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

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Added labeling mechanism of nodes (by default the first node of a map is tagged "map#")
This commit is contained in:
Mathieu Labbe
2015-02-27 15:24:15 -05:00
parent 1d39db2bcc
commit 721de2e76b
21 changed files with 411 additions and 44 deletions
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corelib/src/DBDriverSqlite3.cpp
+110 -7
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@@ -927,6 +927,36 @@ void DBDriverSqlite3::getInvertedIndexNiQuery(int nodeId, int & ni) const
}
}
void DBDriverSqlite3::getNodeIdByLabelQuery(const std::string & label, int & id) const
{
if(_ppDb && !label.empty())
{
UTimer timer;
timer.start();
int rc = SQLITE_OK;
sqlite3_stmt * ppStmt = 0;
std::stringstream query;
query << "SELECT id FROM Node WHERE label='" << label <<"'";
rc = sqlite3_prepare_v2(_ppDb, query.str().c_str(), -1, &ppStmt, 0);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
// Process the result if one
rc = sqlite3_step(ppStmt);
if(rc == SQLITE_ROW)
{
id = sqlite3_column_int(ppStmt, 0);
rc = sqlite3_step(ppStmt);
}
UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
// Finalize (delete) the statement
rc = sqlite3_finalize(ppStmt);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
ULOGGER_DEBUG("Time=%f", timer.ticks());
}
}
void DBDriverSqlite3::getWeightQuery(int nodeId, int & weight) const
{
weight = 0;
@@ -976,9 +1006,18 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
unsigned int loaded = 0;
// Load nodes information
query << "SELECT id, map_id, weight, pose "
<< "FROM Node "
<< "WHERE id=?;";
if(uStrNumCmp(_version, "0.8.5") >= 0)
{
query << "SELECT id, map_id, weight, pose, stamp, label "
<< "FROM Node "
<< "WHERE id=?;";
}
else
{
query << "SELECT id, map_id, weight, pose "
<< "FROM Node "
<< "WHERE id=?;";
}
rc = sqlite3_prepare_v2(_ppDb, query.str().c_str(), -1, &ppStmt, 0);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
@@ -992,10 +1031,12 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
int id = 0;
int mapId = 0;
double stamp = 0.0;
int weight = 0;
Transform pose;
const void * data = 0;
int dataSize = 0;
std::string label;
// Process the result if one
rc = sqlite3_step(ppStmt);
@@ -1012,6 +1053,17 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
{
memcpy(pose.data(), data, dataSize);
}
if(uStrNumCmp(_version, "0.8.5") >= 0)
{
stamp = sqlite3_column_double(ppStmt, index++);
const unsigned char * p = sqlite3_column_text(ppStmt, index++);
if(p)
{
label = reinterpret_cast<const char*>(p);
}
}
rc = sqlite3_step(ppStmt);
}
UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
@@ -1023,10 +1075,12 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
Signature * s = new Signature(
id,
mapId,
weight,
stamp,
label,
std::multimap<int, cv::KeyPoint>(),
std::multimap<int, pcl::PointXYZ>(),
pose);
s->setWeight(weight);
s->setSaved(true);
nodes.push_back(s);
++loaded;
@@ -1583,13 +1637,27 @@ void DBDriverSqlite3::updateQuery(const std::list<Signature *> & nodes, bool upd
Signature * s = 0;
std::string query;
if(updateTimestamp)
if(uStrNumCmp(_version, "0.8.5") >= 0)
{
query = "UPDATE Node SET weight=?, time_enter = DATETIME('NOW') WHERE id=?;";
if(updateTimestamp)
{
query = "UPDATE Node SET weight=?, label=?, time_enter = DATETIME('NOW') WHERE id=?;";
}
else
{
query = "UPDATE Node SET weight=?, label=? WHERE id=?;";
}
}
else
{
query = "UPDATE Node SET weight=? WHERE id=?;";
if(updateTimestamp)
{
query = "UPDATE Node SET weight=?, time_enter = DATETIME('NOW') WHERE id=?;";
}
else
{
query = "UPDATE Node SET weight=? WHERE id=?;";
}
}
rc = sqlite3_prepare_v2(_ppDb, query.c_str(), -1, &ppStmt, 0);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
@@ -1603,6 +1671,20 @@ void DBDriverSqlite3::updateQuery(const std::list<Signature *> & nodes, bool upd
rc = sqlite3_bind_int(ppStmt, index++, s->getWeight());
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
if(uStrNumCmp(_version, "0.8.5") >= 0)
{
if(s->getLabel().empty())
{
rc = sqlite3_bind_null(ppStmt, index++);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
}
else
{
rc = sqlite3_bind_text(ppStmt, index++, s->getLabel().c_str(), -1, SQLITE_STATIC);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
}
}
rc = sqlite3_bind_int(ppStmt, index++, s->id());
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
@@ -1900,6 +1982,10 @@ void DBDriverSqlite3::saveQuery(const std::list<VisualWord *> & words) const
std::string DBDriverSqlite3::queryStepNode() const
{
if(uStrNumCmp(_version, "0.8.5") >= 0)
{
return "INSERT INTO Node(id, map_id, weight, pose, stamp, label) VALUES(?,?,?,?,?,?);";
}
return "INSERT INTO Node(id, map_id, weight, pose) VALUES(?,?,?,?);";
}
void DBDriverSqlite3::stepNode(sqlite3_stmt * ppStmt, const Signature * s) const
@@ -1921,6 +2007,23 @@ void DBDriverSqlite3::stepNode(sqlite3_stmt * ppStmt, const Signature * s) const
rc = sqlite3_bind_blob(ppStmt, index++, s->getPose().data(), s->getPose().size()*sizeof(float), SQLITE_STATIC);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
if(uStrNumCmp(_version, "0.8.5") >= 0)
{
rc = sqlite3_bind_double(ppStmt, index++, s->getStamp());
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
if(s->getLabel().empty())
{
rc = sqlite3_bind_null(ppStmt, index++);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
}
else
{
rc = sqlite3_bind_text(ppStmt, index++, s->getLabel().c_str(), -1, SQLITE_STATIC);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
}
}
//step
rc=sqlite3_step(ppStmt);
UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());