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@@ -285,140 +285,143 @@ $(document).ready(function(){initNavTree('DBDriver_8h_source.html',''); initResi
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<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"> 325</span><span class="keyword">protected</span>:</div>
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<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a5f90eb62bb559d42611dbe7ffe11328e"> 329</a></span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a5f90eb62bb559d42611dbe7ffe11328e">DBDriver</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
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<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> </div>
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<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> connectDatabaseQuery(<span class="keyword">const</span> std::string & url, <span class="keywordtype">bool</span> overwritten = <span class="keyword">false</span>, <span class="keywordtype">bool</span> readOnly = <span class="keyword">false</span>) = 0;</div>
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<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> disconnectDatabaseQuery(<span class="keywordtype">bool</span> save = <span class="keyword">true</span>, <span class="keyword">const</span> std::string & outputUrl = <span class="stringliteral">""</span>) = 0;</div>
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<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"> 337</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isConnectedQuery() <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span> <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> getMemoryUsedQuery() <span class="keyword">const</span> = 0; <span class="comment">// In bytes</span></div>
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<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getDatabaseVersionQuery(std::string & version) <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getNodesMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getLinksMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getImagesMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"> 343</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getDepthImagesMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getCalibrationsMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getGridsMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getLaserScansMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getUserDataMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getWordsMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getFeaturesMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getStatisticsMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"> 351</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getLastNodesSizeQuery() <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getLastDictionarySizeQuery() <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getTotalNodesSizeQuery() <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getTotalDictionarySizeQuery() <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> <span class="keyword">virtual</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> getLastParametersQuery() <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span> <span class="keyword">virtual</span> std::map<std::string, float> getStatisticsQuery(<span class="keywordtype">int</span> nodeId, <span class="keywordtype">double</span> & stamp, std::vector<int> * wmState) <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span> <span class="keyword">virtual</span> std::map<int, std::pair<std::map<std::string, float>, <span class="keywordtype">double</span>> > getAllStatisticsQuery() <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"> 358</span> <span class="keyword">virtual</span> std::map<int, std::vector<int> > getAllStatisticsWmStatesQuery() <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"> 359</span> </div>
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<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> executeNoResultQuery(<span class="keyword">const</span> std::string & sql) <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00361" name="l00361"></a><span class="lineno"> 361</span> </div>
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<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"> 362</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getWeightQuery(<span class="keywordtype">int</span> signatureId, <span class="keywordtype">int</span> & weight) <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00363" name="l00363"></a><span class="lineno"> 363</span> </div>
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<div class="line"><a id="l00364" name="l00364"></a><span class="lineno"> 364</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveQuery(<span class="keyword">const</span> std::list<Signature *> & signatures) = 0;</div>
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<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"> 365</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveQuery(<span class="keyword">const</span> std::list<VisualWord *> & words) <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"> 366</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateQuery(<span class="keyword">const</span> std::list<Signature *> & signatures, <span class="keywordtype">bool</span> updateTimestamp) <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00367" name="l00367"></a><span class="lineno"> 367</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateQuery(<span class="keyword">const</span> std::list<VisualWord *> & words, <span class="keywordtype">bool</span> updateTimestamp) <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"> 368</span> </div>
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<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"> 369</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> addLinkQuery(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> & link) <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00370" name="l00370"></a><span class="lineno"> 370</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateLinkQuery(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> & link) <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00371" name="l00371"></a><span class="lineno"> 371</span> </div>
