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Added DBDriver tests
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matlabbe
@@ -1,326 +1,460 @@
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/*
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/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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*/
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#ifndef DBDRIVER_H_
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#ifndef DBDRIVER_H_
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#define DBDRIVER_H_
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#define DBDRIVER_H_
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#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
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#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
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#include <string>
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#include <string>
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#include <list>
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#include <list>
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#include <map>
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#include <map>
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#include <set>
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#include <set>
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#include <opencv2/core/core.hpp>
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#include <opencv2/core/core.hpp>
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#include "rtabmap/utilite/UMutex.h"
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#include "rtabmap/utilite/UMutex.h"
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#include "rtabmap/utilite/UThreadNode.h"
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#include "rtabmap/utilite/UThreadNode.h"
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#include "rtabmap/core/Parameters.h"
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#include "rtabmap/core/Parameters.h"
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#include "rtabmap/core/SensorData.h"
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#include "rtabmap/core/SensorData.h"
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#include <rtabmap/core/Statistics.h>
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#include <rtabmap/core/Statistics.h>
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#include <rtabmap/core/Transform.h>
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#include <rtabmap/core/Transform.h>
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#include <rtabmap/core/Link.h>
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#include <rtabmap/core/Link.h>
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namespace rtabmap {
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namespace rtabmap {
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class Signature;
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class Signature;
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class VWDictionary;
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class VWDictionary;
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class VisualWord;
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class VisualWord;
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// Todo This class needs a refactoring, the _dbSafeAccessMutex problem when the trash is emptying (transaction)
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/**
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// "Of course, it has always been the case and probably always will be
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* @class DBDriver
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//that you cannot use the same sqlite3 connection in two or more
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* @brief Abstract database driver for RTAB-Map maps (signatures, links, words, statistics).
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//threads at the same time. You can use different sqlite3 connections
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*
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//at the same time in different threads, or you can move the same
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* DBDriver is the persistence layer used by @ref Memory, @ref DBReader and tools that
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//sqlite3 connection across threads (subject to the constraints above)
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* read or write \c .db files. The default implementation is @ref DBDriverSqlite3, created
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//but never, never try to use the same connection simultaneously in
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* by @ref create().
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//two or more threads."
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*
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//
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* The driver extends @ref UThreadNode: pending @ref Signature and @ref VisualWord objects
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class RTABMAP_CORE_EXPORT DBDriver : public UThreadNode
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* are queued with @ref asyncSave() and flushed to the database by @ref emptyTrashes()
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{
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* (also called from the background thread on @ref closeConnection()).
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public:
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*
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static DBDriver * create(const ParametersMap & parameters = ParametersMap());
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* Public methods are thread-safe where noted (mutex-protected wrappers). Subclasses
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* implement SQL-specific logic in protected \c *Query() virtual methods.
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public:
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*
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virtual ~DBDriver();
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* @see DBDriverSqlite3
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* @see Memory
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virtual void parseParameters(const ParametersMap & parameters);
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*/
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virtual bool isInMemory() const {return _url.empty();}
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class RTABMAP_CORE_EXPORT DBDriver : public UThreadNode
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const std::string & getUrl() const {return _url;}
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{
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const std::string & getTargetVersion() const {return _targetVersion;}
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public:
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/**
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void beginTransaction() const;
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* @brief Factory: returns a SQLite database driver (@ref DBDriverSqlite3).
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void commit() const;
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* @param parameters Optional driver parameters (e.g. @ref Parameters::kDbTargetVersion()).
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* @return New driver instance; caller owns the pointer.
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void asyncSave(Signature * s); //ownership transferred
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*/
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void asyncSave(VisualWord * vw); //ownership transferred
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static DBDriver * create(const ParametersMap & parameters = ParametersMap());
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void emptyTrashes(bool async = false);
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double getEmptyTrashesTime() const {return _emptyTrashesTime;}
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public:
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void setTimestampUpdateEnabled(bool enabled) {_timestampUpdate = enabled;} // used on Update Signature and Word queries
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virtual ~DBDriver();
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// Warning: the following functions don't look in the trash, direct database modifications
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/** @brief Parse driver parameters from the map (e.g. target schema version). */
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void generateGraph(
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virtual void parseParameters(const ParametersMap & parameters);
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const std::string & fileName,
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/**
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const std::set<int> & ids = std::set<int>(),
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* @brief True when no database file URL was set at open time.
