i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-05 09:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

0.11.11: changed Statistics table name to Info and added new Statistics table containing detection statistics. StatisticsToolBox can cache statistics (true by default). DatabaseViewer: new Statistics panel to see all statistics contained in the database.

Browse Source
This commit is contained in:
matlabbe
2016-09-20 11:19:34 -04:00
parent a0972158dc
commit 3530da935b
20 changed files with 609 additions and 219 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/DBDriverSqlite3.cpp
+143 -13
View File
@@ -617,7 +617,15 @@ int DBDriverSqlite3::getLastNodesSizeQuery() const
int size = 0;
if(_ppDb)
{
std::string query = "SELECT count(id) from Node WHERE time_enter >= (SELECT MAX(time_enter) FROM Statistics);";
std::string query;
if(uStrNumCmp(_version, "0.11.11") >= 0)
{
query = "SELECT count(id) from Node WHERE time_enter >= (SELECT MAX(time_enter) FROM Info);";
}
else
{
query = "SELECT count(id) from Node WHERE time_enter >= (SELECT MAX(time_enter) FROM Statistics);";
}
int rc = SQLITE_OK;
sqlite3_stmt * ppStmt = 0;
@@ -641,7 +649,15 @@ int DBDriverSqlite3::getLastDictionarySizeQuery() const
int size = 0;
if(_ppDb)
{
std::string query = "SELECT count(id) from Word WHERE time_enter >= (SELECT MAX(time_enter) FROM Statistics);";
std::string query;
if(uStrNumCmp(_version, "0.11.11") >= 0)
{
query = "SELECT count(id) from Word WHERE time_enter >= (SELECT MAX(time_enter) FROM Info);";
}
else
{
query = "SELECT count(id) from Word WHERE time_enter >= (SELECT MAX(time_enter) FROM Statistics);";
}
int rc = SQLITE_OK;
sqlite3_stmt * ppStmt = 0;
@@ -716,9 +732,19 @@ ParametersMap DBDriverSqlite3::getLastParametersQuery() const
{
if(uStrNumCmp(_version, "0.11.8") >= 0)
{
std::string query = "SELECT parameters "
"FROM Statistics "
"WHERE time_enter >= (SELECT MAX(time_enter) FROM Statistics);";
std::string query;
if(uStrNumCmp(_version, "0.11.11") >= 0)
{
query = "SELECT parameters "
"FROM Info "
"WHERE time_enter >= (SELECT MAX(time_enter) FROM Info);";
}
else
{
query = "SELECT parameters "
"FROM Statistics "
"WHERE time_enter >= (SELECT MAX(time_enter) FROM Statistics);";
}
int rc = SQLITE_OK;
sqlite3_stmt * ppStmt = 0;
@@ -744,6 +770,44 @@ ParametersMap DBDriverSqlite3::getLastParametersQuery() const
return parameters;
}
std::map<std::string, float> DBDriverSqlite3::getStatisticsQuery(int nodeId, double & stamp) const
{
UDEBUG("");
std::map<std::string, float> data;
if(_ppDb)
{
if(uStrNumCmp(_version, "0.11.11") >= 0)
{
std::stringstream query;
query << "SELECT stamp, data "
<< "FROM Statistics "
<< "WHERE id=" << nodeId << ";";
int rc = SQLITE_OK;
sqlite3_stmt * ppStmt = 0;
rc = sqlite3_prepare_v2(_ppDb, query.str().c_str(), -1, &ppStmt, 0);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
rc = sqlite3_step(ppStmt);
if(rc == SQLITE_ROW)
{
stamp = sqlite3_column_double(ppStmt, 0);
std::string text((const char *)sqlite3_column_text(ppStmt, 1));
if(text.size())
{
data = Statistics::deserializeData(text);
}
rc = sqlite3_step(ppStmt);
}
UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
rc = sqlite3_finalize(ppStmt);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
}
}
return data;
}
void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures, bool images, bool scan, bool userData, bool occupancyGrid) const
{
UDEBUG("load data for %d signatures", (int)signatures.size());
@@ -2127,10 +2191,20 @@ void DBDriverSqlite3::loadLastNodesQuery(std::list<Signature *> & nodes) const
std::string query;
std::list<int> ids;
query = "SELECT n.id "
"FROM Node AS n "
"WHERE n.time_enter >= (SELECT MAX(time_enter) FROM Statistics) "
"ORDER BY n.id;";
if(uStrNumCmp(_version, "0.11.11") >= 0)
{
query = "SELECT n.id "
"FROM Node AS n "
"WHERE n.time_enter >= (SELECT MAX(time_enter) FROM Info) "
"ORDER BY n.id;";
}
else
{
query = "SELECT n.id "
"FROM Node AS n "
"WHERE n.time_enter >= (SELECT MAX(time_enter) FROM Statistics) "
"ORDER BY n.id;";
}
rc = sqlite3_prepare_v2(_ppDb, query.c_str(), -1, &ppStmt, 0);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
@@ -2169,10 +2243,20 @@ void DBDriverSqlite3::loadQuery(VWDictionary * dictionary) const
std::list<VisualWord *> visualWords;
// Get the visual words
query = "SELECT id, descriptor_size, descriptor "
"FROM Word "
"WHERE time_enter >= (SELECT MAX(time_enter) FROM Statistics) "
"ORDER BY id;";
if(uStrNumCmp(_version, "0.11.11") >= 0)
{
query = "SELECT id, descriptor_size, descriptor "
"FROM Word "
"WHERE time_enter >= (SELECT MAX(time_enter) FROM Info) "
"ORDER BY id;";
}
else
{
query = "SELECT id, descriptor_size, descriptor "
"FROM Word "
"WHERE time_enter >= (SELECT MAX(time_enter) FROM Statistics) "
"ORDER BY id;";
}
rc = sqlite3_prepare_v2(_ppDb, query.c_str(), -1, &ppStmt, 0);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
@@ -3077,6 +3161,52 @@ void DBDriverSqlite3::updateOccupancyGridQuery(
}
}
void DBDriverSqlite3::addStatisticsQuery(const Statistics & statistics) const
{
UDEBUG("");
if(_ppDb)
{
std::string type;
UTimer timer;
timer.start();
int rc = SQLITE_OK;
sqlite3_stmt * ppStmt = 0;
// Create query
if(uStrNumCmp(this->getDatabaseVersion(), "0.11.11") >= 0)
{
std::string param = Statistics::serializeData(statistics.data());
if(param.size() && statistics.refImageId()>0)
{
std::string query = "INSERT INTO Statistics(id, stamp, data) values(?,?,?);";
rc = sqlite3_prepare_v2(_ppDb, query.c_str(), -1, &ppStmt, 0);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
int index = 1;
rc = sqlite3_bind_int(ppStmt, index++, statistics.refImageId());
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
rc = sqlite3_bind_double(ppStmt, index++, statistics.stamp());
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
rc = sqlite3_bind_text(ppStmt, index++, param.c_str(), -1, SQLITE_STATIC);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
//step
rc=sqlite3_step(ppStmt);
UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
rc = sqlite3_reset(ppStmt);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
// Finalize (delete) the statement
rc = sqlite3_finalize(ppStmt);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
UDEBUG("Time=%fs", timer.ticks());
}
}
}
}
std::string DBDriverSqlite3::queryStepNode() const
{
if(uStrNumCmp(_version, "0.11.1") >= 0)