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<div class="line"><a id="l00372" name="l00372"></a><span class="lineno"> 372</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateOccupancyGridQuery(</div>
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<div class="line"><a id="l00373" name="l00373"></a><span class="lineno"> 373</span> <span class="keywordtype">int</span> nodeId,</div>
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<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"> 374</span> <span class="keyword">const</span> cv::Mat & ground,</div>
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<div class="line"><a id="l00375" name="l00375"></a><span class="lineno"> 375</span> <span class="keyword">const</span> cv::Mat & obstacles,</div>
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<div class="line"><a id="l00376" name="l00376"></a><span class="lineno"> 376</span> <span class="keyword">const</span> cv::Mat & empty,</div>
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<div class="line"><a id="l00377" name="l00377"></a><span class="lineno"> 377</span> <span class="keywordtype">float</span> cellSize,</div>
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<div class="line"><a id="l00378" name="l00378"></a><span class="lineno"> 378</span> <span class="keyword">const</span> cv::Point3f & viewpoint) <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00379" name="l00379"></a><span class="lineno"> 379</span> </div>
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<div class="line"><a id="l00380" name="l00380"></a><span class="lineno"> 380</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateCalibrationQuery(</div>
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<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"> 381</span> <span class="keywordtype">int</span> nodeId,</div>
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<div class="line"><a id="l00382" name="l00382"></a><span class="lineno"> 382</span> <span class="keyword">const</span> std::vector<CameraModel> & models,</div>
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<div class="line"><a id="l00383" name="l00383"></a><span class="lineno"> 383</span> <span class="keyword">const</span> std::vector<StereoCameraModel> & stereoModels) <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"> 384</span> </div>
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<div class="line"><a id="l00385" name="l00385"></a><span class="lineno"> 385</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateDepthImageQuery(</div>
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<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"> 386</span> <span class="keywordtype">int</span> nodeId,</div>
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<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"> 387</span> <span class="keyword">const</span> cv::Mat & image,</div>
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<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"> 388</span> <span class="keyword">const</span> std::string & format) <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"> 389</span> </div>
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<div class="line"><a id="l00390" name="l00390"></a><span class="lineno"> 390</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateLaserScanQuery(</div>
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<div class="line"><a id="l00391" name="l00391"></a><span class="lineno"> 391</span> <span class="keywordtype">int</span> nodeId,</div>
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<div class="line"><a id="l00392" name="l00392"></a><span class="lineno"> 392</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & scan) <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"> 393</span> </div>
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<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"> 394</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> addStatisticsQuery(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Statistics.html">Statistics</a> & statistics, <span class="keywordtype">bool</span> saveWmState) <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00395" name="l00395"></a><span class="lineno"> 395</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> savePreviewImageQuery(<span class="keyword">const</span> cv::Mat & image) <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00396" name="l00396"></a><span class="lineno"> 396</span> <span class="keyword">virtual</span> cv::Mat loadPreviewImageQuery() <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00397" name="l00397"></a><span class="lineno"> 397</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveOptimizedPosesQuery(<span class="keyword">const</span> std::map<int, Transform> & optimizedPoses, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & lastlocalizationPose) <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00398" name="l00398"></a><span class="lineno"> 398</span> <span class="keyword">virtual</span> std::map<int, Transform> loadOptimizedPosesQuery(<a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> * lastlocalizationPose = 0) <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"> 399</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> save2DMapQuery(<span class="keyword">const</span> cv::Mat & map, <span class="keywordtype">float</span> xMin, <span class="keywordtype">float</span> yMin, <span class="keywordtype">float</span> cellSize) <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span> <span class="keyword">virtual</span> cv::Mat load2DMapQuery(<span class="keywordtype">float</span> & xMin, <span class="keywordtype">float</span> & yMin, <span class="keywordtype">float</span> & cellSize) <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00401" name="l00401"></a><span class="lineno"> 401</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveOptimizedMeshQuery(</div>
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<div class="line"><a id="l00402" name="l00402"></a><span class="lineno"> 402</span> <span class="keyword">const</span> cv::Mat & cloud,</div>
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<div class="line"><a id="l00403" name="l00403"></a><span class="lineno"> 403</span> <span class="keyword">const</span> std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons,</div>
