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merged attention branch to trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@657 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2012-12-11 18:05:05 +00:00
parent f9033809a2
commit 2836d4c48c
216 changed files with 7983 additions and 94891 deletions
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64
corelib/src/DBDriverSqlite3.h
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@@ -22,7 +22,7 @@
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include "rtabmap/core/DBDriver.h"
#include <opencv2/features2d/features2d.hpp>
#include <sqlite3.h>
namespace rtabmap {
@@ -32,7 +32,6 @@ public:
DBDriverSqlite3(const ParametersMap & parameters = ParametersMap());
virtual ~DBDriverSqlite3();
virtual std::string getDriverName() const {return "sqlite3";}
virtual void parseParameters(const ParametersMap & parameters);
void setDbInMemory(bool dbInMemory);
void setJournalMode(int journalMode);
@@ -46,55 +45,44 @@ private:
virtual bool isConnectedQuery() const;
virtual long getMemoryUsedQuery() const; // In bytes
virtual bool executeNoResultQuery(const std::string & sql) const;
virtual void executeNoResultQuery(const std::string & sql) const;
virtual bool changeWordsRefQuery(const std::map<int, int> & refsToChange) const; // <oldWordId, activeWordId>
virtual bool deleteWordsQuery(const std::vector<int> & ids) const;
virtual bool getNeighborIdsQuery(int signatureId, std::set<int> & neighbors, bool onlyWithActions = false) const;
virtual bool getWeightQuery(int signatureId, int & weight) const;
virtual bool getLoopClosureIdsQuery(int signatureId, std::set<int> & loopIds, std::set<int> & childIds) const;
virtual void getNeighborIdsQuery(int signatureId, std::set<int> & neighbors, bool onlyWithActions = false) const;
virtual void getWeightQuery(int signatureId, int & weight) const;
virtual void getLoopClosureIdsQuery(int signatureId, std::set<int> & loopIds, std::set<int> & childIds) const;
virtual bool saveQuery(const std::vector<VisualWord *> & visualWords) const;
virtual bool updateQuery(const std::list<Signature *> & signatures) const;
virtual bool saveQuery(const std::list<Signature *> & signatures) const;
virtual void saveQuery(const std::vector<VisualWord *> & visualWords) const;
virtual void updateQuery(const std::list<Signature *> & signatures) const;
virtual void saveQuery(const std::list<Signature *> & signatures) const;
// Load objects
virtual bool loadQuery(VWDictionary * dictionary) const;
virtual bool loadLastNodesQuery(std::list<Signature *> & signatures) const;
virtual bool loadQuery(int signatureId, Signature ** s) const;
virtual bool loadQuery(int wordId, VisualWord ** vw) const;
virtual bool loadQuery(int signatureId, KeypointSignature * ss) const;
virtual bool loadQuery(int signatureId, SMSignature * ss) const;
virtual bool loadKeypointSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures) const;
virtual bool loadSMSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures) const;
virtual bool loadWordsQuery(const std::list<int> & wordIds, std::list<VisualWord *> & vws) const;
virtual bool loadNeighborsQuery(int signatureId, NeighborsMultiMap & neighbors) const;
bool loadLinksQuery(std::list<Signature *> & signatures) const;
virtual void loadQuery(VWDictionary * dictionary) const;
virtual void loadLastNodesQuery(std::list<Signature *> & signatures) const;
virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures) const;
virtual void loadWordsQuery(const std::set<int> & wordIds, std::list<VisualWord *> & vws) const;
virtual void loadNeighborsQuery(int signatureId, std::set<int> & neighbors) const;
virtual bool getRawDataQuery(int id, std::list<Sensor> & rawData) const;
virtual bool getActuatorDataQuery(int id, std::list<Actuator> & data) const;
virtual bool getAllNodeIdsQuery(std::set<int> & ids) const;
virtual bool getLastNodeIdQuery(int & id) const;
virtual bool getLastWordIdQuery(int & id) const;
virtual bool getInvertedIndexNiQuery(int signatureId, int & ni) const;
virtual bool getHighestWeightedNodeIdsQuery(unsigned int count, std::multimap<int, int> & ids) const;
virtual void getImageQuery(int nodeId, cv::Mat & image) const;
virtual void getAllNodeIdsQuery(std::set<int> & ids) const;
virtual void getLastIdQuery(const std::string & tableName, int & id) const;
virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const;
private:
std::string queryStepNode() const;
std::string queryStepSensor() const;
std::string queryStepNodeToSensor() const;
std::string queryStepImage() const;
std::string queryStepLink() const;
std::string queryStepActuator() const;
std::string queryStepWordsChanged() const;
std::string queryStepKeypoint() const;
std::string queryStepSensors() const;
int stepNode(sqlite3_stmt * ppStmt, const Signature * s) const;
int stepSensor(sqlite3_stmt * ppStmt, int id, int num, const std::vector<int> & data, const Sensor & sensor) const;
int stepLink(sqlite3_stmt * ppStmt, int fromId, int toId, int type, int actuator_id, const std::vector<int> & baseIds) const;
int stepActuator(sqlite3_stmt * ppStmt, int id, int num, const Actuator & actuator) const;
int stepWordsChanged(sqlite3_stmt * ppStmt, int signatureId, int oldWordId, int newWordId) const;
int stepKeypoint(sqlite3_stmt * ppStmt, int signatureId, int wordId, const cv::KeyPoint & kp) const;
void stepNode(sqlite3_stmt * ppStmt, const Signature * s) const;
void stepNodeToSensor(sqlite3_stmt * ppStmt, int nodeId, int sensorId, int num) const;
void stepImage(sqlite3_stmt * ppStmt, int id, const cv::Mat & image) const;
void stepLink(sqlite3_stmt * ppStmt, int fromId, int toId, int type) const;
void stepWordsChanged(sqlite3_stmt * ppStmt, int signatureId, int oldWordId, int newWordId) const;
void stepKeypoint(sqlite3_stmt * ppStmt, int signatureId, int wordId, const cv::KeyPoint & kp) const;
private:
void loadLinksQuery(std::list<Signature *> & signatures) const;
int loadOrSaveDb(sqlite3 *pInMemory, const std::string & fileName, int isSave) const;
private: