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DB: loading calibration when reactivating signatures (for PnP registration without reloading compressed data)

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This commit is contained in:
matlabbe
2016-02-18 18:25:26 -05:00
parent e999885f33
commit d5538ee99d
1 changed files with 111 additions and 0 deletions
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111
corelib/src/DBDriverSqlite3.cpp
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@@ -1584,6 +1584,7 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
rc = sqlite3_prepare_v2(_ppDb, query2.str().c_str(), -1, &ppStmt, 0);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
std::set<int> calibrationsToLoad;
for(std::list<Signature*>::const_iterator iter=nodes.begin(); iter!=nodes.end(); ++iter)
{
//ULOGGER_DEBUG("Loading words of %d...", (*iter)->id());
@@ -1659,6 +1660,7 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
}
else
{
calibrationsToLoad.insert((*iter)->id());
(*iter)->setWords(visualWords);
(*iter)->setWords3(visualWords3);
(*iter)->setWordsDescriptors(descriptors);
@@ -1683,6 +1685,115 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
}
ULOGGER_DEBUG("Time load links=%fs", timer.ticks());
// load calibrations
if(calibrationsToLoad.size() && uStrNumCmp(_version, "0.10.0") >= 0)
{
std::stringstream query3;
query3 << "SELECT calibration "
"FROM Data "
"WHERE 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)
{
if(calibrationsToLoad.find((*iter)->id())!=calibrationsToLoad.end())
{
// 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());
rc = sqlite3_step(ppStmt);
if(rc == SQLITE_ROW)
{
int index=0;
const void * data = 0;
int dataSize = 0;
Transform localTransform = Transform::getIdentity();
std::vector<CameraModel> models;
StereoCameraModel stereoModel;
// calibration
data = sqlite3_column_blob(ppStmt, index);
dataSize = sqlite3_column_bytes(ppStmt, index++);
// multi-cameras [fx,fy,cx,cy,[width,height],local_transform, ... ,fx,fy,cx,cy,[width,height],local_transform] (4or6+12)*float * numCameras
// stereo [fx, fy, cx, cy, baseline, local_transform] (5+12)*float
if(dataSize > 0 && data)
{
float * dataFloat = (float*)data;
if((unsigned int)dataSize % (4+localTransform.size())*sizeof(float) == 0)
{
int cameraCount = dataSize / ((4+localTransform.size())*sizeof(float));
UDEBUG("Loading calibration for %d cameras (%d bytes)", cameraCount, dataSize);
int max = cameraCount*(4+localTransform.size());
for(int i=0; i<max; i+=4+localTransform.size())
{
memcpy(localTransform.data(), dataFloat+i+4, localTransform.size()*sizeof(float));
models.push_back(CameraModel(
(double)dataFloat[i],
(double)dataFloat[i+1],
(double)dataFloat[i+2],
(double)dataFloat[i+3],
localTransform));
}
}
else if((unsigned int)dataSize == (5+localTransform.size())*sizeof(float))
{
UDEBUG("Loading calibration of a stereo camera");
memcpy(localTransform.data(), dataFloat+5, localTransform.size()*sizeof(float));
stereoModel = StereoCameraModel(
dataFloat[0], // fx
dataFloat[1], // fy
dataFloat[2], // cx
dataFloat[3], // cy
dataFloat[4], // baseline
localTransform);
}
else if((unsigned int)dataSize % (6+localTransform.size())*sizeof(float) == 0)
{
int cameraCount = dataSize / ((6+localTransform.size())*sizeof(float));
UDEBUG("Loading calibration for %d cameras (%d bytes)", cameraCount, dataSize);
int max = cameraCount*(6+localTransform.size());
for(int i=0; i<max; i+=6+localTransform.size())
{
memcpy(localTransform.data(), dataFloat+i+6, localTransform.size()*sizeof(float));
models.push_back(CameraModel(
(double)dataFloat[i],
(double)dataFloat[i+1],
(double)dataFloat[i+2],
(double)dataFloat[i+3],
localTransform));
models.back().setImageSize(cv::Size(dataFloat[i+4], dataFloat[i+5]));
UDEBUG("%f %f %f %f %f %f %s", dataFloat[i], dataFloat[i+1], dataFloat[i+2],
dataFloat[i+3], dataFloat[i+4], dataFloat[i+5],
localTransform.prettyPrint().c_str());
}
}
else
{
UFATAL("Wrong format of the Data.calibration field (size=%d bytes)", dataSize);
}
(*iter)->sensorData().setCameraModels(models);
(*iter)->sensorData().setStereoCameraModel(stereoModel);
}
}
UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
//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 calibrations=%fs", timer.ticks());
if(ids.size() != loaded)
{
UERROR("Some signatures not found in database");