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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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41
corelib/src/DBDriverSqlite3.h
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@@ -24,6 +24,7 @@
#include "rtabmap/core/DBDriver.h"
#include <opencv2/features2d/features2d.hpp>
#include <sqlite3.h>
#include <pcl/point_types.h>
namespace rtabmap {
@@ -47,40 +48,62 @@ private:
virtual void executeNoResultQuery(const std::string & sql) const;
virtual void getNeighborIdsQuery(int signatureId, std::set<int> & neighbors, bool onlyWithActions = false) const;
virtual void getWeightQuery(int signatureId, int & weight) const;
virtual void getLoopClosureIdsQuery(int signatureId, std::set<int> & loopIds, std::set<int> & childIds) const;
virtual void saveQuery(const std::list<Signature *> & signatures) const;
virtual void saveQuery(const std::list<VisualWord *> & words) const;
virtual void updateQuery(const std::list<Signature *> & signatures) const;
virtual void updateQuery(const std::list<VisualWord *> & words) const;
virtual void saveQuery(const std::map<int, std::map<int, Transform> > & mapTransforms) const;
// Load objects
virtual void loadQuery(VWDictionary * dictionary) const;
virtual void loadQuery(std::map<int, std::map<int, Transform> > & mapTransforms) const;
virtual void loadLastNodesQuery(std::list<Signature *> & signatures) const;
virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures) const;
virtual void loadWordsQuery(const std::set<int> & wordIds, std::list<VisualWord *> & vws) const;
virtual void loadNeighborsQuery(int signatureId, std::set<int> & neighbors) const;
virtual void loadNeighborsQuery(int signatureId, std::map<int, Transform> & neighbors) const;
virtual void loadLoopClosuresQuery(
int signatureId,
std::map<int, Transform> & loopIds,
std::map<int, Transform> & childIds) const;
virtual void getImageQuery(int nodeId, cv::Mat & image) const;
virtual void loadNodeDataQuery(std::list<Signature *> & signatures, bool loadMetricData) const;
virtual void getNodeDataQuery(
int signatureId,
std::vector<unsigned char> & image,
std::vector<unsigned char> & depth,
std::vector<unsigned char> & depth2d,
float & depthConstant,
Transform & localTransform) const;
virtual void getNodeDataQuery(int signatureId, std::vector<unsigned char> & image) const;
virtual void getPoseQuery(int signatureId, Transform & pose, int & mapId) const;
virtual void getAllNodeIdsQuery(std::set<int> & ids) const;
virtual void getLastIdQuery(const std::string & tableName, int & id) const;
virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const;
private:
std::string queryStepNode() const;
std::string queryStepNodeToSensor() const;
std::string queryStepImage() const;
std::string queryStepDepth() const;
std::string queryStepLink() const;
std::string queryStepWordsChanged() const;
std::string queryStepKeypoint() const;
void stepNode(sqlite3_stmt * ppStmt, const Signature * s) const;
void stepNodeToSensor(sqlite3_stmt * ppStmt, int nodeId, int sensorId, int num) const;
void stepImage(sqlite3_stmt * ppStmt, int id, const cv::Mat & image) const;
void stepLink(sqlite3_stmt * ppStmt, int fromId, int toId, int type) const;
void stepImage(
sqlite3_stmt * ppStmt,
int id,
const std::vector<unsigned char> & image) const;
void stepDepth(
sqlite3_stmt * ppStmt,
int id,
const std::vector<unsigned char> & depth,
const std::vector<unsigned char> & depth2d,
float depthConstant,
const Transform & localTransform) const;
void stepLink(sqlite3_stmt * ppStmt, int fromId, int toId, int type, const Transform & transform) const;
void stepWordsChanged(sqlite3_stmt * ppStmt, int signatureId, int oldWordId, int newWordId) const;
void stepKeypoint(sqlite3_stmt * ppStmt, int signatureId, int wordId, const cv::KeyPoint & kp) const;
void stepKeypoint(sqlite3_stmt * ppStmt, int signatureId, int wordId, const cv::KeyPoint & kp, const pcl::PointXYZ & pt) const;
private:
void loadLinksQuery(std::list<Signature *> & signatures) const;