0.20: added GlobalDescriptor table in database

corelib/include/rtabmap/core/DBDriver.h

@@ -100,7 +100,7 @@ public:
 
 public:
 	void addInfoAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap & parameters) const;
-	void addStatistics(const Statistics & statistics) const;
+	void addStatistics(const Statistics & statistics, bool saveWmState) const;
 	void savePreviewImage(const cv::Mat & image) const;
 	cv::Mat loadPreviewImage() const;
 	void saveOptimizedPoses(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const;
@@ -238,7 +238,7 @@ protected:
 			int nodeId,
 			const LaserScan & scan) const = 0;
 
-	virtual void addStatisticsQuery(const Statistics & statistics) const = 0;
+	virtual void addStatisticsQuery(const Statistics & statistics, bool saveWmState) const = 0;
 	virtual void savePreviewImageQuery(const cv::Mat & image) const = 0;
 	virtual cv::Mat loadPreviewImageQuery() const = 0;
 	virtual void saveOptimizedPosesQuery(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const = 0;

corelib/include/rtabmap/core/DBDriverSqlite3.h

@@ -104,7 +104,7 @@ protected:
 			int nodeId,
 			const LaserScan & scan) const;
 
-	virtual void addStatisticsQuery(const Statistics & statistics) const;
+	virtual void addStatisticsQuery(const Statistics & statistics, bool saveWmState) 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;
@@ -160,6 +160,7 @@ private:
 	std::string queryStepLink() const;
 	std::string queryStepWordsChanged() const;
 	std::string queryStepKeypoint() const;
+	std::string queryStepGlobalDescriptor() 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;
@@ -169,7 +170,8 @@ private:
 	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 stepKeypoint(sqlite3_stmt * ppStmt, int nodeID, int wordId, const cv::KeyPoint & kp, const cv::Point3f & pt, const cv::Mat & descriptor) const;
+	void stepGlobalDescriptor(sqlite3_stmt * ppStmt, int nodeId, const GlobalDescriptor & descriptor) const;
 	void stepOccupancyGridUpdate(sqlite3_stmt * ppStmt,
 			int nodeId,
 			const cv::Mat & ground,

corelib/include/rtabmap/core/GlobalDescriptor.h

@@ -0,0 +1,59 @@
+/*
+Copyright (c) 2010-2020, 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.
+*/
+
+#pragma once
+
+#include <opencv2/core/core.hpp>
+
+namespace rtabmap
+{
+
+class GlobalDescriptor
+{
+
+public:
+	GlobalDescriptor(int type, const cv::Mat & data, const cv::Mat & info = cv::Mat()) :
+		type_(type),
+		info_(info),
+		data_(data)
+	{}
+	GlobalDescriptor() :
+		type_(-1) // Not set
+	{}
+	virtual ~GlobalDescriptor() {}
+
+	int type() const {return type_;}
+	const cv::Mat info() const {return info_;}
+	const cv::Mat data() const {return data_;}
+
+private:
+	int type_;
+	cv::Mat info_;
+	cv::Mat data_;
+};
+
+} // namespace rtabmap

corelib/include/rtabmap/core/Memory.h

@@ -93,7 +93,7 @@ public:
 	std::set<int> reactivateSignatures(const std::list<int> & ids, unsigned int maxLoaded, double & timeDbAccess);
 
 	int cleanup();
-	void saveStatistics(const Statistics & statistics);
+	void saveStatistics(const Statistics & statistics, bool saveWMState);
 	void savePreviewImage(const cv::Mat & image) const;
 	cv::Mat loadPreviewImage() const;
 	void saveOptimizedPoses(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const;

corelib/include/rtabmap/core/SensorData.h

@@ -40,6 +40,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/GPS.h>
 #include <rtabmap/core/EnvSensor.h>
 #include <rtabmap/core/Landmark.h>
+#include <rtabmap/core/GlobalDescriptor.h>
 
 namespace rtabmap
 {
@@ -249,6 +250,11 @@ public:
 	const std::vector<cv::Point3f> & keypoints3D() const {return _keypoints3D;}
 	const cv::Mat & descriptors() const {return _descriptors;}
 
+	void addGlobalDescriptor(const GlobalDescriptor & descriptor) {_globalDescriptors.push_back(descriptor);}
+	void setGlobalDescriptors(const std::vector<GlobalDescriptor> & descriptors) {_globalDescriptors = descriptors;}
+	void clearGlobalDescriptors() {_globalDescriptors.clear();}
+	const std::vector<GlobalDescriptor> & globalDescriptors() const {return _globalDescriptors;}
+
 	void setGroundTruth(const Transform & pose) {groundTruth_ = pose;}
 	const Transform & groundTruth() const {return groundTruth_;}
 
@@ -323,6 +329,9 @@ private:
 	std::vector<cv::Point3f> _keypoints3D;
 	cv::Mat _descriptors;
 
+	// global descriptors
+	std::vector<GlobalDescriptor> _globalDescriptors;
+
 	Transform groundTruth_;
 
 	Transform globalPose_;