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Fixed saving/loading dictionary (not loaded words)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@676 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2012-12-12 16:40:18 +00:00
parent aab425e583
commit bb2fbc67e0
6 changed files with 207 additions and 73 deletions
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33
corelib/src/DBDriver.cpp
View File

@@ -178,7 +178,7 @@ void DBDriver::emptyTrashes(bool async)
if(this->isConnected())
{
//Only one query to the database
this->saveQuery(uValues(visualWords));
this->saveOrUpdate(uValues(visualWords));
}
for(std::map<int, VisualWord *>::iterator iter=visualWords.begin(); iter!=visualWords.end(); ++iter)
@@ -223,7 +223,6 @@ void DBDriver::asyncSave(VisualWord * vw)
}
}
//Automatically begin and commit a transaction
void DBDriver::saveOrUpdate(const std::vector<Signature *> & signatures) const
{
ULOGGER_DEBUG("");
@@ -254,6 +253,36 @@ void DBDriver::saveOrUpdate(const std::vector<Signature *> & signatures) const
}
}
void DBDriver::saveOrUpdate(const std::vector<VisualWord *> & words) const
{
ULOGGER_DEBUG("");
std::list<VisualWord *> toSave;
std::list<VisualWord *> toUpdate;
if(this->isConnected() && words.size())
{
for(std::vector<VisualWord *>::const_iterator i=words.begin(); i!=words.end();++i)
{
if((*i)->isSaved())
{
toUpdate.push_back(*i);
}
else
{
toSave.push_back(*i);
}
}
if(toUpdate.size())
{
this->updateQuery(toUpdate);
}
if(toSave.size())
{
this->saveQuery(toSave);
}
}
}
void DBDriver::load(VWDictionary * dictionary) const
{
_dbSafeAccessMutex.lock();