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<div class="line"><a id="l00404" name="l00404"></a><span class="lineno"> 404</span>#<span class="keywordflow">if</span> PCL_VERSION_COMPARE(>=, 1, 8, 0)</div>
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<div class="line"><a id="l00405" name="l00405"></a><span class="lineno"> 405</span> <span class="keyword">const</span> std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,</div>
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<div class="line"><a id="l00406" name="l00406"></a><span class="lineno"> 406</span>#<span class="keywordflow">else</span></div>
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<div class="line"><a id="l00407" name="l00407"></a><span class="lineno"> 407</span> <span class="keyword">const</span> std::vector<std::vector<Eigen::Vector2f> > & texCoords,</div>
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<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"> 408</span>#endif</div>
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<div class="line"><a id="l00409" name="l00409"></a><span class="lineno"> 409</span> <span class="keyword">const</span> cv::Mat & textures) <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00410" name="l00410"></a><span class="lineno"> 410</span> <span class="keyword">virtual</span> cv::Mat loadOptimizedMeshQuery(</div>
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<div class="line"><a id="l00411" name="l00411"></a><span class="lineno"> 411</span> std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > * polygons,</div>
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<div class="line"><a id="l00412" name="l00412"></a><span class="lineno"> 412</span>#<span class="keywordflow">if</span> PCL_VERSION_COMPARE(>=, 1, 8, 0)</div>
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<div class="line"><a id="l00413" name="l00413"></a><span class="lineno"> 413</span> std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords,</div>
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<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"> 414</span>#<span class="keywordflow">else</span></div>
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<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"> 415</span> std::vector<std::vector<Eigen::Vector2f> > * texCoords,</div>
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<div class="line"><a id="l00416" name="l00416"></a><span class="lineno"> 416</span>#endif</div>
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<div class="line"><a id="l00417" name="l00417"></a><span class="lineno"> 417</span> cv::Mat * textures) <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"> 418</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveFlannIndexQuery(<span class="keyword">const</span> std::vector<unsigned char> & indexData) <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00419" name="l00419"></a><span class="lineno"> 419</span> </div>
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<div class="line"><a id="l00420" name="l00420"></a><span class="lineno"> 420</span> <span class="comment">// Load objects</span></div>
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<div class="line"><a id="l00421" name="l00421"></a><span class="lineno"> 421</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadQuery(<a class="code hl_class" href="classrtabmap_1_1VWDictionary.html">VWDictionary</a> & dictionary, <span class="keywordtype">bool</span> lastStateOnly = <span class="keyword">true</span>, <span class="keywordtype">bool</span> idsOnly = <span class="keyword">false</span>) <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00422" name="l00422"></a><span class="lineno"> 422</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadLastNodesQuery(std::list<Signature *> & signatures, <span class="keywordtype">bool</span> loadWordIdsOnly) <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00423" name="l00423"></a><span class="lineno"> 423</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadSignaturesQuery(<span class="keyword">const</span> std::list<int> & ids, std::list<Signature *> & signatures, <span class="keywordtype">bool</span> loadWordIdsOnly) <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00424" name="l00424"></a><span class="lineno"> 424</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadWordsQuery(<span class="keyword">const</span> std::set<int> & wordIds, std::list<VisualWord *> & vws) <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00425" name="l00425"></a><span class="lineno"> 425</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadLinksQuery(<span class="keywordtype">int</span> signatureId, std::multimap<int, Link> & links, <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = Link::kUndef) <span class="keyword">const</span> = 0;</div>
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<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"> 426</span> </div>
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<div class="line"><a id="l00427" name="l00427"></a><span class="lineno"> 427</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadNodeDataQuery(std::list<Signature *> & signatures, <span class="keywordtype">bool</span> images=<span class="keyword">true</span>, <span class="keywordtype">bool</span> scan=<span class="keyword">true</span>, <span class="keywordtype">bool</span> userData=<span class="keyword">true</span>, <span class="keywordtype">bool</span> occupancyGrid=<span class="keyword">true</span>) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00428" name="l00428"></a><span class="lineno"> 428</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getCalibrationQuery(<span class="keywordtype">int</span> signatureId, std::vector<CameraModel> & models, std::vector<StereoCameraModel> & stereoModels) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00429" name="l00429"></a><span class="lineno"> 429</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getLaserScanInfoQuery(<span class="keywordtype">int</span> signatureId, <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & info) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00430" name="l00430"></a><span class="lineno"> 430</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getNodeInfoQuery(<span class="keywordtype">int</span> signatureId, <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & pose, <span class="keywordtype">int</span> & mapId, <span class="keywordtype">int</span> & weight, std::string & label, <span