i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-06 10:07:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

Updated detect more loop closures with optimization check to accept (like in dbviewer). DBViewer: added Depth image edition dialog. GainCompensator: now doing it on 3 channels separatly. Export: removed gain's alpha option, added max polygons option, added brightness/contrast auto balance option

Browse Source
This commit is contained in:
matlabbe
2017-03-31 18:56:52 -04:00
parent a928a0b404
commit 767b29d5a3
20 changed files with 1695 additions and 551 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/DBDriverSqlite3.cpp
+86 -2
View File
@@ -3202,7 +3202,7 @@ void DBDriverSqlite3::updateOccupancyGridQuery(
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
// Save occupancy grid
stepOccupancyGrid(ppStmt,
stepOccupancyGridUpdate(ppStmt,
nodeId,
ground,
obstacles,
@@ -3217,6 +3217,37 @@ void DBDriverSqlite3::updateOccupancyGridQuery(
}
}
void DBDriverSqlite3::updateDepthImageQuery(
int nodeId,
const cv::Mat & image) const
{
UDEBUG("");
if(_ppDb)
{
std::string type;
UTimer timer;
timer.start();
int rc = SQLITE_OK;
sqlite3_stmt * ppStmt = 0;
// Create query
std::string query = queryStepDepthUpdate();
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());
// Save depth
stepDepthUpdate(ppStmt,
nodeId,
image);
// 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());
UDEBUG("Time=%fs", timer.ticks());
}
}
void DBDriverSqlite3::addStatisticsQuery(const Statistics & statistics) const
{
UDEBUG("Ref ID = %d", statistics.refImageId());
@@ -3502,6 +3533,59 @@ void DBDriverSqlite3::stepDepth(sqlite3_stmt * ppStmt, const SensorData & sensor
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
}
std::string DBDriverSqlite3::queryStepDepthUpdate() const
{
if(uStrNumCmp(_version, "0.10.0") < 0)
{
return "UPDATE Depth SET data=? WHERE id=?;";
}
else
{
return "UPDATE Data SET depth=? WHERE id=?;";
}
}
void DBDriverSqlite3::stepDepthUpdate(sqlite3_stmt * ppStmt, int nodeId, const cv::Mat & image) const
{
if(!ppStmt)
{
UFATAL("");
}
int rc = SQLITE_OK;
int index = 1;
cv::Mat imageCompressed;
if(!image.empty() && (image.type()!=CV_8UC1 || image.rows > 1))
{
// compress
imageCompressed = compressImage2(image, ".png");
}
else
{
imageCompressed = image;
}
if(!imageCompressed.empty())
{
rc = sqlite3_bind_blob(ppStmt, index++, imageCompressed.data, (int)imageCompressed.cols, SQLITE_STATIC);
}
else
{
rc = sqlite3_bind_zeroblob(ppStmt, index++, 4);
}
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
//id
rc = sqlite3_bind_int(ppStmt, index++, nodeId);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
//step
rc=sqlite3_step(ppStmt);
UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
rc = sqlite3_reset(ppStmt);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
}
std::string DBDriverSqlite3::queryStepSensorData() const
{
UASSERT(uStrNumCmp(_version, "0.10.0") >= 0);
@@ -3951,7 +4035,7 @@ std::string DBDriverSqlite3::queryStepOccupancyGridUpdate() const
UASSERT(uStrNumCmp(_version, "0.11.10") >= 0);
return "UPDATE Data SET ground_cells=?, obstacle_cells=?, cell_size=?, view_point_x=?, view_point_y=?, view_point_z=? WHERE id=?;";
}
void DBDriverSqlite3::stepOccupancyGrid(sqlite3_stmt * ppStmt,
void DBDriverSqlite3::stepOccupancyGridUpdate(sqlite3_stmt * ppStmt,
int nodeId,
const cv::Mat & ground,
const cv::Mat & obstacles,