mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
Moved DBDriverSqlite3.h to installed headers (changed some members from private to protected for easier inheritance)
This commit is contained in:
matlabbe
@@ -179,7 +179,6 @@ public:
|
||||
protected:
|
||||
DBDriver(const ParametersMap & parameters = ParametersMap());
|
||||
|
||||
private:
|
||||
virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false) = 0;
|
||||
virtual void disconnectDatabaseQuery(bool save = true, const std::string & outputUrl = "") = 0;
|
||||
virtual bool isConnectedQuery() const = 0;
|
||||
|
||||
195
corelib/include/rtabmap/core/DBDriverSqlite3.h
Normal file
195
corelib/include/rtabmap/core/DBDriverSqlite3.h
Normal file
@@ -0,0 +1,195 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef DBDRIVERSQLITE3_H_
|
||||
#define DBDRIVERSQLITE3_H_
|
||||
|
||||
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
|
||||
#include "rtabmap/core/DBDriver.h"
|
||||
#include <opencv2/features2d/features2d.hpp>
|
||||
|
||||
typedef struct sqlite3_stmt sqlite3_stmt;
|
||||
typedef struct sqlite3 sqlite3;
|
||||
|
||||
namespace rtabmap {
|
||||
|
||||
class RTABMAP_EXP DBDriverSqlite3: public DBDriver {
|
||||
public:
|
||||
DBDriverSqlite3(const ParametersMap & parameters = ParametersMap());
|
||||
virtual ~DBDriverSqlite3();
|
||||
|
||||
virtual void parseParameters(const ParametersMap & parameters);
|
||||
virtual bool isInMemory() const {return getUrl().empty() || _dbInMemory;}
|
||||
void setDbInMemory(bool dbInMemory);
|
||||
void setJournalMode(int journalMode);
|
||||
void setCacheSize(unsigned int cacheSize);
|
||||
void setSynchronous(int synchronous);
|
||||
void setTempStore(int tempStore);
|
||||
|
||||
protected:
|
||||
virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false);
|
||||
virtual void disconnectDatabaseQuery(bool save = true, const std::string & outputUrl = "");
|
||||
virtual bool isConnectedQuery() const;
|
||||
virtual long getMemoryUsedQuery() const; // In bytes
|
||||
virtual bool getDatabaseVersionQuery(std::string & version) const;
|
||||
virtual long getNodesMemoryUsedQuery() const;
|
||||
virtual long getLinksMemoryUsedQuery() const;
|
||||
virtual long getImagesMemoryUsedQuery() const;
|
||||
virtual long getDepthImagesMemoryUsedQuery() const;
|
||||
virtual long getCalibrationsMemoryUsedQuery() const;
|
||||
virtual long getGridsMemoryUsedQuery() const;
|
||||
virtual long getLaserScansMemoryUsedQuery() const;
|
||||
virtual long getUserDataMemoryUsedQuery() const;
|
||||
virtual long getWordsMemoryUsedQuery() const;
|
||||
virtual long getFeaturesMemoryUsedQuery() const;
|
||||
virtual long getStatisticsMemoryUsedQuery() const;
|
||||
virtual int getLastNodesSizeQuery() const;
|
||||
virtual int getLastDictionarySizeQuery() const;
|
||||
virtual int getTotalNodesSizeQuery() const;
|
||||
virtual int getTotalDictionarySizeQuery() const;
|
||||
virtual ParametersMap getLastParametersQuery() const;
|
||||
virtual std::map<std::string, float> getStatisticsQuery(int nodeId, double & stamp, std::vector<int> * wmState) const;
|
||||
virtual std::map<int, std::pair<std::map<std::string, float>, double> > getAllStatisticsQuery() const;
|
||||
virtual std::map<int, std::vector<int> > getAllStatisticsWmStatesQuery() const;
|
||||
|
||||
virtual void executeNoResultQuery(const std::string & sql) const;
|
||||
|
||||
virtual void getWeightQuery(int signatureId, int & weight) const;
|
||||
|
||||
virtual void saveQuery(const std::list<Signature *> & signatures);
|
||||
virtual void saveQuery(const std::list<VisualWord *> & words) const;
|
||||
virtual void updateQuery(const std::list<Signature *> & signatures, bool updateTimestamp) const;
|
||||
virtual void updateQuery(const std::list<VisualWord *> & words, bool updateTimestamp) const;
|
||||
|
||||
virtual void addLinkQuery(const Link & link) const;
|
||||
virtual void updateLinkQuery(const Link & link) const;
|
||||
|
||||
virtual void updateOccupancyGridQuery(
|
||||
int nodeId,
|
||||
const cv::Mat & ground,
|
||||
const cv::Mat & obstacles,
|
||||
const cv::Mat & empty,
|
||||
float cellSize,
|
||||
const cv::Point3f & viewpoint) const;
|
||||
|
||||
virtual void updateDepthImageQuery(
|
||||
int nodeId,
|
||||
const cv::Mat & image) const;
|
||||
|
||||
virtual void addStatisticsQuery(const Statistics & statistics) const;
|
||||