166
corelib/src/DBDriverSqlite3.cpp
View File

@@ -859,16 +859,16 @@ void DBDriverSqlite3::loadLastNodesQuery(std::list<Signature *> & nodes) const
timer.start();
int rc = SQLITE_OK;
sqlite3_stmt * ppStmt = 0;
std::stringstream query;
std::string query;
std::list<int> ids;
// Get the map from signature and visual words
query << "SELECT n.id "
query = "SELECT n.id "
"FROM Node AS n "
"WHERE n.time_enter >= (SELECT MAX(time_enter) FROM Statistics) "
"ORDER BY n.id;";
rc = sqlite3_prepare_v2(_ppDb, query.str().c_str(), -1, &ppStmt, 0);
rc = sqlite3_prepare_v2(_ppDb, query.c_str(), -1, &ppStmt, 0);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
// Process the result if one
@@ -891,7 +891,6 @@ void DBDriverSqlite3::loadLastNodesQuery(std::list<Signature *> & nodes) const
}
}
// TODO DO IT IN A MORE EFFICiENT WAY !!!!
void DBDriverSqlite3::loadQuery(VWDictionary * dictionary) const
{
ULOGGER_DEBUG("");
@@ -902,65 +901,42 @@ void DBDriverSqlite3::loadQuery(VWDictionary * dictionary) const
timer.start();
int rc = SQLITE_OK;
sqlite3_stmt * ppStmt = 0;
std::stringstream query;
std::string query;
std::list<VisualWord *> visualWords;
// Get the map from signature and visual words
query << "SELECT vw.id, vw.descriptor_size, vw.descriptor, m.node_id "
"FROM Word as vw "
"INNER JOIN Map_Node_Word as m "
"ON vw.id=m.word_id "
"WHERE vw.time_enter >= (SELECT MAX(time_enter) FROM Statistics) "
"ORDER BY vw.id;";
// Get the visual words
query = "SELECT id, descriptor_size, descriptor "
"FROM Word "
"WHERE time_enter >= (SELECT MAX(time_enter) FROM Statistics) "
"ORDER BY id;";
rc = sqlite3_prepare_v2(_ppDb, query.str().c_str(), -1, &ppStmt, 0);
rc = sqlite3_prepare_v2(_ppDb, query.c_str(), -1, &ppStmt, 0);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
// Process the result if one
int id = 0;
int lastId = 0;
int descriptorSize = 0;
const void * descriptor = 0;
int dRealSize = 0;
int signatureId;
rc = sqlite3_step(ppStmt);
int count = 0;
while(rc == SQLITE_ROW)
{
id = sqlite3_column_int(ppStmt, 0); // VisualWord Id
int index=0;
id = sqlite3_column_int(ppStmt, index++); // VisualWord Id
if(id>0)
{
if(id != lastId)
{
descriptorSize = sqlite3_column_int(ppStmt, 1); // VisualWord descriptor size
descriptor = sqlite3_column_blob(ppStmt, 2); // VisualWord descriptor array
dRealSize = sqlite3_column_bytes(ppStmt, 2);
}
descriptorSize = sqlite3_column_int(ppStmt, index++); // VisualWord descriptor size
descriptor = sqlite3_column_blob(ppStmt, index); // VisualWord descriptor array
dRealSize = sqlite3_column_bytes(ppStmt, index++);
if(dRealSize/int(sizeof(float)) != descriptorSize)
{
UERROR("Saved buffer size (%d) is not the same as descriptor size (%d)", dRealSize/sizeof(float), descriptorSize);
}
lastId = id;
signatureId = sqlite3_column_int(ppStmt, 3); // Signature ref Id
if(dictionary->getWord(id) != 0)
{
// Use VWDictionary::addWordRef instead of VisualWord::addRef()
// This will increment _totalActiveReferences in the dictionary
dictionary->addWordRef(id, signatureId);
}
else
{
VisualWord * vw = new VisualWord(id, &((const float *)descriptor)[0], descriptorSize, signatureId);
if(vw)
{
vw->setSaved(true);
dictionary->addWord(vw);
}
else
{
ULOGGER_ERROR("Couldn't create a Visual word!?");
}
}
VisualWord * vw = new VisualWord(id, &((const float *)descriptor)[0], descriptorSize, 0);
vw->setSaved(true);
dictionary->addWord(vw);
}
else
{
@@ -968,20 +944,69 @@ void DBDriverSqlite3::loadQuery(VWDictionary * dictionary) const
}
if(++count % 5000 == 0)
{
ULOGGER_DEBUG("Loaded %d word references...", count);
ULOGGER_DEBUG("Loaded %d words...", count);
}
rc = sqlite3_step(ppStmt); // next result...
