i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
matlabbe
2018-12-13 13:24:57 -05:00
parent ccbc802fe6
commit 73004c643c
8 changed files with 99 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
corelib/src/DBDriver.cpp
View File

@@ -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
View File

@@ -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
{