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DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases

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This commit is contained in:
matlabbe
2015-10-16 14:54:47 -04:00
parent 835155e6ae
commit 5934ec90db
9 changed files with 544 additions and 408 deletions
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14
corelib/include/rtabmap/core/DBDriver.h
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@@ -60,6 +60,9 @@ class VisualWord;
//
class RTABMAP_EXP DBDriver : public UThreadNode
{
public:
static DBDriver * create(const ParametersMap & parameters = ParametersMap());
public:
virtual ~DBDriver();
@@ -75,6 +78,15 @@ public:
double getEmptyTrashesTime() const {return _emptyTrashesTime;}
void setTimestampUpdateEnabled(bool enabled) {_timestampUpdate = enabled;} // used on Update Signature and Word queries
// Warning: the following functions don't look in the trash, direct database modifications
void generateGraph(
const std::string & fileName,
const std::set<int> & ids = std::set<int>(),
const std::map<int, Signature *> & otherSignatures = std::map<int, Signature *>());
void addLink(const Link & link);
void removeLink(int from, int to);
void updateLink(const Link & link);
public:
void addStatisticsAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize) const;
@@ -128,6 +140,8 @@ private:
virtual void updateQuery(const std::list<Signature *> & signatures, bool updateTimestamp) const = 0;
virtual void updateQuery(const std::list<VisualWord *> & words, bool updateTimestamp) const = 0;
virtual void addLinkQuery(const Link & link) const = 0;
virtual void updateLinkQuery(const Link & link) const = 0;
// Load objects
virtual void loadQuery(VWDictionary * dictionary) const = 0;

6
corelib/include/rtabmap/core/Memory.h
View File

@@ -48,7 +48,6 @@ namespace rtabmap {
class Signature;
class DBDriver;
class GraphNode;
class VWDictionary;
class VisualWord;
class Feature2D;
@@ -164,10 +163,7 @@ public:
virtual void dumpSignatures(const char * fileNameSign, bool words3D) const;
void dumpDictionary(const char * fileNameRef, const char * fileNameDesc) const;
void generateGraph(const std::string & fileName, std::set<int> ids = std::set<int>());
void createGraph(GraphNode * parent,
unsigned int maxDepth,
const std::set<int> & endIds = std::set<int>());
void generateGraph(const std::string & fileName, const std::set<int> & ids = std::set<int>());
//keypoint stuff
const VWDictionary * getVWDictionary() const;