Database update (version 0.8.5): added Node.stamp and Node.label fields

Added labeling mechanism of nodes (by default the first node of a map is tagged "map#")

corelib/include/rtabmap/core/CameraEvent.h

@@ -44,9 +44,9 @@ public:
 	};
 
 public:
-	CameraEvent(const cv::Mat & image, int seq=0) :
+	CameraEvent(const cv::Mat & image, int seq=0, double stamp = 0.0) :
 		UEvent(kCodeImage),
-		data_(image, seq)
+		data_(image, seq, stamp)
 	{
 	}
 
@@ -55,9 +55,9 @@ public:
 	{
 	}
 
-	CameraEvent(const cv::Mat & rgb, const cv::Mat & depth, float fx, float fy, float cx, float cy, const Transform & localTransform, int id) :
+	CameraEvent(const cv::Mat & rgb, const cv::Mat & depth, float fx, float fy, float cx, float cy, const Transform & localTransform, int id, double stamp) :
 		UEvent(kCodeImageDepth),
-		data_(rgb, depth, fx, fy, cx, cy, localTransform, Transform(), 1.0f, 1.0f, id)
+		data_(rgb, depth, fx, fy, cx, cy, localTransform, Transform(), 1.0f, 1.0f, id, stamp)
 	{
 	}
 

corelib/include/rtabmap/core/DBDriver.h

@@ -79,8 +79,6 @@ public:
 
 public:
 	// Mutex-protected methods of abstract versions below
-	bool getSignature(int signatureId, Signature ** s);
-	bool getVisualWord(int wordId, VisualWord ** vw);
 
 	bool openConnection(const std::string & url, bool overwritten = false);
 	void closeConnection();
@@ -106,6 +104,7 @@ public:
 	void getLastNodeId(int & id) const;
 	void getLastWordId(int & id) const;
 	void getInvertedIndexNi(int signatureId, int & ni) const;
+	void getNodeIdByLabel(const std::string & label, int & id) const;
 
 protected:
 	DBDriver(const ParametersMap & parameters = ParametersMap());
@@ -140,6 +139,7 @@ private:
 	virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren) const = 0;
 	virtual void getLastIdQuery(const std::string & tableName, int & id) const = 0;
 	virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const = 0;
+	virtual void getNodeIdByLabelQuery(const std::string & label, int & id) const = 0;
 
 private:
 	//non-abstract methods

corelib/include/rtabmap/core/Memory.h

@@ -109,6 +109,8 @@ public:
 	std::map<int, int> getWeights() const;
 	int getLastSignatureId() const;
 	const Signature * getLastWorkingSignature() const;
+	int getSignatureIdByLabel(const std::string & label, bool lookInDatabase = true) const;
+	bool labelSignature(int id, const std::string & label);
 	int getDatabaseMemoryUsed() const; // in bytes
 	double getDbSavingTime() const;
 	int getMapId(int signatureId) const;

corelib/include/rtabmap/core/Rtabmap.h

@@ -99,6 +99,7 @@ public:
 	void setTimeThreshold(float maxTimeAllowed); // in ms
 
 	int triggerNewMap();
+	bool labelLocation(int id, const std::string & label);
 	void generateDOTGraph(const std::string & path, int id=0, int margin=5);
 	void generateTOROGraph(const std::string & path, bool optimized, bool global);
 	void resetMemory();

corelib/include/rtabmap/core/SensorData.h

@@ -43,7 +43,7 @@ class RTABMAP_EXP SensorData
 {
 public:
 	SensorData(); // empty constructor
-	SensorData(const cv::Mat & image, int id = 0);
+	SensorData(const cv::Mat & image, int id = 0, double stamp = 0.0);
 
 	// Metric constructor
 	SensorData(const cv::Mat & image,
@@ -56,7 +56,8 @@ public:
 		  const Transform & pose,
 		  float poseRotVariance,
 		  float poseTransVariance,
-		  int id);
+		  int id,
+		  double stamp);
 
 	// Metric constructor + 2d laser scan
 	SensorData(const cv::Mat & laserScan,
@@ -70,7 +71,8 @@ public:
 		  const Transform & pose,
 		  float poseRotVariance,
 		  float poseTransVariance,
-		  int id);
+		  int id,
+		  double stamp);
 
 	virtual ~SensorData() {}
 
@@ -82,6 +84,7 @@ public:
 	const cv::Mat & image() const {return _image;}
 	int id() const {return _id;}
 	void setId(int id) {_id = id;}
+	double stamp() const {return _stamp;}
 
 	bool isMetric() const {return !_depthOrRightImage.empty() || _fx != 0.0f || _fyOrBaseline != 0.0f || !_pose.isNull();}
 	void setPose(const Transform & pose, float rotVariance, float transVariance) {_pose = pose; _poseRotVariance=rotVariance; _poseTransVariance = transVariance;}
@@ -111,6 +114,7 @@ public:
 private:
 	cv::Mat _image;
 	int _id;
+	double _stamp;
 
 	// Metric stuff
 	cv::Mat _depthOrRightImage;

corelib/include/rtabmap/core/Signature.h

@@ -54,6 +54,9 @@ public:
 	Signature();
 	Signature(int id,
 			int mapId,
+			int weight,
+			double stamp,
+			const std::string & label,
 			const std::multimap<int, cv::KeyPoint> & words,
 			const std::multimap<int, pcl::PointXYZ> & words3,
 			const Transform & pose = Transform(),
@@ -76,9 +79,14 @@ public:
 	int id() const {return _id;}
 	int mapId() const {return _mapId;}
 
-	void setWeight(int weight) {if(_weight!=weight)_modified=true;_weight = weight;}
+	void setWeight(int weight) {_modified=_weight!=weight;_weight = weight;}
 	int getWeight() const {return _weight;}
 
+	void setLabel(const std::string & label) {_modified=_label.compare(label)!=0;_label = label;}
+	const std::string & getLabel() const {return _label;}
+
+	double getStamp() const {return _stamp;}
+
 	void addLinks(const std::list<Link> & links);
 	void addLinks(const std::map<int, Link> & links);
 	void addLink(const Link & link);
@@ -141,8 +149,10 @@ public:
 private:
 	int _id;
 	int _mapId;
+	double _stamp;
 	std::map<int, Link> _links; // id, transform
 	int _weight;
+	std::string _label;
 	bool _saved; // If it's saved to bd
 	bool _modified;
 	bool _linksModified; // Optimization when updating signatures in database