virtual void savePreviewImageQuery(const cv::Mat & image) const;
|
||||
virtual cv::Mat loadPreviewImageQuery() const;
|
||||
virtual void saveOptimizedPosesQuery(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const;
|
||||
virtual std::map<int, Transform> loadOptimizedPosesQuery(Transform * lastlocalizationPose) const;
|
||||
virtual void save2DMapQuery(const cv::Mat & map, float xMin, float yMin, float cellSize) const;
|
||||
virtual cv::Mat load2DMapQuery(float & xMin, float & yMin, float & cellSize) const;
|
||||
virtual void saveOptimizedMeshQuery(
|
||||
const cv::Mat & cloud,
|
||||
const std::vector<std::vector<std::vector<unsigned int> > > & polygons,
|
||||
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
|
||||
const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
|
||||
#else
|
||||
const std::vector<std::vector<Eigen::Vector2f> > & texCoords,
|
||||
#endif
|
||||
const cv::Mat & textures) const;
|
||||
virtual cv::Mat loadOptimizedMeshQuery(
|
||||
std::vector<std::vector<std::vector<unsigned int> > > * polygons,
|
||||
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
|
||||
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords,
|
||||
#else
|
||||
std::vector<std::vector<Eigen::Vector2f> > * texCoords,
|
||||
#endif
|
||||
cv::Mat * textures) const;
|
||||
|
||||
// Load objects
|
||||
virtual void loadQuery(VWDictionary * dictionary, bool lastStateOnly = true) 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 loadLinksQuery(int signatureId, std::map<int, Link> & links, Link::Type type = Link::kUndef) const;
|
||||
|
||||
virtual void loadNodeDataQuery(std::list<Signature *> & signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const;
|
||||
virtual bool getCalibrationQuery(int signatureId, std::vector<CameraModel> & models, StereoCameraModel & stereoModel) const;
|
||||
virtual bool getLaserScanInfoQuery(int signatureId, LaserScan & info) const;
|
||||
virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps) const;
|
||||
virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures) const;
|
||||
virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks) const;
|
||||
virtual void getLastIdQuery(const std::string & tableName, int & id) const;
|
||||
virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const;
|
||||
virtual void getNodeIdByLabelQuery(const std::string & label, int & id) const;
|
||||
virtual void getAllLabelsQuery(std::map<int, std::string> & labels) const;
|
||||
|
||||
private:
|
||||
std::string queryStepNode() const;
|
||||
std::string queryStepImage() const;
|
||||
std::string queryStepDepth() const;
|
||||
std::string queryStepDepthUpdate() const;
|
||||
std::string queryStepSensorData() const;
|
||||
std::string queryStepLinkUpdate() const;
|
||||
std::string queryStepLink() const;
|
||||
std::string queryStepWordsChanged() const;
|
||||
std::string queryStepKeypoint() const;
|
||||
std::string queryStepOccupancyGridUpdate() const;
|
||||
void stepNode(sqlite3_stmt * ppStmt, const Signature * s) const;
|
||||
void stepImage(
|
||||
sqlite3_stmt * ppStmt,
|
||||
int id,
|
||||
const cv::Mat & imageBytes) const;
|
||||
void stepDepth(sqlite3_stmt * ppStmt, const SensorData & sensorData) const;
|
||||
void stepDepthUpdate(sqlite3_stmt * ppStmt, int nodeId, const cv::Mat & imageCompressed) const;
|
||||
void stepSensorData(sqlite3_stmt * ppStmt, const SensorData & sensorData) const;
|
||||
void stepLink(sqlite3_stmt * ppStmt, const Link & link) 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 cv::Point3f & pt, const cv::Mat & descriptor) const;
|
||||
void stepOccupancyGridUpdate(sqlite3_stmt * ppStmt,
|
||||
int nodeId,
|
||||
const cv::Mat & ground,
|
||||
const cv::Mat & obstacles,
|
||||
const cv::Mat & empty,
|
||||
float cellSize,
|
||||
const cv::Point3f & viewpoint) const;
|
||||
|
||||
private:
|
||||
void loadLinksQuery(std::list<Signature *> & signatures) const;
|
||||
int loadOrSaveDb(sqlite3 *pInMemory, const std::string & fileName, int isSave) const;
|
||||
|
||||
protected:
|
||||
sqlite3 * _ppDb;
|
||||
std::string _version;
|
||||
|
||||
private:
|
||||
long _memoryUsedEstimate;
|
||||
bool _dbInMemory;
|
||||
unsigned int _cacheSize;
|
||||
int _journalMode;
|
||||
int _synchronous;
|
||||
int _tempStore;
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#endif /* DBDRIVERSQLITE3_H_ */
|
||||
Reference in New Issue
Block a user