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0.20: added GlobalDescriptor table in database

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This commit is contained in:
matlabbe
2020-05-03 21:46:25 -04:00
parent 50c3bb7ce9
commit c19da22ca4
11 changed files with 248 additions and 26 deletions
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corelib/src/DBDriverSqlite3.cpp
+146 -2
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@@ -3384,6 +3384,74 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
ULOGGER_DEBUG("Time load %d calibrations=%fs", (int)nodes.size(), timer.ticks());
}
// load global descriptors
if(nodes.size() && uStrNumCmp(_version, "0.20.0") >= 0)
{
std::stringstream query3;
query3 << "SELECT type, info, data "
"FROM GlobalDescriptor "
"WHERE node_id = ? ";
rc = sqlite3_prepare_v2(_ppDb, query3.str().c_str(), -1, &ppStmt, 0);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
for(std::list<Signature*>::const_iterator iter=nodes.begin(); iter!=nodes.end(); ++iter)
{
// bind id
rc = sqlite3_bind_int(ppStmt, 1, (*iter)->id());
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
std::vector<GlobalDescriptor> globalDescriptors;
rc = sqlite3_step(ppStmt);
while(rc == SQLITE_ROW)
{
int index=0;
const void * data = 0;
int dataSize = 0;
int type = -1;
cv::Mat info;
cv::Mat dataMat;
type = sqlite3_column_int(ppStmt, index++);
data = sqlite3_column_blob(ppStmt, index);
dataSize = sqlite3_column_bytes(ppStmt, index++);
if(dataSize && data)
{
info = rtabmap::uncompressData(cv::Mat(1, dataSize, CV_8UC1, (void *)data).clone());
}
data = sqlite3_column_blob(ppStmt, index);
dataSize = sqlite3_column_bytes(ppStmt, index++);
if(dataSize && data)
{
dataMat = rtabmap::uncompressData(cv::Mat(1, dataSize, CV_8UC1, (void *)data).clone());
}
UASSERT(!dataMat.empty());
globalDescriptors.push_back(GlobalDescriptor(type, dataMat, info));
rc = sqlite3_step(ppStmt);
}
UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
if(!globalDescriptors.empty())
{
(*iter)->sensorData().setGlobalDescriptors(globalDescriptors);
ULOGGER_DEBUG("Add %d global descriptors to node %d", (int)globalDescriptors.size(), (*iter)->id());
}
//reset
rc = sqlite3_reset(ppStmt);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
}
// Finalize (delete) the statement
rc = sqlite3_finalize(ppStmt);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
ULOGGER_DEBUG("Time load %d global descriptors=%fs", (int)nodes.size(), timer.ticks());
}
if(ids.size() != loaded)
{
UERROR("Some signatures not found in database");
@@ -4235,6 +4303,27 @@ void DBDriverSqlite3::saveQuery(const std::list<Signature *> & signatures)
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
UDEBUG("Time=%fs", timer.ticks());
if(uStrNumCmp(_version, "0.20.0") >= 0)
{
// Global descriptor table
std::string query = queryStepGlobalDescriptor();
rc = sqlite3_prepare_v2(_ppDb, query.c_str(), -1, &ppStmt, 0);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
for(std::list<Signature *>::const_iterator i=signatures.begin(); i!=signatures.end(); ++i)
{
for(size_t d=0; d<(*i)->sensorData().globalDescriptors().size(); ++d)
{
stepGlobalDescriptor(ppStmt, (*i)->id(), (*i)->sensorData().globalDescriptors()[d]);
}
}
// Finalize (delete) the statement
rc = sqlite3_finalize(ppStmt);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
UDEBUG("Time=%fs", timer.ticks());
}
if(uStrNumCmp(_version, "0.10.0") >= 0)
{
// Add SensorData
@@ -4519,7 +4608,7 @@ void DBDriverSqlite3::updateLaserScanQuery(
}
}
void DBDriverSqlite3::addStatisticsQuery(const Statistics & statistics) const
void DBDriverSqlite3::addStatisticsQuery(const Statistics & statistics, bool saveWmState) const
{
UDEBUG("Ref ID = %d", statistics.refImageId());
if(_ppDb)
@@ -4570,7 +4659,7 @@ void DBDriverSqlite3::addStatisticsQuery(const Statistics & statistics) const
cv::Mat compressedWmState;
if(uStrNumCmp(this->getDatabaseVersion(), "0.16.2") >= 0)
{
if(!statistics.wmState().empty())
if(saveWmState && !statistics.wmState().empty())
{
compressedWmState = compressData2(cv::Mat(1, statistics.wmState().size(), CV_32SC1, (void *)statistics.wmState().data()));
rc = sqlite3_bind_blob(ppStmt, index++, compressedWmState.data, compressedWmState.cols, SQLITE_STATIC);
@@ -6364,6 +6453,61 @@ void DBDriverSqlite3::stepKeypoint(sqlite3_stmt * ppStmt,
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
}
std::string DBDriverSqlite3::queryStepGlobalDescriptor() const
{
UASSERT(uStrNumCmp(_version, "0.20.0") >= 0);
return "INSERT INTO GlobalDescriptor(node_id, type, info, data) VALUES(?,?,?,?);";
}
void DBDriverSqlite3::stepGlobalDescriptor(sqlite3_stmt * ppStmt,
int nodeId,
const GlobalDescriptor & descriptor) const
{
if(!ppStmt)
{
UFATAL("");
}
int rc = SQLITE_OK;
int index = 1;
//node_if
rc = sqlite3_bind_int(ppStmt, index++, nodeId);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
//type
rc = sqlite3_bind_int(ppStmt, index++, nodeId);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
//info
std::vector<unsigned char> infoBytes = rtabmap::compressData(descriptor.info());
if(infoBytes.empty())
{
rc = sqlite3_bind_null(ppStmt, index++);
}
else
{
rc = sqlite3_bind_blob(ppStmt, index++, infoBytes.data(), infoBytes.size(), SQLITE_STATIC);
}
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
//data
std::vector<unsigned char> dataBytes = rtabmap::compressData(descriptor.data());
if(infoBytes.empty())
{
rc = sqlite3_bind_null(ppStmt, index++);
}
else
{
rc = sqlite3_bind_blob(ppStmt, index++, dataBytes.data(), dataBytes.size(), SQLITE_STATIC);
}
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
rc=sqlite3_step(ppStmt);
UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
rc = sqlite3_reset(ppStmt);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
}
std::string DBDriverSqlite3::queryStepOccupancyGridUpdate() const
{
UASSERT(uStrNumCmp(_version, "0.11.10") >= 0);