class="keywordtype">double</span> & stamp, <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & groundTruthPose, std::vector<float> & velocity, <a class="code hl_class" href="classrtabmap_1_1GPS.html">GPS</a> & gps, <a class="code hl_typedef" href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">EnvSensors</a> & sensors) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00431" name="l00431"></a><span class="lineno"> 431</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getLocalFeaturesQuery(<span class="keywordtype">int</span> signatureId, std::multimap<int, int> & words, std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & points, cv::Mat & descriptors) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00432" name="l00432"></a><span class="lineno"> 432</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getLastNodeIdsQuery(std::set<int> & ids) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00433" name="l00433"></a><span class="lineno"> 433</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAllNodeIdsQuery(std::set<int> & ids, <span class="keywordtype">bool</span> ignoreChildren, <span class="keywordtype">bool</span> ignoreBadSignatures, <span class="keywordtype">bool</span> ignoreIntermediateNodes) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"> 434</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAllOdomPosesQuery(std::map<int, Transform> & poses, <span class="keywordtype">bool</span> ignoreChildren, <span class="keywordtype">bool</span> ignoreIntermediateNodes) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00435" name="l00435"></a><span class="lineno"> 435</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAllLinksQuery(std::multimap<int, Link> & links, <span class="keywordtype">bool</span> ignoreNullLinks, <span class="keywordtype">bool</span> withLandmarks) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00436" name="l00436"></a><span class="lineno"> 436</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getLastIdQuery(<span class="keyword">const</span> std::string & tableName, <span class="keywordtype">int</span> & <span class="keywordtype">id</span>, <span class="keyword">const</span> std::string & fieldName=<span class="stringliteral">"id"</span>) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00437" name="l00437"></a><span class="lineno"> 437</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getInvertedIndexNiQuery(<span class="keywordtype">int</span> signatureId, <span class="keywordtype">int</span> & ni) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00438" name="l00438"></a><span class="lineno"> 438</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getNodesObservingLandmarkQuery(<span class="keywordtype">int</span> landmarkId, std::map<int, Link> & nodes) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00439" name="l00439"></a><span class="lineno"> 439</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getNodeIdByLabelQuery(<span class="keyword">const</span> std::string & label, <span class="keywordtype">int</span> & <span class="keywordtype">id</span>) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00440" name="l00440"></a><span class="lineno"> 440</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAllLabelsQuery(std::map<int, std::string> & labels) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span><span class="keyword">private</span>:</div>
|
||||
<div class="line"><a id="l00445" name="l00445"></a><span class="lineno"> 445</span> <span class="keywordtype">void</span> beginTransaction() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00447" name="l00447"></a><span class="lineno"> 447</span> <span class="keywordtype">void</span> commit() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00448" name="l00448"></a><span class="lineno"> 448</span> </div>
|
||||
<div class="line"><a id="l00449" name="l00449"></a><span class="lineno"> 449</span> <span class="comment">//non-abstract methods</span></div>
|
||||
<div class="line"><a id="l00450" name="l00450"></a><span class="lineno"> 450</span> <span class="keywordtype">void</span> saveOrUpdate(<span class="keyword">const</span> std::vector<Signature *> & signatures);</div>
|
||||
<div class="line"><a id="l00451" name="l00451"></a><span class="lineno"> 451</span> <span class="keywordtype">void</span> saveOrUpdate(<span class="keyword">const</span> std::vector<VisualWord *> & words) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00452" name="l00452"></a><span class="lineno"> 452</span> </div>
|
||||
<div class="line"><a id="l00453" name="l00453"></a><span class="lineno"> 453</span> <span class="comment">//thread stuff</span></div>
|
||||
<div class="line"><a id="l00454" name="l00454"></a><span class="lineno"> 454</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoop();</div>
|
||||
<div class="line"><a id="l00455" name="l00455"></a><span class="lineno"> 455</span> </div>
|
||||
<div class="line"><a id="l00456" name="l00456"></a><span class="lineno"> 456</span><span class="keyword">private</span>:</div>
|
||||
<div class="line"><a id="l00457" name="l00457"></a><span class="lineno"> 457</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _transactionMutex;</div>
|
||||
<div class="line"><a id="l00458" name="l00458"></a><span class="lineno"> 458</span> std::map<int, Signature *> _trashSignatures;<span class="comment">//<id, Signature*></span></div>
|
||||
<div class="line"><a id="l00459" name="l00459"></a><span class="lineno"> 459</span> std::map<int, VisualWord *> _trashVisualWords; <span class="comment">//<id, VisualWord*></span></div>
|
||||
<div class="line"><a id="l00460" name="l00460"></a><span class="lineno"> 460</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _trashesMutex;</div>
|
||||
<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"> 461</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _dbSafeAccessMutex;</div>
|
||||
<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span> <a class="code hl_class" href="classUSemaphore.html">USemaphore</a> _addSem;</div>
|
||||
<div class="line"><a id="l00463" name="l00463"></a><span class="lineno"> 463</span> <span class="keywordtype">double</span> _emptyTrashesTime;</div>
|
||||
<div class="line"><a id="l00464" name="l00464"></a><span class="lineno"> 464</span> std::string _url;</div>
|
||||
<div class="line"><a id="l00465" name="l00465"></a><span class="lineno"> 465</span> std::string _targetVersion;</div>
|
||||