}
getLastWordId(id);
dictionary->setLastWordId(id);
UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
// Finalize (delete) the statement
rc = sqlite3_finalize(ppStmt);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
/*
// Load references
// Get the map from signature and visual words
query = "SELECT node_id "
"FROM Map_Node_Word "
"INNER JOIN Node "
"ON Node.id = node_id "
"WHERE word_id = ? AND node.time_enter >= (SELECT MAX(time_enter) FROM Statistics);";
rc = sqlite3_prepare_v2(_ppDb, query.c_str(), -1, &ppStmt, 0);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
int signatureId;
count = 0;
for(std::map<int, VisualWord*>::const_iterator iter=dictionary->getVisualWords().begin(); iter!=dictionary->getVisualWords().end(); ++iter)
{
// bind id
rc = sqlite3_bind_int(ppStmt, 1, iter->first);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
rc = sqlite3_step(ppStmt);
while(rc == SQLITE_ROW)
{
int index=0;
signatureId = sqlite3_column_int(ppStmt, index++);
if(signatureId>0)
{
dictionary->addWordRef(iter->first, signatureId);
}
else
{
ULOGGER_ERROR("Wrong signature id ?!? (%d)", signatureId);
}
if(++count % 5000 == 0)
{
ULOGGER_DEBUG("Loaded %d word references...", count);
}
rc = sqlite3_step(ppStmt); // next result...
}
UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
//reset
rc = sqlite3_reset(ppStmt);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
}
// Finalize (delete) the statement
rc = sqlite3_finalize(ppStmt);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());*/
// Get Last word id
getLastWordId(id);
dictionary->setLastWordId(id);
ULOGGER_DEBUG("Time=%fs", timer.ticks());
}
}
@@ -1308,6 +1333,45 @@ void DBDriverSqlite3::updateQuery(const std::list<Signature *> & nodes) const
}
}
void DBDriverSqlite3::updateQuery(const std::list<VisualWord *> & words) const
{
if(_ppDb && words.size())
{
UTimer timer;
timer.start();
int rc = SQLITE_OK;
sqlite3_stmt * ppStmt = 0;
VisualWord * w = 0;
std::string query = "UPDATE Word SET time_enter = DATETIME('NOW') WHERE id=?;";
rc = sqlite3_prepare_v2(_ppDb, query.c_str(), -1, &ppStmt, 0);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
for(std::list<VisualWord *>::const_iterator i=words.begin(); i!=words.end(); ++i)
{
w = *i;
int index = 1;
if(w)
{
rc = sqlite3_bind_int(ppStmt, index++, w->id());
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());
rc = sqlite3_reset(ppStmt);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
}
}
// Finalize (delete) the statement
rc = sqlite3_finalize(ppStmt);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
ULOGGER_DEBUG("Update Word table, Time=%fs", timer.ticks());
}
}
void DBDriverSqlite3::saveQuery(const std::list<Signature *> & signatures) const
{
UDEBUG("");
@@ -1400,7 +1464,7 @@ void DBDriverSqlite3::saveQuery(const std::list<Signature *> & signatures) const
}
}
void DBDriverSqlite3::saveQuery(const std::vector<VisualWord *> & words) const
void DBDriverSqlite3::saveQuery(const std::list<VisualWord *> & words) const
{
UDEBUG("visualWords size=%d", words.size());
if(_ppDb)
@@ -1418,7 +1482,7 @@ void DBDriverSqlite3::saveQuery(const std::vector<VisualWord *> & words) const
query = std::string("INSERT INTO Word(id, descriptor_size, descriptor) VALUES(?,?,?);");
rc = sqlite3_prepare_v2(_ppDb, query.c_str(), -1, &ppStmt, 0);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
for(std::vector<VisualWord *>::const_iterator iter=words.begin(); iter!=words.end(); ++iter)
for(std::list<VisualWord *>::const_iterator iter=words.begin(); iter!=words.end(); ++iter)
{
const VisualWord * w = *iter;
if(w && !w->isSaved())

