatures);
 	_dbSafeAccessMutex.unlock();
-	return r;
 }
 
-bool DBDriver::loadKeypointSignatures(const std::list<int> & signIds, std::list<Signature *> & signatures)
+void DBDriver::loadSignatures(const std::list<int> & signIds, std::list<Signature *> & signatures)
 {
 	UDEBUG("");
 	// look up in the trash before the database
@@ -399,84 +311,16 @@ bool DBDriver::loadKeypointSignatures(const std::list<int> & signIds, std::list<
 	UDEBUG("");
 	if(ids.size())
 	{
-		bool r;
 		_dbSafeAccessMutex.lock();
-		r = this->loadKeypointSignaturesQuery(ids, signatures);
+		this->loadSignaturesQuery(ids, signatures);
 		_dbSafeAccessMutex.unlock();
-		return r;
 	}
-	else if(signatures.size())
-	{
-		return true;
-	}
-	return false;
 }
 
-// TODO the same code of method loadKeypointSignatures() above is used here
-bool DBDriver::loadSMSignatures(const std::list<int> & signIds, std::list<Signature *> & signatures)
+void DBDriver::loadWords(const std::set<int> & wordIds, std::list<VisualWord *> & vws)
 {
-	UDEBUG("");
 	// look up in the trash before the database
-	std::list<int> ids = signIds;
-	std::list<Signature*>::iterator sIter;
-	bool valueFound = false;
-	_trashesMutex.lock();
-	{
-		_dbSafeAccessMutex.lock();
-		_dbSafeAccessMutex.unlock();
-		for(std::list<int>::iterator iter = ids.begin(); iter != ids.end();)
-		{
-			valueFound = false;
-			for(std::map<int, Signature*>::iterator sIter = _trashSignatures.begin(); sIter!=_trashSignatures.end();)
-			{
-				if(sIter->first == *iter)
-				{
-					signatures.push_back(sIter->second);
-					_trashSignatures.erase(sIter++);
-
-					valueFound = true;
-					break;
-				}
-				else
-				{
-					++sIter;
-				}
-			}
-			if(valueFound)
-			{
-				iter = ids.erase(iter);
-			}
-			else
-			{
-				++iter;
-			}
-		}
-	}
-	_trashesMutex.unlock();
-	UDEBUG("");
-	if(ids.size())
-	{
-		bool r;
-		_dbSafeAccessMutex.lock();
-		r = this->loadSMSignaturesQuery(ids, signatures);
-		_dbSafeAccessMutex.unlock();
-		return r;
-	}
-	else if(signatures.size())
-	{
-		return true;
-	}
-	return false;
-}
-
-bool DBDriver::loadWords(const std::list<int> & wordIds, std::list<VisualWord *> & vws)
-{
-	if(!wordIds.size())
-	{
-		return false;
-	}
-	// look up in the trash before the database
-	std::list<int> ids = wordIds;
+	std::set<int> ids = wordIds;
 	std::map<int, VisualWord*>::iterator wIter;
 	std::list<VisualWord *> puttedBack;
 	_trashesMutex.lock();
@@ -485,7 +329,7 @@ bool DBDriver::loadWords(const std::list<int> & wordIds, std::list<VisualWord *>
 		{
 			_dbSafeAccessMutex.lock();
 			_dbSafeAccessMutex.unlock();
-			for(std::list<int>::iterator iter = ids.begin(); iter != ids.end();)
+			for(std::set<int>::iterator iter = ids.begin(); iter != ids.end();)
 			{
 				wIter = _trashVisualWords.find(*iter);
 				if(wIter != _trashVisualWords.end())
@@ -493,7 +337,7 @@ bool DBDriver::loadWords(const std::list<int> & wordIds, std::list<VisualWord *>
 					UDEBUG("put back word %d from trash", *iter);
 					puttedBack.push_back(wIter->second);
 					_trashVisualWords.erase(wIter);
-					iter = ids.erase(iter);
+					ids.erase(iter++);
 				}
 				else
 				{
@@ -505,235 +349,90 @@ bool DBDriver::loadWords(const std::list<int> & wordIds, std::list<VisualWord *>
 	_trashesMutex.unlock();
 	if(ids.size())
 	{
-		bool r;
 		_dbSafeAccessMutex.lock();
-		r = this->loadWordsQuery(ids, vws);
+		this->loadWordsQuery(ids, vws);
 		_dbSafeAccessMutex.unlock();
 		uAppend(vws, puttedBack);
-		return r;
 	}
 	else if(puttedBack.size())
 	{
 		uAppend(vws, puttedBack);
-		return true;
 	}
-	return false;
-}
-
-// <oldWordId, activeWordId>
-bool DBDriver::changeWordsRef(const std::map<int, int> & refsToChange)
-{
-	//Change references in the trash
-	KeypointSignature * s = 0;
-	UTimer timer;
-	_trashesMutex.lock();
-	{
-		_dbSafeAccessMutex.lock();
-		_dbSafeAccessMutex.unlock();
-		timer.start();
-		for(std::map<int, Signature *>::iterator iter = _trashSignatures.begin(); iter!=_trashSignatures.end(); ++iter)
-		{
-			s = dynamic_cast<KeypointSignature*>(iter->second);
-			if(s)
-			{
-				for(std::map<int, int>::const_iterator jter = refsToChange.begin(); jter!=refsToChange.end(); ++jter)
-				{
-					s->changeWordsRef((*jter).first, (*jter).second);
-				}
-			}
-		}
-		ULOGGER_DEBUG("Trash changing words references time=%fs", timer.ticks());
-	}
-	_trashesMutex.unlock();
-
-	bool r;
-	_dbSafeAccessMutex.lock();
-	r = this->changeWordsRefQuery(refsToChange);
-	_dbSafeAccessMutex.unlock();
-	return r;
-}
-
-bool DBDriver::deleteWords(const std::vector<int> & ids)
-{
-	//Delete words in the trash
-	std::map<int, VisualWord*>::iterator iter;
-	_trashesMutex.lock();
-	{
-		_dbSafeAccessMutex.lock();
-		_dbSafeAccessMutex.unlock();
-		for(unsigned int i=0; i<ids.size(); ++i)
-		{
-			iter = _trashVisualWords.find(ids[i]);
-			if(iter != _trashVisualWords.end())
-			{
-				_trashVisualWords.erase(iter);
-				delete (*iter).second;
-			}
-		}
-	}
-	_trashesMutex.unlock();
-
-	bool r;
-	_dbSafeAccessMutex.lock();
-	r = this->deleteWordsQuery(ids);
-	_dbSafeAccessMutex.unlock();
-	return r;
-}
-
-bool DBDriver::deleteAllVisualWords() const
-{
-	ULOGGER_DEBUG("");
-	if(this->isConnected())
-	{
-		std::string query;
-		query += "DELETE FROM VisualWord;";
-
-		_dbSafeAccessMutex.lock();
-		bool r = this->executeNoResultQuery(query);
-		_dbSafeAccessMutex.unlock();
-		return r;
-	}
-	return false;
-}
-
-bool DBDriver::deleteAllObsoleteSSVWLinks() const
-{
-	ULOGGER_DEBUG("");
-	if(this->isConnected())
-	{
-		std::string query;
-		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);
-		_dbSafeAccessMutex.unlock();
-		return r;
-	}
-	return false;
-}
-
-bool DBDriver::deleteUnreferencedWords() const
-{
-	ULOGGER_DEBUG("");
-	if(this->isConnected())
-	{
-		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();
-		return r;
-	}
-	return false;
 }
 
