DBDriver: added ignoreBadSignatures param to getAllNodeIds()

corelib/include/rtabmap/core/DBDriver.h

@@ -122,7 +122,7 @@ public:
 	bool getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp) const;
 	void loadLinks(int signatureId, std::map<int, Link> & links, Link::Type type = Link::kUndef) const;
 	void getWeight(int signatureId, int & weight) const;
-	void getAllNodeIds(std::set<int> & ids, bool ignoreChildren = false) const;
+	void getAllNodeIds(std::set<int> & ids, bool ignoreChildren = false, bool ignoreBadSignatures = false) const;
 	void getAllLinks(std::multimap<int, Link> & links, bool ignoreNullLinks = true) const;
 	void getLastNodeId(int & id) const;
 	void getLastWordId(int & id) const;
@@ -170,7 +170,7 @@ private:
 
 	virtual void loadNodeDataQuery(std::list<Signature *> & signatures) const = 0;
 	virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp) const = 0;
-	virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren) const = 0;
+	virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures) const = 0;
 	virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks) const = 0;
 	virtual void getLastIdQuery(const std::string & tableName, int & id) const = 0;
 	virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const = 0;

corelib/src/DBDriver.cpp

@@ -627,7 +627,7 @@ void DBDriver::getWeight(int signatureId, int & weight) const
 	}
 }
 
-void DBDriver::getAllNodeIds(std::set<int> & ids, bool ignoreChildren) const
+void DBDriver::getAllNodeIds(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures) const
 {
 	// look in the trash
 	_trashesMutex.lock();
@@ -662,7 +662,7 @@ void DBDriver::getAllNodeIds(std::set<int> & ids, bool ignoreChildren) const
 	_trashesMutex.unlock();
 
 	_dbSafeAccessMutex.lock();
-	this->getAllNodeIdsQuery(ids, ignoreChildren);
+	this->getAllNodeIdsQuery(ids, ignoreChildren, ignoreBadSignatures);
 	_dbSafeAccessMutex.unlock();
 }
 

corelib/src/DBDriverSqlite3.cpp

@@ -1062,7 +1062,7 @@ bool DBDriverSqlite3::getNodeInfoQuery(int signatureId,
 }
 
 
-void DBDriverSqlite3::getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren) const
+void DBDriverSqlite3::getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures) const
 {
 	if(_ppDb)
 	{
@@ -1072,20 +1072,18 @@ void DBDriverSqlite3::getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildre
 		sqlite3_stmt * ppStmt = 0;
 		std::stringstream query;
 
-		if(!ignoreChildren)
+		query << "SELECT DISTINCT id "
+			  << "FROM Node ";
+		if(ignoreChildren)
 		{
-			query << "SELECT id "
+			query << "INNER JOIN Link "
-				  << "FROM Node "
+				  << "ON id = to_id "; // use to_id to ignore all children (which don't have link pointing on them)
-				  << "ORDER BY id";
 		}
-		else
+		if(ignoreBadSignatures)
 		{
-			query << "SELECT id "
+			query << "WHERE id in (select node_id from Map_Node_Word) ";
-				  << "FROM Node "
-				  << "INNER JOIN Link "
-				  << "ON id = to_id " // use to_id to ignore all children (which don't have link pointing on them)
-				  << "ORDER BY id";
 		}
+		query  << "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());

corelib/src/DBDriverSqlite3.h

@@ -85,7 +85,7 @@ private:
 
 	virtual void loadNodeDataQuery(std::list<Signature *> & signatures) const;
 	virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp) const;
-	virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren) const;
+	virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures) const;
 	virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks) const;
 	virtual void getLastIdQuery(const std::string & tableName, int & id) const;
 	virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const;

guilib/src/DatabaseViewer.cpp

@@ -1062,6 +1062,10 @@ void DatabaseViewer::updateIds()
 	int sessions = ids_.size()?1:0;
 	double totalTime = 0.0;
 	double previousStamp = 0.0;
+	std::set<int> idsWithoutBad;
+	dbDriver_->getAllNodeIds(idsWithoutBad, false, true);
+	int badcountInLTM = 0;
+	int badCountInGraph = 0;
 	for(int i=0; i<ids_.size(); ++i)
 	{
 		idToIndex_.insert(ids_[i], i);
@@ -1129,6 +1133,15 @@ void DatabaseViewer::updateIds()
 		{
 			poses_.insert(std::make_pair(ids_[i], p));
 		}
+
+		if(idsWithoutBad.find(ids_[i]) == idsWithoutBad.end())
+		{
+			++badcountInLTM;
+			if(addPose)
+			{
+				++badCountInGraph;
+			}
+		}
 	}
 	UINFO("Loaded %d ids, %d poses and %d links", (int)ids_.size(), (int)poses_.size(), (int)links_.size());
 
@@ -1148,6 +1161,9 @@ void DatabaseViewer::updateIds()
 	ui_->textEdit_info->append(tr("Scans size:\t\t%1 MB").arg(dbDriver_->getLaserScansMemoryUsed()/1000000));
 	ui_->textEdit_info->append(tr("User data size:\t%1 bytes").arg(dbDriver_->getUserDataMemoryUsed()));
 	ui_->textEdit_info->append(tr("Dictionary size:\t%1 bytes").arg(dbDriver_->getWordsMemoryUsed()));
+	ui_->textEdit_info->append("");
+	ui_->textEdit_info->append(tr("%1 bad signatures in LTM").arg(badcountInLTM));
+	ui_->textEdit_info->append(tr("%1 bad signatures in the global graph").arg(badCountInGraph));
 
 	if(ids.size())
 	{