<div class="line"><a id="l00466" name="l00466"></a><span class="lineno"> 466</span> <span class="keywordtype">bool</span> _timestampUpdate;</div>
|
||||
<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"> 467</span>};</div>
|
||||
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> connectDatabaseQuery(<span class="keyword">const</span> std::string & url, <span class="keywordtype">bool</span> overwritten = <span class="keyword">false</span>, <span class="keywordtype">bool</span> readOnly = <span class="keyword">false</span>) = 0;</div>
|
||||
<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> disconnectDatabaseQuery(<span class="keywordtype">bool</span> save = <span class="keyword">true</span>, <span class="keyword">const</span> std::string & outputUrl = <span class="stringliteral">""</span>) = 0;</div>
|
||||
<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"> 343</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isConnectedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> getMemoryUsedQuery() <span class="keyword">const</span> = 0; <span class="comment">// In bytes</span></div>
|
||||
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getDatabaseVersionQuery(std::string & version) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getNodesMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getLinksMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getImagesMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getDepthImagesMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getCalibrationsMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"> 351</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getGridsMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getLaserScansMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getUserDataMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getWordsMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getFeaturesMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span> <span class="keyword">virtual</span> <span class="keywordtype">long</span> getStatisticsMemoryUsedQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getLastNodesSizeQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"> 358</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getLastDictionarySizeQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"> 359</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getTotalNodesSizeQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getTotalDictionarySizeQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00361" name="l00361"></a><span class="lineno"> 361</span> <span class="keyword">virtual</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> getLastParametersQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"> 362</span> <span class="keyword">virtual</span> std::map<std::string, float> getStatisticsQuery(<span class="keywordtype">int</span> nodeId, <span class="keywordtype">double</span> & stamp, std::vector<int> * wmState) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00363" name="l00363"></a><span class="lineno"> 363</span> <span class="keyword">virtual</span> std::map<int, std::pair<std::map<std::string, float>, <span class="keywordtype">double</span>> > getAllStatisticsQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00364" name="l00364"></a><span class="lineno"> 364</span> <span class="keyword">virtual</span> std::map<int, std::vector<int> > getAllStatisticsWmStatesQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"> 365</span> </div>
|
||||
<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"> 366</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> executeNoResultQuery(<span class="keyword">const</span> std::string & sql) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00367" name="l00367"></a><span class="lineno"> 367</span> </div>
|
||||
<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"> 368</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getWeightQuery(<span class="keywordtype">int</span> signatureId, <span class="keywordtype">int</span> & weight) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"> 369</span> </div>
|
||||
<div class="line"><a id="l00370" name="l00370"></a><span class="lineno"> 370</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveQuery(<span class="keyword">const</span> std::list<Signature *> & signatures) = 0;</div>
|
||||
<div class="line"><a id="l00371" name="l00371"></a><span class="lineno"> 371</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveQuery(<span class="keyword">const</span> std::list<VisualWord *> & words) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00372" name="l00372"></a><span class="lineno"> 372</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateQuery(<span class="keyword">const</span> std::list<Signature *> & signatures, <span class="keywordtype">bool</span> updateTimestamp) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00373" name="l00373"></a><span class="lineno"> 373</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateQuery(<span class="keyword">const</span> std::list<VisualWord *> & words, <span class="keywordtype">bool</span> updateTimestamp) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"> 374</span> </div>
|
||||
<div class="line"><a id="l00375" name="l00375"></a><span class="lineno"> 375</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> addLinkQuery(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> & link) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00376" name="l00376"></a><span class="lineno"> 376</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateLinkQuery(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> & link) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00377" name="l00377"></a><span class="lineno"> 377</span> </div>
|
||||
<div class="line"><a id="l00378" name="l00378"></a><span class="lineno"> 378</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateOccupancyGridQuery(</div>
|
||||
<div class="line"><a id="l00379" name="l00379"></a><span class="lineno"> 379</span> <span class="keywordtype">int</span> nodeId,</div>
|
||||
<div class="line"><a id="l00380" name="l00380"></a><span class="lineno"> 380</span> <span class="keyword">const</span> cv::Mat & ground,</div>
|
||||
<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"> 381</span> <span class="keyword">const</span> cv::Mat & obstacles,</div>
|
||||
<div class="line"><a id="l00382" name="l00382"></a><span class="lineno"> 382</span> <span class="keyword">const</span> cv::Mat & empty,</div>