 //TODO Check also in the trash ?
-bool DBDriver::getRawData(int id, std::list<Sensor> & rawData) const
+void DBDriver::getImage(int signatureId, cv::Mat & rawData) const
 {
 	_dbSafeAccessMutex.lock();
-	bool result = this->getRawDataQuery(id, rawData);
+	this->getImageQuery(signatureId, rawData);
 	_dbSafeAccessMutex.unlock();
-	return result;
 }
 
 //TODO Check also in the trash ?
-bool DBDriver::getActuatorData(int id, std::list<Actuator> & data) const
+void DBDriver::getNeighborIds(int signatureId, std::set<int> & neighbors, bool onlyWithActions) const
 {
 	_dbSafeAccessMutex.lock();
-	bool result = this->getActuatorDataQuery(id, data);
+	this->getNeighborIdsQuery(signatureId, neighbors, onlyWithActions);
 	_dbSafeAccessMutex.unlock();
-	return result;
 }
 
 //TODO Check also in the trash ?
-bool DBDriver::getNeighborIds(int signatureId, std::set<int> & neighbors, bool onlyWithActions) const
+void DBDriver::loadNeighbors(int signatureId, std::set<int> & neighbors) const
 {
-	bool r;
 	_dbSafeAccessMutex.lock();
-	r = this->getNeighborIdsQuery(signatureId, neighbors, onlyWithActions);
+	this->loadNeighborsQuery(signatureId, neighbors);
 	_dbSafeAccessMutex.unlock();
-	return r;
 }
 
