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fixed build

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This commit is contained in:
matlabbe
2026-04-05 14:53:11 -07:00
parent 5e85e6192b
commit b5c3d8ef4c
4 changed files with 36 additions and 24 deletions
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36
corelib/src/DBDriver.cpp
View File

@@ -30,6 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/Signature.h"
#include "rtabmap/core/VisualWord.h"
#include "rtabmap/core/DBDriverSqlite3.h"
#include "rtabmap/core/Compression.h"
#include "rtabmap/utilite/UConversion.h"
#include "rtabmap/utilite/UMath.h"
#include "rtabmap/utilite/ULogger.h"
@@ -665,14 +666,14 @@ void DBDriver::loadWords(const std::set<int> & wordIds, std::list<VisualWord *>
}
}
void DBDriver::loadNodeData(Signature & signature, bool images, bool scan, bool userData, bool occupancyGrid) const
void DBDriver::loadNodeData(Signature & signature, bool images, bool scan, bool userData, bool occupancyGrid, bool features) const
{
std::list<Signature *> signatures;
signatures.push_back(&signature);
this->loadNodeData(signatures, images, scan, userData, occupancyGrid);
this->loadNodeData(signatures, images, scan, userData, occupancyGrid, features);
}
void DBDriver::loadNodeData(std::list<Signature *> & signatures, bool images, bool scan, bool userData, bool occupancyGrid) const
void DBDriver::loadNodeData(std::list<Signature *> & signatures, bool images, bool scan, bool userData, bool occupancyGrid, bool features) const
{
// Don't look in the trash, we assume that if we want to load
// data of a signature, it is not in thrash! Print an error if so.
@@ -688,14 +689,14 @@ void DBDriver::loadNodeData(std::list<Signature *> & signatures, bool images, bo
_trashesMutex.unlock();
_dbSafeAccessMutex.lock();
this->loadNodeDataQuery(signatures, images, scan, userData, occupancyGrid);
this->loadNodeDataQuery(signatures, images, scan, userData, occupancyGrid, features);
_dbSafeAccessMutex.unlock();
}
void DBDriver::getNodeData(
int signatureId,
SensorData & data,
bool images, bool scan, bool userData, bool occupancyGrid) const
bool images, bool scan, bool userData, bool occupancyGrid, bool features) const
{
bool found = false;
// look in the trash
@@ -703,11 +704,12 @@ void DBDriver::getNodeData(
if(uContains(_trashSignatures, signatureId))
{
const Signature * s = _trashSignatures.at(signatureId);
if((!s->isSaved() ||
if(!s->isSaved() ||
((!images || !s->sensorData().imageCompressed().empty()) &&
(!scan || !s->sensorData().laserScanCompressed().isEmpty()) &&
(!userData || !s->sensorData().userDataCompressed().empty()) &&
(!occupancyGrid || s->sensorData().gridCellSize() != 0.0f))))
(!occupancyGrid || s->sensorData().gridCellSize() != 0.0f) &&
(!features || !s->sensorData().keypoints().empty())))
{
data = (SensorData)s->sensorData();
if(!images)
@@ -726,6 +728,10 @@ void DBDriver::getNodeData(
{
data.setOccupancyGrid(cv::Mat(), cv::Mat(), cv::Mat(), 0, cv::Point3f());
}
if(!features)
{
data.setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());
}
found = true;
}
}
@@ -737,7 +743,7 @@ void DBDriver::getNodeData(
std::list<Signature *> signatures;
Signature tmp(signatureId);
signatures.push_back(&tmp);
loadNodeDataQuery(signatures, images, scan, userData, occupancyGrid);
loadNodeDataQuery(signatures, images, scan, userData, occupancyGrid, features);
data = signatures.front()->sensorData();
_dbSafeAccessMutex.unlock();
}
@@ -1517,15 +1523,15 @@ void DBDriver::generateGraph(
std::vector<unsigned char> DBDriver::serializeFeatures(
const std::vector<cv::KeyPoint> & keypoints,
const std::vector<cv::Point3f> & points3D,
const cv::Mat & descriptors)
const cv::Mat & descriptors) const
{
const int headerSize = 13;
int header[headerSize] = {
RTABMAP_VERSION_MAJOR, RTABMAP_VERSION_MINOR, RTABMAP_VERSION_PATCH, // 0,1,2
CV_MAJOR_VERSION, CV_MINOR_VERSION, CV_SUBMINOR_VERSION, // 3,4,5 (In case the format/order/size of KeyPoint and/or Point3f changes in the future)
sizeof(cv::KeyPoint), keypoints.size(), // 6,7
sizeof(cv::Point3f), points3D.size(), // 8,9
descriptors.type(), descriptors.cols, descriptors.rows} // 10,11,12
sizeof(cv::KeyPoint), (int)keypoints.size(), // 6,7
sizeof(cv::Point3f), (int)points3D.size(), // 8,9
descriptors.type(), descriptors.cols, descriptors.rows}; // 10,11,12
UDEBUG("Header: %d %d %d %d %d %d %d %d %d %d %d %d %d",
header[0],header[1],header[2],header[3],header[4],header[5],header[6],header[7],header[8],header[9],header[10],header[11],header[12]);
std::vector<unsigned char> data(
@@ -1558,7 +1564,7 @@ bool DBDriver::deserializeFeatures(
unsigned int compressedDataSize,
std::vector<cv::KeyPoint> & keypoints,
std::vector<cv::Point3f> & points3D,
cv::Mat & descriptors)
cv::Mat & descriptors) const
{
cv::Mat serializedData = uncompressData(compressedData, compressedDataSize);
if(serializedData.empty())
@@ -1569,7 +1575,7 @@ bool DBDriver::deserializeFeatures(
int headerSize = 13;
if(serializedData.total() >= sizeof(int)*headerSize)
{
const int * header = (const int *)serializedData.data();
const int * header = (const int *)serializedData.data;
UASSERT(header[6] == sizeof(cv::KeyPoint));
int n_kpts = header[7];
UASSERT(header[8] == sizeof(cv::Point3f));
@@ -1610,7 +1616,7 @@ bool DBDriver::deserializeFeatures(
cv::Mat(d_rows, d_cols, d_type, (void*)(serializedData.data+index)).copyTo(descriptors);
index+=descriptors.elemSize()*(descriptors.total());
}
UASSERT(index == serializedData.size());
UASSERT(index == serializedData.total());
return true;
}
UERROR("Wrong serialized features format detected (size in bytes=%ld)! Cannot deserialize the data.", serializedData.size());