|
||||
<div class="line"><a id="l00383" name="l00383"></a><span class="lineno"> 383</span> <span class="keywordtype">float</span> cellSize,</div>
|
||||
<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"> 384</span> <span class="keyword">const</span> cv::Point3f & viewpoint) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00385" name="l00385"></a><span class="lineno"> 385</span> </div>
|
||||
<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"> 386</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateCalibrationQuery(</div>
|
||||
<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"> 387</span> <span class="keywordtype">int</span> nodeId,</div>
|
||||
<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"> 388</span> <span class="keyword">const</span> std::vector<CameraModel> & models,</div>
|
||||
<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"> 389</span> <span class="keyword">const</span> std::vector<StereoCameraModel> & stereoModels) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00390" name="l00390"></a><span class="lineno"> 390</span> </div>
|
||||
<div class="line"><a id="l00391" name="l00391"></a><span class="lineno"> 391</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateDepthImageQuery(</div>
|
||||
<div class="line"><a id="l00392" name="l00392"></a><span class="lineno"> 392</span> <span class="keywordtype">int</span> nodeId,</div>
|
||||
<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"> 393</span> <span class="keyword">const</span> cv::Mat & image,</div>
|
||||
<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"> 394</span> <span class="keyword">const</span> std::string & format) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00395" name="l00395"></a><span class="lineno"> 395</span> </div>
|
||||
<div class="line"><a id="l00396" name="l00396"></a><span class="lineno"> 396</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateLaserScanQuery(</div>
|
||||
<div class="line"><a id="l00397" name="l00397"></a><span class="lineno"> 397</span> <span class="keywordtype">int</span> nodeId,</div>
|
||||
<div class="line"><a id="l00398" name="l00398"></a><span class="lineno"> 398</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & scan) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"> 399</span> </div>
|
||||
<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> addStatisticsQuery(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Statistics.html">Statistics</a> & statistics, <span class="keywordtype">bool</span> saveWmState) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00401" name="l00401"></a><span class="lineno"> 401</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> savePreviewImageQuery(<span class="keyword">const</span> cv::Mat & image) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00402" name="l00402"></a><span class="lineno"> 402</span> <span class="keyword">virtual</span> cv::Mat loadPreviewImageQuery() <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00403" name="l00403"></a><span class="lineno"> 403</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveOptimizedPosesQuery(<span class="keyword">const</span> std::map<int, Transform> & optimizedPoses, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & lastlocalizationPose) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00404" name="l00404"></a><span class="lineno"> 404</span> <span class="keyword">virtual</span> std::map<int, Transform> loadOptimizedPosesQuery(<a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> * lastlocalizationPose = 0) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00405" name="l00405"></a><span class="lineno"> 405</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> save2DMapQuery(<span class="keyword">const</span> cv::Mat & map, <span class="keywordtype">float</span> xMin, <span class="keywordtype">float</span> yMin, <span class="keywordtype">float</span> cellSize) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00406" name="l00406"></a><span class="lineno"> 406</span> <span class="keyword">virtual</span> cv::Mat load2DMapQuery(<span class="keywordtype">float</span> & xMin, <span class="keywordtype">float</span> & yMin, <span class="keywordtype">float</span> & cellSize) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00407" name="l00407"></a><span class="lineno"> 407</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveOptimizedMeshQuery(</div>
|
||||
<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"> 408</span> <span class="keyword">const</span> cv::Mat & cloud,</div>
|
||||
<div class="line"><a id="l00409" name="l00409"></a><span class="lineno"> 409</span> <span class="keyword">const</span> std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons,</div>
|
||||
<div class="line"><a id="l00410" name="l00410"></a><span class="lineno"> 410</span>#<span class="keywordflow">if</span> PCL_VERSION_COMPARE(>=, 1, 8, 0)</div>
|
||||
<div class="line"><a id="l00411" name="l00411"></a><span class="lineno"> 411</span> <span class="keyword">const</span> std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,</div>
|
||||
<div class="line"><a id="l00412" name="l00412"></a><span class="lineno"> 412</span>#<span class="keywordflow">else</span></div>
|
||||
<div class="line"><a id="l00413" name="l00413"></a><span class="lineno"> 413</span> <span class="keyword">const</span> std::vector<std::vector<Eigen::Vector2f> > & texCoords,</div>
|
||||
<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"> 414</span>#endif</div>
|
||||
<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"> 415</span> <span class="keyword">const</span> cv::Mat & textures) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00416" name="l00416"></a><span class="lineno"> 416</span> <span class="keyword">virtual</span> cv::Mat loadOptimizedMeshQuery(</div>
|
||||
<div class="line"><a id="l00417" name="l00417"></a><span class="lineno"> 417</span> std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > * polygons,</div>
|
||||
<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"> 418</span>#<span class="keywordflow">if</span> PCL_VERSION_COMPARE(>=, 1, 8, 0)</div>
|
||||
<div class="line"><a id="l00419" name="l00419"></a><span class="lineno"> 419</span> std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords,</div>
|
||||
<div class="line"><a id="l00420" name="l00420"></a><span class="lineno"> 420</span>#<span class="keywordflow">else</span></div>
|
||||