 //TODO Check also in the trash ?
-bool DBDriver::loadNeighbors(int signatureId, NeighborsMultiMap & neighbors) const
+void DBDriver::getWeight(int signatureId, int & weight) const
 {
-	bool r;
 	_dbSafeAccessMutex.lock();
-	r = this->loadNeighborsQuery(signatureId, neighbors);
+	this->getWeightQuery(signatureId, weight);
 	_dbSafeAccessMutex.unlock();
-	return r;
 }
 
 //TODO Check also in the trash ?
-bool DBDriver::getWeight(int signatureId, int & weight) const
+void DBDriver::getLoopClosureIds(int signatureId, std::set<int> & loopIds, std::set<int> & childIds) const
 {
-	bool r;
 	_dbSafeAccessMutex.lock();
-	r = this->getWeightQuery(signatureId, weight);
+	this->getLoopClosureIdsQuery(signatureId, loopIds, childIds);
 	_dbSafeAccessMutex.unlock();
-	return r;
 }
 
 //TODO Check also in the trash ?
-bool DBDriver::getLoopClosureIds(int signatureId, std::set<int> & loopIds, std::set<int> & childIds) const
+void DBDriver::getAllNodeIds(std::set<int> & ids) const
 {
-	bool r;
 	_dbSafeAccessMutex.lock();
-	r = this->getLoopClosureIdsQuery(signatureId, loopIds, childIds);
+	this->getAllNodeIdsQuery(ids);
 	_dbSafeAccessMutex.unlock();
-	return r;
 }
 
 //TODO Check also in the trash ?
-bool DBDriver::getAllNodeIds(std::set<int> & ids) const
+void DBDriver::getLastNodeId(int & id) const
 {
-	bool r;
 	_dbSafeAccessMutex.lock();
-	r = this->getAllNodeIdsQuery(ids);
+	this->getLastIdQuery("Node", id);
 	_dbSafeAccessMutex.unlock();
-	return r;
 }
 
 //TODO Check also in the trash ?
-bool DBDriver::getLastNodeId(int & id) const
+void DBDriver::getLastWordId(int & id) const
 {
-	bool r;
 	_dbSafeAccessMutex.lock();
-	r = this->getLastNodeIdQuery(id);
+	this->getLastIdQuery("Word", id);
 	_dbSafeAccessMutex.unlock();
-	return r;
 }
 
 //TODO Check also in the trash ?
-bool DBDriver::getLastWordId(int & id) const
+void DBDriver::getInvertedIndexNi(int signatureId, int & ni) const
 {
-	bool r;
 	_dbSafeAccessMutex.lock();
-	r = this->getLastWordIdQuery(id);
+	this->getInvertedIndexNiQuery(signatureId, ni);
 	_dbSafeAccessMutex.unlock();
-	return r;
 }
 
-//TODO Check also in the trash ?
-bool DBDriver::getInvertedIndexNi(int signatureId, int & ni) const
-{
-	bool r;
-	_dbSafeAccessMutex.lock();
-	r = this->getInvertedIndexNiQuery(signatureId, ni);
-	_dbSafeAccessMutex.unlock();
-	return r;
-}
-
-bool DBDriver::getHighestWeightedNodeIds(unsigned int count, std::multimap<int, int> & ids) const
-{
-	bool r;
-	_dbSafeAccessMutex.lock();
-	r = this->getHighestWeightedNodeIdsQuery(count, ids);
-	_dbSafeAccessMutex.unlock();
-	return r;
-}
-
-bool DBDriver::addStatisticsAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed) const
+void DBDriver::addStatisticsAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed) const
 {
 	ULOGGER_DEBUG("");
 	if(this->isConnected())
@@ -745,13 +444,11 @@ bool DBDriver::addStatisticsAfterRun(int stMemSize, int lastSignAdded, int proce
 		      << processMemUsed << ","
 			  << databaseMemUsed << ");";
 
-		bool r = this->executeNoResultQuery(query.str());
-		return r;
+		this->executeNoResultQuery(query.str());
 	}
-	return false;
 }
 
-bool DBDriver::addStatisticsAfterRunSurf(int dictionarySize) const
+void DBDriver::addStatisticsAfterRunSurf(int dictionarySize) const
 {
 	ULOGGER_DEBUG("");
 	if(this->isConnected())
@@ -759,10 +456,8 @@ bool DBDriver::addStatisticsAfterRunSurf(int dictionarySize) const
 		std::stringstream query;
 		query << "INSERT INTO StatisticsDictionary(dictionary_size) values(" << dictionarySize << ");";
 
-		bool r = this->executeNoResultQuery(query.str());
-		return r;
+		this->executeNoResultQuery(query.str());
 	}
-	return false;
 }
 
 } // namespace rtabmap