9
corelib/src/DBDriverSqlite3.cpp
View File

@@ -1301,7 +1301,7 @@ void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures, boo
//UDEBUG("load data for %d signatures images=%d scan=%d userData=%d, grid=%d",
// (int)signatures.size(), images?1:0, scan?1:0, userData?1:0, occupancyGrid?1:0);
if(!images && !scan && !userData && !occupancyGrid && (uStrNumCmp(_version, "0.24.0") < 0 || !features))
if(!images && !scan && !userData && !occupancyGrid && !features)
{
UWARN("All requested data fields are false! Nothing loaded...");
return;
@@ -1854,7 +1854,7 @@ void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures, boo
dataSize = sqlite3_column_bytes(ppStmt, index++);
if(dataSize > 0 && data)
{
if(!deserializeFeatures(data, dataSize, keypoints, points3D, descriptors))
if(!deserializeFeatures((const unsigned char *)data, dataSize, keypoints, points3D, descriptors))
{
UERROR("Failed desrializing features for node %d!", (*iter)->id());
}
@@ -1914,6 +1914,11 @@ void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures, boo
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
//ULOGGER_DEBUG("Time=%fs", timer.ticks());
}
if(features && uStrNumCmp(_version, "0.24.0") < 0)
{
loadWordsQuery(signatures);
}
}
bool DBDriverSqlite3::getCalibrationQuery(