mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
Moved DBDriverSqlite3.h to installed headers (changed some members from private to protected for easier inheritance)
This commit is contained in:
matlabbe
@@ -29,12 +29,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#include "rtabmap/core/Signature.h"
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#include "rtabmap/core/VisualWord.h"
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#include "rtabmap/core/DBDriverSqlite3.h"
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#include "rtabmap/utilite/UConversion.h"
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#include "rtabmap/utilite/UMath.h"
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#include "rtabmap/utilite/ULogger.h"
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#include "rtabmap/utilite/UTimer.h"
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#include "rtabmap/utilite/UStl.h"
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#include "DBDriverSqlite3.h"
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namespace rtabmap {
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@@ -25,7 +25,8 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "DBDriverSqlite3.h"
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#include "rtabmap/core/DBDriverSqlite3.h"
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#include "sqlite3/sqlite3.h"
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#include "rtabmap/core/Signature.h"
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#include "rtabmap/core/VisualWord.h"
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@@ -42,8 +43,8 @@ namespace rtabmap {
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DBDriverSqlite3::DBDriverSqlite3(const ParametersMap & parameters) :
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DBDriver(parameters),
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_ppDb(0),
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_memoryUsedEstimate(0),
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_version("0.0.0"),
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_memoryUsedEstimate(0),
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_dbInMemory(Parameters::defaultDbSqlite3InMemory()),
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_cacheSize(Parameters::defaultDbSqlite3CacheSize()),
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_journalMode(Parameters::defaultDbSqlite3JournalMode()),
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@@ -1,191 +0,0 @@
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/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef DBDRIVERSQLITE3_H_
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#define DBDRIVERSQLITE3_H_
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#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
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#include "rtabmap/core/DBDriver.h"
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#include <opencv2/features2d/features2d.hpp>
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#include "sqlite3/sqlite3.h"
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namespace rtabmap {
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class RTABMAP_EXP DBDriverSqlite3: public DBDriver {
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public:
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DBDriverSqlite3(const ParametersMap & parameters = ParametersMap());
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virtual ~DBDriverSqlite3();
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virtual void parseParameters(const ParametersMap & parameters);
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virtual bool isInMemory() const {return getUrl().empty() || _dbInMemory;}
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void setDbInMemory(bool dbInMemory);
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void setJournalMode(int journalMode);
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void setCacheSize(unsigned int cacheSize);
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void setSynchronous(int synchronous);
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void setTempStore(int tempStore);
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private:
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virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false);
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virtual void disconnectDatabaseQuery(bool save = true, const std::string & outputUrl = "");
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virtual bool isConnectedQuery() const;
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virtual long getMemoryUsedQuery() const; // In bytes
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virtual bool getDatabaseVersionQuery(std::string & version) const;
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virtual long getNodesMemoryUsedQuery() const;
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virtual long getLinksMemoryUsedQuery() const;
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virtual long getImagesMemoryUsedQuery() const;
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virtual long getDepthImagesMemoryUsedQuery() const;
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virtual long getCalibrationsMemoryUsedQuery() const;
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virtual long getGridsMemoryUsedQuery() const;
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virtual long getLaserScansMemoryUsedQuery() const;
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virtual long getUserDataMemoryUsedQuery() const;
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virtual long getWordsMemoryUsedQuery() const;
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virtual long getFeaturesMemoryUsedQuery() const;
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virtual long getStatisticsMemoryUsedQuery() const;
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virtual int getLastNodesSizeQuery() const;
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virtual int getLastDictionarySizeQuery() const;
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virtual int getTotalNodesSizeQuery() const;
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virtual int getTotalDictionarySizeQuery() const;
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virtual ParametersMap getLastParametersQuery() const;
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virtual std::map<std::string, float> getStatisticsQuery(int nodeId, double & stamp, std::vector<int> * wmState) const;
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virtual std::map<int, std::pair<std::map<std::string, float>, double> > getAllStatisticsQuery() const;
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virtual std::map<int, std::vector<int> > getAllStatisticsWmStatesQuery() const;
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virtual void executeNoResultQuery(const std::string & sql) const;
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virtual void getWeightQuery(int signatureId, int & weight) const;
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virtual void saveQuery(const std::list<Signature *> & signatures);
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virtual void saveQuery(const std::list<VisualWord *> & words) const;
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virtual void updateQuery(const std::list<Signature *> & signatures, bool updateTimestamp) const;
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virtual void updateQuery(const std::list<VisualWord *> & words, bool updateTimestamp) const;
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virtual void addLinkQuery(const Link & link) const;
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virtual void updateLinkQuery(const Link & link) const;
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virtual void updateOccupancyGridQuery(
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int nodeId,
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const cv::Mat & ground,
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const cv::Mat & obstacles,
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const cv::Mat & empty,
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float cellSize,
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const cv::Point3f & viewpoint) const;
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virtual void updateDepthImageQuery(
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int nodeId,
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const cv::Mat & image) const;
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virtual void addStatisticsQuery(const Statistics & statistics) const;
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virtual void savePreviewImageQuery(const cv::Mat & image) const;
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virtual cv::Mat loadPreviewImageQuery() const;
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virtual void saveOptimizedPosesQuery(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const;