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const std::map<int, Signature *> & otherSignatures = std::map<int, Signature *>());
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* @note @ref DBDriverSqlite3 overrides this when @ref Parameters::kDbSqlite3InMemory() is enabled.
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void addLink(const Link & link);
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*/
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void removeLink(int from, int to);
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virtual bool isInMemory() const {return _url.empty();}
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void updateLink(const Link & link);
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/** @return Database file path last passed to @ref openConnection(). */
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void updateOccupancyGrid(
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const std::string & getUrl() const {return _url;}
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int nodeId,
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/** @return Target schema version for new databases (from parameters). */
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const cv::Mat & ground,
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const std::string & getTargetVersion() const {return _targetVersion;}
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const cv::Mat & obstacles,
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const cv::Mat & empty,
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/** @brief Queue a signature for deferred save; ownership is transferred. */
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float cellSize,
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void asyncSave(Signature * s);
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const cv::Point3f & viewpoint);
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/** @brief Queue a visual word for deferred save; ownership is transferred. */
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void updateCalibration(
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void asyncSave(VisualWord * vw);
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int nodeId,
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/**
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const std::vector<CameraModel> & models,
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* @brief Flush queued signatures and visual words to the database.
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const std::vector<StereoCameraModel> & stereoModels);
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* @param async If true, signal the background thread instead of flushing synchronously.
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void updateDepthImage(int nodeId, const cv::Mat & image, const std::string & format);
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*/
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void updateLaserScan(int nodeId, const LaserScan & scan);
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void emptyTrashes(bool async = false);
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double getEmptyTrashesTime() const {return _emptyTrashesTime;}
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public:
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void setTimestampUpdateEnabled(bool enabled) {_timestampUpdate = enabled;} // used on Update Signature and Word queries
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void addInfoAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap & parameters) const;
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void addStatistics(const Statistics & statistics, bool saveWmState) const;
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/**
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void savePreviewImage(const cv::Mat & image) const;
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* @brief Export the pose graph to a Graphviz DOT file for visualization.
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cv::Mat loadPreviewImage() const;
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*
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void saveOptimizedPoses(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const;
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* Reads nodes and links from the database (and optionally from @p otherSignatures
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std::map<int, Transform> loadOptimizedPoses(Transform * lastlocalizationPose = 0) const;
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* not yet persisted) and writes @p fileName. Does not modify the database.
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void save2DMap(const cv::Mat & map, float xMin, float yMin, float cellSize) const;
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* If @p ids is empty, all node ids are included.
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cv::Mat load2DMap(float & xMin, float & yMin, float & cellSize) const;
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*/
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void saveOptimizedMesh(
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void generateGraph(
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const cv::Mat & cloud,
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const std::string & fileName,
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const std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons = std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > >(), // Textures -> polygons -> vertices
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const std::set<int> & ids = std::set<int>(),
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#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
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const std::map<int, Signature *> & otherSignatures = std::map<int, Signature *>());
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const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords = std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > >(), // Textures -> uv coords for each vertex of the polygons
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#else
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/**
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const std::vector<std::vector<Eigen::Vector2f> > & texCoords = std::vector<std::vector<Eigen::Vector2f> >(), // Textures -> uv coords for each vertex of the polygons
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* @name Direct database updates
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#endif
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* @brief Write node or link data immediately (not via the async trash).
