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DbViewer: In graph view, nodes in latest working memory state are highlighted in red

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matlabbe
2018-12-13 13:24:57 -05:00
parent ccbc802fe6
commit 73004c643c
8 changed files with 99 additions and 9 deletions
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2
corelib/include/rtabmap/core/DBDriver.h
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@@ -168,6 +168,7 @@ public:
bool getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps, EnvSensors & sensors) const;
void loadLinks(int signatureId, std::map<int, Link> & links, Link::Type type = Link::kUndef) const;
void getWeight(int signatureId, int & weight) const;
void getLastNodeIds(std::set<int> & ids) const;
void getAllNodeIds(std::set<int> & ids, bool ignoreChildren = false, bool ignoreBadSignatures = false) const;
void getAllLinks(std::multimap<int, Link> & links, bool ignoreNullLinks = true, bool withLandmarks = false) const;
void getLastNodeId(int & id) const;
@@ -265,6 +266,7 @@ protected:
virtual bool getCalibrationQuery(int signatureId, std::vector<CameraModel> & models, StereoCameraModel & stereoModel) const = 0;
virtual bool getLaserScanInfoQuery(int signatureId, LaserScan & info) const = 0;
virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps, EnvSensors & sensors) const = 0;
virtual void getLastNodeIdsQuery(std::set<int> & ids) const = 0;
virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures) const = 0;
virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks, bool withLandmarks) const = 0;
virtual void getLastIdQuery(const std::string & tableName, int & id) const = 0;

1
corelib/include/rtabmap/core/DBDriverSqlite3.h
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@@ -136,6 +136,7 @@ protected:
virtual bool getCalibrationQuery(int signatureId, std::vector<CameraModel> & models, StereoCameraModel & stereoModel) const;
virtual bool getLaserScanInfoQuery(int signatureId, LaserScan & info) const;
virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps, EnvSensors & sensors) const;
virtual void getLastNodeIdsQuery(std::set<int> & ids) const;
virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures) const;
virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks, bool withLandmarks) const;
virtual void getLastIdQuery(const std::string & tableName, int & id) const;

7
corelib/src/DBDriver.cpp
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@@ -816,6 +816,13 @@ void DBDriver::getWeight(int signatureId, int & weight) const
}
}
void DBDriver::getLastNodeIds(std::set<int> & ids) const
{
_dbSafeAccessMutex.lock();
this->getLastNodeIdsQuery(ids);
_dbSafeAccessMutex.unlock();
}
void DBDriver::getAllNodeIds(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures) const
{
// look in the trash

43
corelib/src/DBDriverSqlite3.cpp
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@@ -2324,6 +2324,49 @@ bool DBDriverSqlite3::getNodeInfoQuery(int signatureId,
return found;
}
void DBDriverSqlite3::getLastNodeIdsQuery(std::set<int> & ids) const
{
if(_ppDb)
{
UTimer timer;
timer.start();
int rc = SQLITE_OK;
sqlite3_stmt * ppStmt = 0;
std::string query;
if(uStrNumCmp(_version, "0.11.11") >= 0)
{
query = "SELECT n.id "
"FROM Node AS n "
"WHERE n.time_enter >= (SELECT MAX(time_enter) FROM Info) "
"ORDER BY n.id;";
}
else
{
query = "SELECT n.id "
"FROM Node AS n "
"WHERE n.time_enter >= (SELECT MAX(time_enter) FROM Statistics) "
"ORDER BY n.id;";
}
rc = sqlite3_prepare_v2(_ppDb, query.c_str(), -1, &ppStmt, 0);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
// Process the result if one
rc = sqlite3_step(ppStmt);
while(rc == SQLITE_ROW)
{
ids.insert(ids.end(), sqlite3_column_int(ppStmt, 0)); // Signature Id
rc = sqlite3_step(ppStmt);
}
UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
// Finalize (delete) the statement
rc = sqlite3_finalize(ppStmt);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
ULOGGER_DEBUG("Time=%f ids=%d", timer.ticks(), (int)ids.size());
}
}
void DBDriverSqlite3::getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures) const
{