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Added Map color overlay on 3D cloud (press key '2' on keyboard)

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Fixed loading all node ids from database, ignoring children

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1813 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-01 21:44:46 +00:00
parent 317d382a24
commit c441cc1d0f
10 changed files with 101 additions and 27 deletions
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4
corelib/include/rtabmap/core/DBDriver.h
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@@ -102,7 +102,7 @@ public:
void loadNeighbors(int signatureId, std::map<int, Transform> & neighbors) const;
void loadLoopClosures(int signatureId, std::map<int, Transform> & loopIds, std::map<int, Transform> & childIds) const;
void getWeight(int signatureId, int & weight) const;
void getAllNodeIds(std::set<int> & ids) const;
void getAllNodeIds(std::set<int> & ids, bool ignoreChildren = false) const;
void getLastNodeId(int & id) const;
void getLastWordId(int & id) const;
void getInvertedIndexNi(int signatureId, int & ni) const;
@@ -138,7 +138,7 @@ private:
virtual void getNodeDataQuery(int signatureId, std::vector<unsigned char> & image, std::vector<unsigned char> & depth, std::vector<unsigned char> & depth2d, float & fx, float & fy, float & cx, float & cy, Transform & localTransform) const = 0;
virtual void getNodeDataQuery(int signatureId, std::vector<unsigned char> & image) const = 0;
virtual void getPoseQuery(int signatureId, Transform & pose, int & mapId) const = 0;
virtual void getAllNodeIdsQuery(std::set<int> & ids) const = 0;
virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren) const = 0;
virtual void getLastIdQuery(const std::string & tableName, int & id) const = 0;
virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const = 0;

4
corelib/src/DBDriver.cpp
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@@ -453,10 +453,10 @@ void DBDriver::loadLoopClosures(int signatureId, std::map<int, Transform> & loop
}
//TODO Check also in the trash ?
void DBDriver::getAllNodeIds(std::set<int> & ids) const
void DBDriver::getAllNodeIds(std::set<int> & ids, bool ignoreChildren) const
{
_dbSafeAccessMutex.lock();
this->getAllNodeIdsQuery(ids);
this->getAllNodeIdsQuery(ids, ignoreChildren);
_dbSafeAccessMutex.unlock();
}

20
corelib/src/DBDriverSqlite3.cpp
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@@ -806,7 +806,7 @@ void DBDriverSqlite3::getPoseQuery(int signatureId, Transform & pose, int & mapI
}
void DBDriverSqlite3::getAllNodeIdsQuery(std::set<int> & ids) const
void DBDriverSqlite3::getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren) const
{
if(_ppDb)
{
@@ -816,9 +816,21 @@ void DBDriverSqlite3::getAllNodeIdsQuery(std::set<int> & ids) const
sqlite3_stmt * ppStmt = 0;
std::stringstream query;
query << "SELECT id "
<< "FROM Node "
<< "ORDER BY id";
if(!ignoreChildren)
{
query << "SELECT id "
<< "FROM Node "
<< "ORDER BY id";
}
else
{
query << "SELECT id "
<< "FROM Node "
<< "LEFT OUTER JOIN Link "
<< "ON id = from_id "
<< "WHERE type!=1 "
<< "ORDER BY id";
}
rc = sqlite3_prepare_v2(_ppDb, query.str().c_str(), -1, &ppStmt, 0);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());

2
corelib/src/DBDriverSqlite3.h
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@@ -87,7 +87,7 @@ private:
Transform & localTransform) const;
virtual void getNodeDataQuery(int signatureId, std::vector<unsigned char> & image) const;
virtual void getPoseQuery(int signatureId, Transform & pose, int & mapId) const;
virtual void getAllNodeIdsQuery(std::set<int> & ids) const;
virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren) const;
virtual void getLastIdQuery(const std::string & tableName, int & id) const;
virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const;

2
corelib/src/Memory.cpp
View File

@@ -160,7 +160,7 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
{
if(postInitEvents) UEventsManager::post(new RtabmapEventInit(std::string("Loading all nodes to WM...")));
std::set<int> ids;
_dbDriver->getAllNodeIds(ids);
_dbDriver->getAllNodeIds(ids, true);
_dbDriver->loadSignatures(std::list<int>(ids.begin(), ids.end()), dbSignatures);
}
else