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Merged pcl_integration branch to trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-12-11 00:12:44 +00:00
parent 97c70d394e
commit 8b8511e154
124 changed files with 21692 additions and 4458 deletions
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77
corelib/src/DBDriver.cpp
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@@ -19,7 +19,7 @@
#include "rtabmap/core/DBDriver.h"
#include "Signature.h"
#include "rtabmap/core/Signature.h"
#include "VisualWord.h"
#include "rtabmap/utilite/UConversion.h"
#include "rtabmap/utilite/UMath.h"
@@ -30,7 +30,6 @@
namespace rtabmap {
DBDriver::DBDriver(const ParametersMap & parameters) :
_imagesCompressed(Parameters::defaultDbImagesCompressed()),
_emptyTrashesTime(0)
{
this->parseParameters(parameters);
@@ -44,11 +43,6 @@ DBDriver::~DBDriver()
void DBDriver::parseParameters(const ParametersMap & parameters)
{
ParametersMap::const_iterator iter;
if((iter=parameters.find(Parameters::kDbImagesCompressed())) != parameters.end())
{
_imagesCompressed = uStr2Bool((*iter).second.c_str());
}
}
void DBDriver::closeConnection()
@@ -286,6 +280,13 @@ void DBDriver::load(VWDictionary * dictionary) const
_dbSafeAccessMutex.unlock();
}
void DBDriver::load(std::map<int, std::map<int, Transform> > & mapTransforms) const
{
_dbSafeAccessMutex.lock();
this->loadQuery(mapTransforms);
_dbSafeAccessMutex.unlock();
}
void DBDriver::loadLastNodes(std::list<Signature *> & signatures) const
{
_dbSafeAccessMutex.lock();
@@ -386,23 +387,45 @@ void DBDriver::loadWords(const std::set<int> & wordIds, std::list<VisualWord *>
}
//TODO Check also in the trash ?
void DBDriver::getImage(int signatureId, cv::Mat & rawData) const
void DBDriver::loadNodeData(std::list<Signature *> & signatures, bool loadMetricData) const
{
_dbSafeAccessMutex.lock();
this->getImageQuery(signatureId, rawData);
this->loadNodeDataQuery(signatures, loadMetricData);
_dbSafeAccessMutex.unlock();
}
//TODO Check also in the trash ?
void DBDriver::getNeighborIds(int signatureId, std::set<int> & neighbors, bool onlyWithActions) const
void DBDriver::getNodeData(
int signatureId,
std::vector<unsigned char> & image,
std::vector<unsigned char> & depth,
std::vector<unsigned char> & depth2d,
float & depthConstant,
Transform & localTransform) const
{
_dbSafeAccessMutex.lock();
this->getNeighborIdsQuery(signatureId, neighbors, onlyWithActions);
this->getNodeDataQuery(signatureId, image, depth, depth2d, depthConstant, localTransform);
_dbSafeAccessMutex.unlock();
}
//TODO Check also in the trash ?
void DBDriver::loadNeighbors(int signatureId, std::set<int> & neighbors) const
void DBDriver::getNodeData(int signatureId, std::vector<unsigned char> & image) const
{
_dbSafeAccessMutex.lock();
this->getNodeDataQuery(signatureId, image);
_dbSafeAccessMutex.unlock();
}
//TODO Check also in the trash ?
void DBDriver::getPose(int signatureId, Transform & pose, int & mapId) const
{
_dbSafeAccessMutex.lock();
this->getPoseQuery(signatureId, pose, mapId);
_dbSafeAccessMutex.unlock();
}
//TODO Check also in the trash ?
void DBDriver::loadNeighbors(int signatureId, std::map<int, Transform> & neighbors) const
{
_dbSafeAccessMutex.lock();
this->loadNeighborsQuery(signatureId, neighbors);
@@ -418,10 +441,10 @@ void DBDriver::getWeight(int signatureId, int & weight) const
}
//TODO Check also in the trash ?
void DBDriver::getLoopClosureIds(int signatureId, std::set<int> & loopIds, std::set<int> & childIds) const
void DBDriver::loadLoopClosures(int signatureId, std::map<int, Transform> & loopIds, std::map<int, Transform> & childIds) const
{
_dbSafeAccessMutex.lock();
this->getLoopClosureIdsQuery(signatureId, loopIds, childIds);
this->loadLoopClosuresQuery(signatureId, loopIds, childIds);
_dbSafeAccessMutex.unlock();
}
@@ -457,29 +480,25 @@ void DBDriver::getInvertedIndexNi(int signatureId, int & ni) const
_dbSafeAccessMutex.unlock();
}
void DBDriver::addStatisticsAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed) const
void DBDriver::save(const std::map<int, std::map<int, Transform> > & mapTransforms) const
{
_dbSafeAccessMutex.lock();
saveQuery(mapTransforms);
_dbSafeAccessMutex.unlock();
}
void DBDriver::addStatisticsAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize) const
{
ULOGGER_DEBUG("");
if(this->isConnected())
{
std::stringstream query;
query << "INSERT INTO Statistics(STM_size,last_sign_added,process_mem_used,database_mem_used) values("
query << "INSERT INTO Statistics(STM_size,last_sign_added,process_mem_used,database_mem_used,dictionary_size) values("
<< stMemSize << ","
<< lastSignAdded << ","
<< processMemUsed << ","
<< databaseMemUsed << ");";
this->executeNoResultQuery(query.str());
}
}
void DBDriver::addStatisticsAfterRunSurf(int dictionarySize) const
{
ULOGGER_DEBUG("");
if(this->isConnected())
{
std::stringstream query;
query << "INSERT INTO StatisticsDictionary(dictionary_size) values(" << dictionarySize << ");";
<< databaseMemUsed << ","
<< dictionarySize << ");";
this->executeNoResultQuery(query.str());
}