mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-04 09:07:47 +08:00
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
This commit is contained in:
matlabbe
+4
-232
@@ -40,7 +40,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#include <rtabmap/core/EpipolarGeometry.h>
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#include "rtabmap/core/VisualWord.h"
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#include "rtabmap/core/Features2d.h"
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#include "DBDriverSqlite3.h"
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#include "rtabmap/core/DBDriver.h"
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#include "rtabmap/core/util3d_features.h"
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#include "rtabmap/core/util3d_filtering.h"
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#include "rtabmap/core/util3d_correspondences.h"
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@@ -184,7 +184,7 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
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if(_dbDriver == 0 && !dbUrl.empty())
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{
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_dbDriver = new DBDriverSqlite3(parameters);
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_dbDriver = DBDriver::create(parameters);
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}
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bool success = true;
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@@ -3523,7 +3523,7 @@ SensorData Memory::getSignatureDataConst(int locationId) const
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return r;
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}
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void Memory::generateGraph(const std::string & fileName, std::set<int> ids)
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void Memory::generateGraph(const std::string & fileName, const std::set<int> & ids)
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{
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if(!_dbDriver)
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{
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@@ -3531,235 +3531,7 @@ void Memory::generateGraph(const std::string & fileName, std::set<int> ids)
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return;
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}
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if(!fileName.empty())
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{
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FILE* fout = 0;
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#ifdef _MSC_VER
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fopen_s(&fout, fileName.c_str(), "w");
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#else
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fout = fopen(fileName.c_str(), "w");
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#endif
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if (!fout)
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{
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UERROR("Cannot open file %s!", fileName.c_str());
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return;
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}
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if(ids.size() == 0)
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{
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_dbDriver->getAllNodeIds(ids);
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UDEBUG("ids.size()=%d", ids.size());
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for(std::map<int, Signature*>::iterator iter=_signatures.begin(); iter!=_signatures.end(); ++iter)
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{
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ids.insert(iter->first);
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}
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}
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const char * colorG = "green";
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const char * colorP = "pink";
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; UINFO("Generating map with %d locations", ids.size());
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fprintf(fout, "digraph G {\n");
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for(std::set<int>::iterator i=ids.begin(); i!=ids.end(); ++i)
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{
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if(_signatures.find(*i) == _signatures.end())
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{
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int id = *i;
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std::map<int, Link> links;
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_dbDriver->loadLinks(id, links);
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int weight = 0;
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_dbDriver->getWeight(id, weight);
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for(std::map<int, Link>::iterator iter = links.begin(); iter!=links.end(); ++iter)
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{
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int weightNeighbor = 0;
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if(_signatures.find(iter->first) == _signatures.end())
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{
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_dbDriver->getWeight(iter->first, weightNeighbor);
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}
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else
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{
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weightNeighbor = _signatures.find(iter->first)->second->getWeight();
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}
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//UDEBUG("Add neighbor link from %d to %d", id, iter->first);
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if(iter->second.type() == Link::kNeighbor)
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{
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fprintf(fout, " \"%d\\n%d\" -> \"%d\\n%d\"\n",
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id,
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weight,
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iter->first,
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weightNeighbor);
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}
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else if(iter->first > id)
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{
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//loop
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fprintf(fout, " \"%d\\n%d\" -> \"%d\\n%d\" [label=\"L\", fontcolor=%s, fontsize=8];\n",
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id,
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weight,
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iter->first,
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weightNeighbor,
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colorG);
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}
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else
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{
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//child
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fprintf(fout, " \"%d\\n%d\" -> \"%d\\n%d\" [label=\"C\", fontcolor=%s, fontsize=8];\n",
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id,
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weight,
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iter->first,
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weightNeighbor,
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colorP);
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}
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}
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}
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}
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for(std::map<int, Signature*>::iterator i=_signatures.begin(); i!=_signatures.end(); ++i)
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{
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if(ids.find(i->first) != ids.end())
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{
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int id = i->second->id();
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const std::map<int, Link> & links = i->second->getLinks();
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int weight = i->second->getWeight();
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for(std::map<int, Link>::const_iterator iter = links.begin(); iter!=links.end(); ++iter)
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{
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int weightNeighbor = 0;
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const Signature * s = this->getSignature(iter->first);
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if(s)
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{
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weightNeighbor = s->getWeight();
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}
