i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-05 09:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Updated version to 0.8.11. Added param RGBD/LocalLoopDetectionPathOdomPosesUsed. DatabaseViewer: export option at a specified framerate. DBReader: option to read database at a rate specified by the stamps saved. Database: Added new column "data2d_max_pts" in Depth table

Browse Source
This commit is contained in:
Mathieu Labbe
2015-05-01 07:30:09 -04:00
parent d09e8f237a
commit abb7eb15ac
29 changed files with 622 additions and 275 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/DBDriverSqlite3.cpp
+52 -9
View File
@@ -458,7 +458,17 @@ void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures, boo
if(loadMetricData)
{
if(uStrNumCmp(_version, "0.7.0") >= 0)
if(uStrNumCmp(_version, "0.8.11") >= 0)
{
query << "SELECT Image.data, "
"Depth.data, Depth.fx, Depth.fy, Depth.cx, Depth.cy, Depth.local_transform, Depth.data2d_max_pts, Depth.data2d "
<< "FROM Image "
<< "LEFT OUTER JOIN Depth " // returns all images even if there are no metric data
<< "ON Image.id = Depth.id "
<< "WHERE Image.id = ?"
<<";";
}
else if(uStrNumCmp(_version, "0.7.0") >= 0)
{
query << "SELECT Image.data, "
"Depth.data, Depth.fx, Depth.fy, Depth.cx, Depth.cy, Depth.local_transform, Depth.data2d "
@@ -553,14 +563,19 @@ void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures, boo
}
(*iter)->setLocalTransform(localTransform);
int laserScanMaxPts = 0;
if(uStrNumCmp(_version, "0.8.11") >= 0)
{
laserScanMaxPts = sqlite3_column_int(ppStmt, index++);
}
data = sqlite3_column_blob(ppStmt, index);
dataSize = sqlite3_column_bytes(ppStmt, index++);
//Create the laserScan
if(dataSize>4 && data)
{
(*iter)->setLaserScanCompressed(cv::Mat(1, dataSize, CV_8UC1, (void *)data).clone()); // depth2d
(*iter)->setLaserScanCompressed(cv::Mat(1, dataSize, CV_8UC1, (void *)data).clone(), laserScanMaxPts); // depth2d
}
}
rc = sqlite3_step(ppStmt); // next result...
@@ -588,7 +603,8 @@ void DBDriverSqlite3::getNodeDataQuery(
float & fy,
float & cx,
float & cy,
Transform & localTransform) const
Transform & localTransform,
int & laserScanMaxPts) const
{
if(_ppDb)
{
@@ -598,7 +614,17 @@ void DBDriverSqlite3::getNodeDataQuery(
sqlite3_stmt * ppStmt = 0;
std::stringstream query;
if(uStrNumCmp(_version, "0.7.0") >= 0)
if(uStrNumCmp(_version, "0.8.11") >= 0)
{
query << "SELECT Image.data, "
"Depth.data, Depth.fx, Depth.fy, Depth.cx, Depth.cy, Depth.local_transform, Depth.data2d_max_pts, Depth.data2d "
<< "FROM Image "
<< "LEFT OUTER JOIN Depth " // returns all images even if there are no metric data
<< "ON Image.id = Depth.id "
<< "WHERE Image.id = " << signatureId
<<";";
}
else if(uStrNumCmp(_version, "0.7.0") >= 0)
{
query << "SELECT Image.data, "
"Depth.data, Depth.fx, Depth.fy, Depth.cx, Depth.cy, Depth.local_transform, Depth.data2d "
@@ -675,6 +701,12 @@ void DBDriverSqlite3::getNodeDataQuery(
memcpy(localTransform.data(), data, dataSize);
}
laserScanMaxPts = 0;
if(uStrNumCmp(_version, "0.8.11") >= 0)
{
laserScanMaxPts = sqlite3_column_int(ppStmt, index++);
}
data = sqlite3_column_blob(ppStmt, index); // depth2d
dataSize = sqlite3_column_bytes(ppStmt, index++);
//Create the depth2d
@@ -1255,7 +1287,7 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
if(visualWords.size()==0)
{
UINFO("Empty signature detected! (id=%d)", (*iter)->id());
UDEBUG("Empty signature detected! (id=%d)", (*iter)->id());
}
else
{
@@ -2044,7 +2076,7 @@ void DBDriverSqlite3::saveQuery(const std::list<Signature *> & signatures) const
//metric
if(!(*i)->getDepthCompressed().empty() || !(*i)->getLaserScanCompressed().empty())
{
stepDepth(ppStmt, (*i)->id(), (*i)->getDepthCompressed(), (*i)->getLaserScanCompressed(), (*i)->getFx(), (*i)->getFy(), (*i)->getCx(), (*i)->getCy(), (*i)->getLocalTransform());
stepDepth(ppStmt, (*i)->id(), (*i)->getDepthCompressed(), (*i)->getLaserScanCompressed(), (*i)->getFx(), (*i)->getFy(), (*i)->getCx(), (*i)->getCy(), (*i)->getLocalTransform(), (*i)->getLaserScanMaxPts());
}
}
// Finalize (delete) the statement
@@ -2222,7 +2254,11 @@ void DBDriverSqlite3::stepImage(sqlite3_stmt * ppStmt,
std::string DBDriverSqlite3::queryStepDepth() const
{
if(uStrNumCmp(_version, "0.7.0") >= 0)
if(uStrNumCmp(_version, "0.8.11") >= 0)
{
return "INSERT INTO Depth(id, data, fx, fy, cx, cy, local_transform, data2d, data2d_max_pts) VALUES(?,?,?,?,?,?,?,?,?);";
}
else if(uStrNumCmp(_version, "0.7.0") >= 0)
{
return "INSERT INTO Depth(id, data, fx, fy, cx, cy, local_transform, data2d) VALUES(?,?,?,?,?,?,?,?);";
}
@@ -2239,7 +2275,8 @@ void DBDriverSqlite3::stepDepth(sqlite3_stmt * ppStmt,
float fy,
float cx,
float cy,
const Transform & localTransform) const
const Transform & localTransform,
int depth2dMaxPts) const
{
UDEBUG("Save depth %d (size=%d) depth2d = %d", id, (int)depthBytes.cols, (int)depth2dBytes.cols);
if(!ppStmt)
@@ -2293,6 +2330,12 @@ void DBDriverSqlite3::stepDepth(sqlite3_stmt * ppStmt,
}
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
if(uStrNumCmp(_version, "0.8.11") >= 0)
{
rc = sqlite3_bind_int(ppStmt, index++, depth2dMaxPts);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
}
//step
rc=sqlite3_step(ppStmt);
UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());