5
corelib/src/DBDriverSqlite3.h
View File

@@ -51,9 +51,10 @@ private:
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::vector<VisualWord *> & visualWords) const;
virtual void updateQuery(const std::list<Signature *> & signatures) 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;
// Load objects
virtual void loadQuery(VWDictionary * dictionary) const;

34
corelib/src/Memory.cpp
View File

@@ -139,14 +139,15 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
// Now load the dictionary if we have a connection
if(_vwd && _dbDriver && _dbDriver->isConnected())
if(_dbDriver && _dbDriver->isConnected())
{
UEventsManager::post(new RtabmapEventInit(std::string("Loading dictionary...")));
_dbDriver->load(_vwd);
UDEBUG("%d words loaded!", _vwd->getVisualWords().size());
UEventsManager::post(new RtabmapEventInit(std::string("Loading dictionary, done! (") + uNumber2Str(int(_vwd->getVisualWords().size())) + " loaded)"));
UDEBUG("%d words loaded!", _vwd->getUnusedWordsSize());
UEventsManager::post(new RtabmapEventInit(std::string("Loading dictionary, done! (") + uNumber2Str(int(_vwd->getUnusedWordsSize())) + " words)"));
}
UEventsManager::post(new RtabmapEventInit(std::string("Adding word references...")));
// Enable loaded signatures
Signature * ss;
const std::map<int, Signature *> & signatures = this->getSignatures();
@@ -155,14 +156,26 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
ss = this->_getSignature(i->first);
if(ss)
{
ss->setEnabled(true);
const std::multimap<int, cv::KeyPoint> & words = ss->getWords();
if(words.size())
{
UDEBUG("node=%d, word references=%d", ss->id(), words.size());
for(std::multimap<int, cv::KeyPoint>::const_iterator iter = words.begin(); iter!=words.end(); ++iter)
{
_vwd->addWordRef(iter->first, i->first);
}
ss->setEnabled(true);
}
}
}
if(_vwd)
UEventsManager::post(new RtabmapEventInit(uFormat("Adding word references, done! (%d)", _vwd->getTotalActiveReferences())));
if(_vwd->getUnusedWordsSize())
{
ULOGGER_DEBUG("Total word reference added = %d", _vwd->getTotalActiveReferences());
UWARN("_vwd->getUnusedWordsSize() must be empty... size=%d", _vwd->getUnusedWordsSize());
}
ULOGGER_DEBUG("Total word references added = %d", _vwd->getTotalActiveReferences());
return success;
}
@@ -857,6 +870,11 @@ void Memory::clear()
ULOGGER_ERROR("_stMem must be empty here, size=%d", _stMem.size());
}
_stMem.clear();
if(_signatures.size()!=0)
{
ULOGGER_ERROR("_signatures must be empty here, size=%d", _signatures.size());
}
_signatures.clear();
ULOGGER_DEBUG("");
// Wait until the db trash has finished cleaning the memory
@@ -2211,7 +2229,7 @@ void Memory::disableWordsRef(int signatureId)
count -= _vwd->getTotalActiveReferences();
ss->setEnabled(false);
ULOGGER_DEBUG("%d words total ref removed from signature %d...", count, ss->id());
ULOGGER_DEBUG("%d words total ref removed from signature %d... (total active ref = %d)", count, ss->id(), _vwd->getTotalActiveReferences());
}
}
@@ -2229,7 +2247,7 @@ void Memory::cleanUnusedWords()
for(unsigned int i=0; i<removedWords.size(); ++i)
{
if(_dbDriver && !removedWords[i]->isSaved())
if(_dbDriver)
{
_dbDriver->asyncSave(removedWords[i]);
}

35
corelib/src/VWDictionary.cpp
View File

@@ -379,13 +379,25 @@ int VWDictionary::getNextId()
void VWDictionary::addWordRef(int wordId, int signatureId)
{
VisualWord * vw = 0;
vw = uValue(_visualWords, wordId, vw);
if(vw)
if(signatureId > 0 && wordId > 0)
{
vw->addRef(signatureId);
_totalActiveReferences += 1;
_unusedWords.erase(vw->id());
VisualWord * vw = 0;
vw = uValue(_visualWords, wordId, vw);
if(!vw)
{
vw = uValue(_unusedWords, wordId, vw);
_visualWords.insert(std::pair<int, VisualWord*>(vw->id(), vw));
_unusedWords.erase(vw->id());
}
if(vw)
{
vw->addRef(signatureId);
_totalActiveReferences += 1;
}
else
{
UERROR("Not found word %d", wordId);
}
}
}
@@ -813,8 +825,15 @@ void VWDictionary::addWord(VisualWord * vw)
{
if(vw)
{
_visualWords.insert(std::pair<int, VisualWord *>(vw->id(), vw));
_totalActiveReferences += uSum(uValues(vw->getReferences()));
if(vw->getReferences().size())
{
_visualWords.insert(std::pair<int, VisualWord *>(vw->id(), vw));
_totalActiveReferences += uSum(uValues(vw->getReferences()));
}
else
{
_unusedWords.insert(std::pair<int, VisualWord *>(vw->id(), vw));
}
}
}