<div class="line"><a id="l00421" name="l00421"></a><span class="lineno"> 421</span> std::vector<std::vector<Eigen::Vector2f> > * texCoords,</div>
|
||||
<div class="line"><a id="l00422" name="l00422"></a><span class="lineno"> 422</span>#endif</div>
|
||||
<div class="line"><a id="l00423" name="l00423"></a><span class="lineno"> 423</span> cv::Mat * textures) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00424" name="l00424"></a><span class="lineno"> 424</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveFlannIndexQuery(<span class="keyword">const</span> std::vector<unsigned char> & indexData) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00425" name="l00425"></a><span class="lineno"> 425</span> </div>
|
||||
<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"> 426</span> <span class="comment">// Load objects</span></div>
|
||||
<div class="line"><a id="l00427" name="l00427"></a><span class="lineno"> 427</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadQuery(<a class="code hl_class" href="classrtabmap_1_1VWDictionary.html">VWDictionary</a> & dictionary, <span class="keywordtype">bool</span> lastStateOnly = <span class="keyword">true</span>, <span class="keywordtype">bool</span> idsOnly = <span class="keyword">false</span>) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00428" name="l00428"></a><span class="lineno"> 428</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadLastNodesQuery(std::list<Signature *> & signatures, <span class="keywordtype">bool</span> loadWordIdsOnly) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00429" name="l00429"></a><span class="lineno"> 429</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadSignaturesQuery(<span class="keyword">const</span> std::list<int> & ids, std::list<Signature *> & signatures, <span class="keywordtype">bool</span> loadWordIdsOnly) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00430" name="l00430"></a><span class="lineno"> 430</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadWordsQuery(<span class="keyword">const</span> std::set<int> & wordIds, std::list<VisualWord *> & vws) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00431" name="l00431"></a><span class="lineno"> 431</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadLinksQuery(<span class="keywordtype">int</span> signatureId, std::multimap<int, Link> & links, <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = Link::kUndef) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00432" name="l00432"></a><span class="lineno"> 432</span> </div>
|
||||
<div class="line"><a id="l00433" name="l00433"></a><span class="lineno"> 433</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadNodeDataQuery(std::list<Signature *> & signatures, <span class="keywordtype">bool</span> images=<span class="keyword">true</span>, <span class="keywordtype">bool</span> scan=<span class="keyword">true</span>, <span class="keywordtype">bool</span> userData=<span class="keyword">true</span>, <span class="keywordtype">bool</span> occupancyGrid=<span class="keyword">true</span>) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"> 434</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getCalibrationQuery(<span class="keywordtype">int</span> signatureId, std::vector<CameraModel> & models, std::vector<StereoCameraModel> & stereoModels) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00435" name="l00435"></a><span class="lineno"> 435</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getLaserScanInfoQuery(<span class="keywordtype">int</span> signatureId, <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & info) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00436" name="l00436"></a><span class="lineno"> 436</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getNodeInfoQuery(<span class="keywordtype">int</span> signatureId, <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & pose, <span class="keywordtype">int</span> & mapId, <span class="keywordtype">int</span> & weight, std::string & label, <span class="keywordtype">double</span> & stamp, <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & groundTruthPose, std::vector<float> & velocity, <a class="code hl_class" href="classrtabmap_1_1GPS.html">GPS</a> & gps, <a class="code hl_typedef" href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">EnvSensors</a> & sensors) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00437" name="l00437"></a><span class="lineno"> 437</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getLocalFeaturesQuery(<span class="keywordtype">int</span> signatureId, std::multimap<int, int> & words, std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & points, cv::Mat & descriptors) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00438" name="l00438"></a><span class="lineno"> 438</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getLastNodeIdsQuery(std::set<int> & ids) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00439" name="l00439"></a><span class="lineno"> 439</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAllNodeIdsQuery(std::set<int> & ids, <span class="keywordtype">bool</span> ignoreChildren, <span class="keywordtype">bool</span> ignoreBadSignatures, <span class="keywordtype">bool</span> ignoreIntermediateNodes) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00440" name="l00440"></a><span class="lineno"> 440</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAllOdomPosesQuery(std::map<int, Transform> & poses, <span class="keywordtype">bool</span> ignoreChildren, <span class="keywordtype">bool</span> ignoreIntermediateNodes) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00441" name="l00441"></a><span class="lineno"> 441</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAllLinksQuery(std::multimap<int, Link> & links, <span class="keywordtype">bool</span> ignoreNullLinks, <span class="keywordtype">bool</span> withLandmarks) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00442" name="l00442"></a><span class="lineno"> 442</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getLastIdQuery(<span class="keyword">const</span> std::string & tableName, <span class="keywordtype">int</span> & <span class="keywordtype">id</span>, <span class="keyword">const</span> std::string & fieldName=<span class="stringliteral">"id"</span>) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getInvertedIndexNiQuery(<span class="keywordtype">int</span> signatureId, <span class="keywordtype">int</span> & ni) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00444" name="l00444"></a><span class="lineno"> 444</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getNodesObservingLandmarkQuery(<span class="keywordtype">int</span> landmarkId, std::map<int, Link> & nodes) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00445" name="l00445"></a><span class="lineno"> 445</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getNodeIdByLabelQuery(<span class="keyword">const</span> std::string & label, <span class="keywordtype">int</span> & <span class="keywordtype">id</span>) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00446" name="l00446"></a><span class="lineno"> 446</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAllLabelsQuery(std::map<int, std::string> & labels) <span class="keyword">const</span> = 0;</div>
