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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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175
corelib/src/DBDriver.cpp
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@@ -34,9 +34,16 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UTimer.h"
#include "rtabmap/utilite/UStl.h"
#include "DBDriverSqlite3.h"
namespace rtabmap {
DBDriver * DBDriver::create(const ParametersMap & parameters)
{
// well, we only have Sqlite3 database type for now :P
return new DBDriverSqlite3(parameters);
}
DBDriver::DBDriver(const ParametersMap & parameters) :
_emptyTrashesTime(0),
_timestampUpdate(true)
@@ -291,6 +298,23 @@ void DBDriver::saveOrUpdate(const std::vector<VisualWord *> & words) const
}
}
void DBDriver::addLink(const Link & link)
{
_dbSafeAccessMutex.lock();
this->addLinkQuery(link);
_dbSafeAccessMutex.unlock();
}
void DBDriver::removeLink(int from, int to)
{
this->executeNoResult(uFormat("DELETE FROM Link WHERE from_id=%d and to_id=%d", from, to).c_str());
}
void DBDriver::updateLink(const Link & link)
{
_dbSafeAccessMutex.lock();
this->updateLinkQuery(link);
_dbSafeAccessMutex.unlock();
}
void DBDriver::load(VWDictionary * dictionary) const
{
_dbSafeAccessMutex.lock();
@@ -715,4 +739,155 @@ void DBDriver::addStatisticsAfterRun(int stMemSize, int lastSignAdded, int proce
}
}
void DBDriver::generateGraph(
const std::string & fileName,
const std::set<int> & idsInput,
const std::map<int, Signature *> & otherSignatures)
{
if(this->isConnected())
{
if(!fileName.empty())
{
FILE* fout = 0;
#ifdef _MSC_VER
fopen_s(&fout, fileName.c_str(), "w");
#else
fout = fopen(fileName.c_str(), "w");
#endif
if (!fout)
{
UERROR("Cannot open file %s!", fileName.c_str());
return;
}
std::set<int> ids;
if(idsInput.size() == 0)
{
this->getAllNodeIds(ids);
UDEBUG("ids.size()=%d", ids.size());
for(std::map<int, Signature*>::const_iterator iter=otherSignatures.begin(); iter!=otherSignatures.end(); ++iter)
{
ids.insert(iter->first);
}
}
else
{
ids = idsInput;
}
const char * colorG = "green";
const char * colorP = "pink";
; UINFO("Generating map with %d locations", ids.size());
fprintf(fout, "digraph G {\n");
for(std::set<int>::iterator i=ids.begin(); i!=ids.end(); ++i)
{
if(otherSignatures.find(*i) == otherSignatures.end())
{
int id = *i;
std::map<int, Link> links;
this->loadLinks(id, links);
int weight = 0;
this->getWeight(id, weight);
for(std::map<int, Link>::iterator iter = links.begin(); iter!=links.end(); ++iter)
{
int weightNeighbor = 0;
if(otherSignatures.find(iter->first) == otherSignatures.end())
{
this->getWeight(iter->first, weightNeighbor);
}
else
{
weightNeighbor = otherSignatures.find(iter->first)->second->getWeight();
}
//UDEBUG("Add neighbor link from %d to %d", id, iter->first);
if(iter->second.type() == Link::kNeighbor)
{
fprintf(fout, " \"%d\\n%d\" -> \"%d\\n%d\"\n",
id,
weight,
iter->first,
weightNeighbor);
}
else if(iter->first > id)
{
//loop
fprintf(fout, " \"%d\\n%d\" -> \"%d\\n%d\" [label=\"L\", fontcolor=%s, fontsize=8];\n",
id,
weight,
iter->first,
weightNeighbor,
colorG);
}
else
{
//child
fprintf(fout, " \"%d\\n%d\" -> \"%d\\n%d\" [label=\"C\", fontcolor=%s, fontsize=8];\n",
id,
weight,
iter->first,
weightNeighbor,
colorP);
}
}
}
}
for(std::map<int, Signature*>::const_iterator i=otherSignatures.begin(); i!=otherSignatures.end(); ++i)
{
if(ids.find(i->first) != ids.end())
{
int id = i->second->id();
const std::map<int, Link> & links = i->second->getLinks();
int weight = i->second->getWeight();
for(std::map<int, Link>::const_iterator iter = links.begin(); iter!=links.end(); ++iter)
{
int weightNeighbor = 0;
const Signature * s = uValue(otherSignatures, iter->first, (Signature*)0);
if(s)
{
weightNeighbor = s->getWeight();
}
else
{
this->getWeight(iter->first, weightNeighbor);
}
//UDEBUG("Add neighbor link from %d to %d", id, iter->first);
if(iter->second.type() == Link::kNeighbor)
{
fprintf(fout, " \"%d\\n%d\" -> \"%d\\n%d\"\n",
id,
weight,
iter->first,
weightNeighbor);
}
else if(iter->first > id)
{
//loop
fprintf(fout, " \"%d\\n%d\" -> \"%d\\n%d\" [label=\"L\", fontcolor=%s, fontsize=8];\n",
id,
weight,
iter->first,
weightNeighbor,
colorG);
}
else
{
//child
fprintf(fout, " \"%d\\n%d\" -> \"%d\\n%d\" [label=\"C\", fontcolor=%s, fontsize=8];\n",
id,
weight,
iter->first,
weightNeighbor,
colorP);
}
}
}
}
fprintf(fout, "}\n");
fclose(fout);
UINFO("Graph saved to \"%s\" (Tip: $ neato -Tpdf \"%s\" -o out.pdf)", fileName.c_str(), fileName.c_str());
}
}
}
} // namespace rtabmap