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virtual std::map<int, Transform> loadOptimizedPosesQuery(Transform * lastlocalizationPose) const;
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virtual void save2DMapQuery(const cv::Mat & map, float xMin, float yMin, float cellSize) const;
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virtual cv::Mat load2DMapQuery(float & xMin, float & yMin, float & cellSize) const;
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virtual void saveOptimizedMeshQuery(
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const cv::Mat & cloud,
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const std::vector<std::vector<std::vector<unsigned int> > > & polygons,
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#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
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const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
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#else
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const std::vector<std::vector<Eigen::Vector2f> > & texCoords,
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#endif
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const cv::Mat & textures) const;
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virtual cv::Mat loadOptimizedMeshQuery(
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std::vector<std::vector<std::vector<unsigned int> > > * polygons,
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#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
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std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords,
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#else
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std::vector<std::vector<Eigen::Vector2f> > * texCoords,
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#endif
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cv::Mat * textures) const;
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// Load objects
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virtual void loadQuery(VWDictionary * dictionary, bool lastStateOnly = true) const;
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virtual void loadLastNodesQuery(std::list<Signature *> & signatures) const;
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virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures) const;
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virtual void loadWordsQuery(const std::set<int> & wordIds, std::list<VisualWord *> & vws) const;
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virtual void loadLinksQuery(int signatureId, std::map<int, Link> & links, Link::Type type = Link::kUndef) const;
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virtual void loadNodeDataQuery(std::list<Signature *> & signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const;
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virtual bool getCalibrationQuery(int signatureId, std::vector<CameraModel> & models, StereoCameraModel & stereoModel) const;
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virtual bool getLaserScanInfoQuery(int signatureId, LaserScan & info) const;
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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;
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virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures) const;
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virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks) const;
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virtual void getLastIdQuery(const std::string & tableName, int & id) const;
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virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const;
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virtual void getNodeIdByLabelQuery(const std::string & label, int & id) const;
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virtual void getAllLabelsQuery(std::map<int, std::string> & labels) const;
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private:
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std::string queryStepNode() const;
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std::string queryStepImage() const;
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std::string queryStepDepth() const;
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std::string queryStepDepthUpdate() const;
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std::string queryStepSensorData() const;
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std::string queryStepLinkUpdate() const;
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std::string queryStepLink() const;
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std::string queryStepWordsChanged() const;
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std::string queryStepKeypoint() const;
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std::string queryStepOccupancyGridUpdate() const;
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void stepNode(sqlite3_stmt * ppStmt, const Signature * s) const;
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void stepImage(
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sqlite3_stmt * ppStmt,
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int id,
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const cv::Mat & imageBytes) const;
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void stepDepth(sqlite3_stmt * ppStmt, const SensorData & sensorData) const;
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void stepDepthUpdate(sqlite3_stmt * ppStmt, int nodeId, const cv::Mat & imageCompressed) const;
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void stepSensorData(sqlite3_stmt * ppStmt, const SensorData & sensorData) const;
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void stepLink(sqlite3_stmt * ppStmt, const Link & link) const;
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void stepWordsChanged(sqlite3_stmt * ppStmt, int signatureId, int oldWordId, int newWordId) const;
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void stepKeypoint(sqlite3_stmt * ppStmt, int signatureId, int wordId, const cv::KeyPoint & kp, const cv::Point3f & pt, const cv::Mat & descriptor) const;
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void stepOccupancyGridUpdate(sqlite3_stmt * ppStmt,
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int nodeId,
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const cv::Mat & ground,
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const cv::Mat & obstacles,
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const cv::Mat & empty,
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float cellSize,
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const cv::Point3f & viewpoint) const;
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private:
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void loadLinksQuery(std::list<Signature *> & signatures) const;
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int loadOrSaveDb(sqlite3 *pInMemory, const std::string & fileName, int isSave) const;
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private:
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sqlite3 * _ppDb;
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long _memoryUsedEstimate;
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std::string _version;
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bool _dbInMemory;
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unsigned int _cacheSize;
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int _journalMode;
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int _synchronous;
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int _tempStore;
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};
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}
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#endif /* DBDRIVERSQLITE3_H_ */
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@@ -27,7 +27,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#include "rtabmap/core/DBReader.h"
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#include "rtabmap/core/DBDriver.h"
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#include "DBDriverSqlite3.h"
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#include <rtabmap/utilite/ULogger.h>
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#include <rtabmap/utilite/UFile.h>
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@@ -131,7 +130,7 @@ bool DBReader::init(
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rtabmap::ParametersMap parameters;
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parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kDbSqlite3InMemory(), "false"));
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_dbDriver = new DBDriverSqlite3(parameters);
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_dbDriver = DBDriver::create(parameters);
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if(!_dbDriver)
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{
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UERROR("Driver doesn't exist.");
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