|
||||
<div class="line"><a id="l00449" name="l00449"></a><span class="lineno"> 449</span><span class="keyword">private</span>:</div>
|
||||
<div class="line"><a id="l00451" name="l00451"></a><span class="lineno"> 451</span> <span class="keywordtype">void</span> beginTransaction() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00453" name="l00453"></a><span class="lineno"> 453</span> <span class="keywordtype">void</span> commit() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00454" name="l00454"></a><span class="lineno"> 454</span> </div>
|
||||
<div class="line"><a id="l00455" name="l00455"></a><span class="lineno"> 455</span> <span class="comment">//non-abstract methods</span></div>
|
||||
<div class="line"><a id="l00456" name="l00456"></a><span class="lineno"> 456</span> <span class="keywordtype">void</span> saveOrUpdate(<span class="keyword">const</span> std::vector<Signature *> & signatures);</div>
|
||||
<div class="line"><a id="l00457" name="l00457"></a><span class="lineno"> 457</span> <span class="keywordtype">void</span> saveOrUpdate(<span class="keyword">const</span> std::vector<VisualWord *> & words) <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00458" name="l00458"></a><span class="lineno"> 458</span> </div>
|
||||
<div class="line"><a id="l00459" name="l00459"></a><span class="lineno"> 459</span> <span class="comment">//thread stuff</span></div>
|
||||
<div class="line"><a id="l00460" name="l00460"></a><span class="lineno"> 460</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoop();</div>
|
||||
<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"> 461</span> </div>
|
||||
<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span><span class="keyword">private</span>:</div>
|
||||
<div class="line"><a id="l00463" name="l00463"></a><span class="lineno"> 463</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _transactionMutex;</div>
|
||||
<div class="line"><a id="l00464" name="l00464"></a><span class="lineno"> 464</span> std::map<int, Signature *> _trashSignatures;<span class="comment">//<id, Signature*></span></div>
|
||||
<div class="line"><a id="l00465" name="l00465"></a><span class="lineno"> 465</span> std::map<int, VisualWord *> _trashVisualWords; <span class="comment">//<id, VisualWord*></span></div>
|
||||
<div class="line"><a id="l00466" name="l00466"></a><span class="lineno"> 466</span> <span class="comment">// Lock order: _trashesMutex -> _dbSafeAccessMutex -> _transactionMutex.</span></div>
|
||||
<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"> 467</span> <span class="comment">// emptyTrashes() locks _dbSafeAccessMutex before releasing _trashesMutex, so that</span></div>
|
||||
<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> <span class="comment">// an item not found in the trash is guaranteed to be readable from the database.</span></div>
|
||||
<div class="line"><a id="l00469" name="l00469"></a><span class="lineno"> 469</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _trashesMutex;</div>
|
||||
<div class="line"><a id="l00470" name="l00470"></a><span class="lineno"> 470</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _dbSafeAccessMutex;</div>
|
||||
<div class="line"><a id="l00471" name="l00471"></a><span class="lineno"> 471</span> <a class="code hl_class" href="classUSemaphore.html">USemaphore</a> _addSem;</div>
|
||||
<div class="line"><a id="l00472" name="l00472"></a><span class="lineno"> 472</span> <span class="keywordtype">double</span> _emptyTrashesTime;</div>
|
||||
<div class="line"><a id="l00473" name="l00473"></a><span class="lineno"> 473</span> std::string _url;</div>
|
||||
<div class="line"><a id="l00474" name="l00474"></a><span class="lineno"> 474</span> std::string _targetVersion;</div>
|
||||
<div class="line"><a id="l00475" name="l00475"></a><span class="lineno"> 475</span> <span class="keywordtype">bool</span> _timestampUpdate;</div>
|
||||
<div class="line"><a id="l00476" name="l00476"></a><span class="lineno"> 476</span>};</div>
|
||||
</div>
|
||||
<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> </div>
|
||||
<div class="line"><a id="l00469" name="l00469"></a><span class="lineno"> 469</span>}</div>
|
||||
<div class="line"><a id="l00470" name="l00470"></a><span class="lineno"> 470</span> </div>
|
||||
<div class="line"><a id="l00471" name="l00471"></a><span class="lineno"> 471</span><span class="preprocessor">#endif </span><span class="comment">/* DBDRIVER_H_ */</span><span class="preprocessor"></span></div>
|
||||
<div class="line"><a id="l00477" name="l00477"></a><span class="lineno"> 477</span> </div>
|
||||
<div class="line"><a id="l00478" name="l00478"></a><span class="lineno"> 478</span>}</div>
|
||||
<div class="line"><a id="l00479" name="l00479"></a><span class="lineno"> 479</span> </div>
|
||||
<div class="line"><a id="l00480" name="l00480"></a><span class="lineno"> 480</span><span class="preprocessor">#endif </span><span class="comment">/* DBDRIVER_H_ */</span><span class="preprocessor"></span></div>
|
||||
<div class="ttc" id="aUThreadNode_8h_html"><div class="ttname"><a href="UThreadNode_8h.html">UThreadNode.h</a></div><div class="ttdoc">Backward-compatible alias header for UThread.</div></div>
|
||||
<div class="ttc" id="aclassUMutex_html"><div class="ttname"><a href="classUMutex.html">UMutex</a></div><div class="ttdef"><b>Definition</b> <a href="UMutex_8h_source.html#l00054">UMutex.h:55</a></div></div>
|
||||
<div class="ttc" id="aclassUSemaphore_html"><div class="ttname"><a href="classUSemaphore.html">USemaphore</a></div><div class="ttdef"><b>Definition</b> <a href="USemaphore_8h_source.html#l00055">USemaphore.h:56</a></div></div>
|
||||
|
||||
Reference in New Issue
Block a user