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else
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{
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_dbDriver->getWeight(iter->first, weightNeighbor);
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}
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//UDEBUG("Add neighbor link from %d to %d", id, iter->first);
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if(iter->second.type() == Link::kNeighbor)
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{
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fprintf(fout, " \"%d\\n%d\" -> \"%d\\n%d\"\n",
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id,
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weight,
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iter->first,
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weightNeighbor);
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}
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else if(iter->first > id)
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{
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//loop
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fprintf(fout, " \"%d\\n%d\" -> \"%d\\n%d\" [label=\"L\", fontcolor=%s, fontsize=8];\n",
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id,
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weight,
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iter->first,
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weightNeighbor,
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colorG);
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}
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else
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{
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//child
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fprintf(fout, " \"%d\\n%d\" -> \"%d\\n%d\" [label=\"C\", fontcolor=%s, fontsize=8];\n",
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id,
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weight,
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iter->first,
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weightNeighbor,
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colorP);
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}
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}
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}
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}
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fprintf(fout, "}\n");
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fclose(fout);
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UINFO("Graph saved to \"%s\"", fileName.c_str());
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}
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}
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// Only used to generate a .dot file
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class GraphNode
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{
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public:
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GraphNode(int id, GraphNode * parent = 0) :
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_parent(parent),
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_id(id)
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{
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if(_parent)
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{
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_parent->addChild(this);
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}
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}
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virtual ~GraphNode()
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{
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//We copy the set because when a child is destroyed, it is removed from its parent.
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std::set<GraphNode*> children = _children;
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_children.clear();
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for(std::set<GraphNode*>::iterator iter=children.begin(); iter!=children.end(); ++iter)
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{
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delete *iter;
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}
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children.clear();
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if(_parent)
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{
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_parent->removeChild(this);
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}
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}
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int id() const {return _id;}
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bool isAncestor(int id) const
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{
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if(_parent)
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{
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if(_parent->id() == id)
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{
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return true;
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}
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return _parent->isAncestor(id);
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}
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return false;
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}
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void expand(std::list<std::list<int> > & paths, std::list<int> currentPath = std::list<int>()) const
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{
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currentPath.push_back(_id);
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if(_children.size() == 0)
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{
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paths.push_back(currentPath);
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return;
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}
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for(std::set<GraphNode*>::const_iterator iter=_children.begin(); iter!=_children.end(); ++iter)
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{
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(*iter)->expand(paths, currentPath);
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}
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}
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private:
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void addChild(GraphNode * child)
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{
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_children.insert(child);
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}
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void removeChild(GraphNode * child)
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{
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_children.erase(child);
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}
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private:
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std::set<GraphNode*> _children;
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GraphNode * _parent;
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int _id;
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};
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//recursive
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void Memory::createGraph(GraphNode * parent, unsigned int maxDepth, const std::set<int> & endIds)
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{
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if(maxDepth == 0 || !parent)
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{
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return;
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}
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std::map<int, int> neighbors = this->getNeighborsId(parent->id(), 1, -1, false);
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for(std::map<int, int>::iterator iter=neighbors.begin(); iter!=neighbors.end(); ++iter)
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{
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if(!parent->isAncestor(iter->first))
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{
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GraphNode * n = new GraphNode(iter->first, parent);
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if(endIds.find(iter->first) == endIds.end())
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{
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this->createGraph(n, maxDepth-1, endIds);
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}
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}
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}
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_dbDriver->generateGraph(fileName, ids, _signatures);
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}
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int Memory::getNi(int signatureId) const
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