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MERGE branch STM 325:449 into trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@450 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2012-03-03 01:46:30 +00:00
parent c4aff5f20a
commit a2eb8bcab6
100 changed files with 76652 additions and 5164 deletions
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39
corelib/src/DBDriverSqlite3.h
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@@ -32,13 +32,16 @@ public:
DBDriverSqlite3(const ParametersMap & parameters = ParametersMap());
virtual ~DBDriverSqlite3();
virtual std::string getDriverName() const {return "sqlite3";}
virtual void parseParameters(const ParametersMap & parameters);
void setDbInMemory(bool dbInMemory);
void setJournalMode(int journalMode);
void setCacheSize(unsigned int cacheSize);
void setSynchronous(int synchronous);
void setTempStore(int tempStore);
private:
virtual bool connectDatabaseQuery(const std::string & url);
virtual bool connectDatabaseQuery(const std::string & url, bool overwirtten = false);
virtual void disconnectDatabaseQuery();
virtual bool isConnectedQuery() const;
virtual long getMemoryUsedQuery() const; // In bytes
@@ -47,15 +50,13 @@ private:
virtual bool changeWordsRefQuery(const std::map<int, int> & refsToChange) const; // <oldWordId, activeWordId>
virtual bool deleteWordsQuery(const std::vector<int> & ids) const;
virtual bool getNeighborIdsQuery(int signatureId, std::set<int> & neighbors) const;
virtual bool getNeighborIdsQuery(int signatureId, std::list<int> & neighbors, bool onlyWithActions = false) const;
virtual bool getWeightQuery(int signatureId, int & weight) const;
virtual bool getLoopClosureIdQuery(int signatureId, int & loopId) const;
virtual bool addNeighborQuery(int id, int newNeighbor, int oldNeighbor) const;
virtual bool getLoopClosureIdsQuery(int signatureId, std::set<int> & loopIds, std::set<int> & childIds) const;
virtual bool saveQuery(const std::vector<VisualWord *> & visualWords) const;
virtual bool updateQuery(const std::list<Signature *> & signatures) const;
virtual bool saveQuery(const KeypointSignature * ss) const;
virtual bool saveQuery(const std::list<KeypointSignature *> & signatures) const;
virtual bool saveQuery(const std::list<Signature *> & signatures) const;
// Load objects
virtual bool loadQuery(VWDictionary * dictionary) const;
@@ -63,18 +64,34 @@ private:
virtual bool loadQuery(int signatureId, Signature ** s) const;
virtual bool loadQuery(int wordId, VisualWord ** vw) const;
virtual bool loadQuery(int signatureId, KeypointSignature * ss) const;
virtual bool loadKeypointSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures, bool onlyParents = false) const;
virtual bool loadQuery(int signatureId, SMSignature * ss) const;
virtual bool loadKeypointSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures) const;
virtual bool loadSMSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures) const;
virtual bool loadWordsQuery(const std::list<int> & wordIds, std::list<VisualWord *> & vws) const;
virtual bool loadNeighborsQuery(int signatureId, std::map<int, std::list<std::vector<float> > > & neighbors) const;
virtual bool loadNeighborsQuery(int signatureId, NeighborsMultiMap & neighbors) const;
bool loadNeighborsQuery(std::list<Signature *> & signatures) const;
virtual bool getImageCompressedQuery(int id, CvMat ** compressed) const;
virtual bool getImageQuery(int id, IplImage ** image) const;
virtual bool getAllSignatureIdsQuery(std::set<int> & ids) const;
virtual bool getLastSignatureIdQuery(int & id) const;
virtual bool getLastVisualWordIdQuery(int & id) const;
virtual bool getSurfNiQuery(int signatureId, int & ni) const;
virtual bool getChildrenIdsQuery(int signatureId, std::list<int> & ids) const;
virtual bool getHighestWeightedSignaturesQuery(unsigned int count, std::multimap<int, int> & ids) const;
private:
std::string queryStepSignature() const;
std::string queryStepImage() const;
std::string queryStepNeighborLink() const;
std::string queryStepWordsChanged() const;
std::string queryStepKeypoint() const;
std::string queryStepSensors() const;
int stepSignature(sqlite3_stmt * ppStmt, const Signature * s) const;
int stepImage(sqlite3_stmt * ppStmt, int id, const IplImage * img) const;
int stepNeighborLink(sqlite3_stmt * ppStmt, int signatureId, const NeighborLink & n) const;
int stepWordsChanged(sqlite3_stmt * ppStmt, int signatureId, int oldWordId, int newWordId) const;
int stepKeypoint(sqlite3_stmt * ppStmt, int signatureId, int wordId, const cv::KeyPoint & kp) const;
int stepSensors(sqlite3_stmt * ppStmt, const SMSignature * s) const;
private:
int loadOrSaveDb(sqlite3 *pInMemory, const std::string & fileName, int isSave) const;
@@ -83,6 +100,8 @@ private:
bool _dbInMemory;
unsigned int _cacheSize;
int _journalMode;
int _synchronous;
int _tempStore;
};
}