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const cv::Mat & textures = cv::Mat()) const; // concatenated textures (assuming square textures with all same size);
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* @{
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cv::Mat loadOptimizedMesh(
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*/
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std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > * polygons = 0,
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/** @brief Insert or replace a link in the database. */
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#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
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void addLink(const Link & link);
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std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords = 0,
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/** @brief Remove a link between two nodes. */
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#else
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void removeLink(int from, int to);
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std::vector<std::vector<Eigen::Vector2f> > * texCoords = 0,
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/** @brief Update an existing link in the database. */
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#endif
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void updateLink(const Link & link);
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cv::Mat * textures = 0) const;
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/**
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void saveFlannIndex(const std::vector<unsigned char> & indexData) const;
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* @brief Update occupancy grid cells for a node.
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* @param ground Ground cells (raw @c CV_32FC2/@c CV_32FC3, or compressed @c CV_8UC1 1×N).
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public:
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* @param obstacles Obstacle cells (same formats as @p ground).
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// Mutex-protected methods of abstract versions below
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* @param empty Empty cells (same formats as @p ground; ignored on DB schema < 0.16.0).
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* Raw mats are compressed internally via @ref SensorData::setOccupancyGrid() before writing.
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bool openConnection(const std::string & url, bool overwritten = false, bool readOnly = false);
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*/
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void closeConnection(bool save = true, const std::string & outputUrl = "");
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void updateOccupancyGrid(
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bool isConnected() const;
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int nodeId,
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unsigned long getMemoryUsed() const; // In bytes
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const cv::Mat & ground,
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std::string getDatabaseVersion() const;
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const cv::Mat & obstacles,
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long getNodesMemoryUsed() const;
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const cv::Mat & empty,
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long getLinksMemoryUsed() const;
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float cellSize,
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long getImagesMemoryUsed() const;
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const cv::Point3f & viewpoint);
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long getDepthImagesMemoryUsed() const;
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/** @brief Update camera calibration stored for a node. */
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long getCalibrationsMemoryUsed() const;
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void updateCalibration(
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long getGridsMemoryUsed() const;
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int nodeId,
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long getLaserScansMemoryUsed() const;
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const std::vector<CameraModel> & models,
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long getUserDataMemoryUsed() const;
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const std::vector<StereoCameraModel> & stereoModels);
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long getWordsMemoryUsed() const;
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/**
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long getFeaturesMemoryUsed() const;
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* @brief Update the depth image stored for a node.
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long getStatisticsMemoryUsed() const;
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* @param image Raw depth image, or pre-compressed blob (@c CV_8UC1, single row).
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int getLastNodesSize() const; // working memory
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* @param format Compression format when @p image is raw (e.g. @c ".png"); ignored if already compressed.
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int getLastDictionarySize() const; // working memory
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* Uncompressed images are compressed with @ref Compression::compressImage2() before writing.
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int getTotalNodesSize() const;
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*/
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int getTotalDictionarySize() const;
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void updateDepthImage(int nodeId, const cv::Mat & image, const std::string & format);
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ParametersMap getLastParameters() const;
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/**
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std::map<std::string, float> getStatistics(int nodeId, double & stamp, std::vector<int> * wmState=0) const;
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* @brief Update the laser scan stored for a node.
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std::map<int, std::pair<std::map<std::string, float>, double> > getAllStatistics() const;
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* @param scan Uncompressed scan, or already compressed (@ref LaserScan::isCompressed()).
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std::map<int, std::vector<int> > getAllStatisticsWmStates() const;
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* Uncompressed data is compressed with @ref Compression::compressData2() before writing.
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*/
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void executeNoResult(const std::string & sql) const;
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void updateLaserScan(int nodeId, const LaserScan & scan);
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/** @} */
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// Load objects
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void load(VWDictionary & dictionary, bool lastStateOnly = true) const;
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public:
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void loadLastNodes(std::list<Signature *> & signatures, bool loadWordIdsOnly = false) const; // returned signatures must be freed after usage
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/**
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Signature * loadSignature(int id, bool * loadedFromTrash = 0); // returned signature must be freed after usage, call loadSignatures() instead if more than one signature should be loaded
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* @name Session exports and map artifacts
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void loadSignatures(const std::list<int> & ids, std::list<Signature *> & signatures, std::set<int> * loadedFromTrash = 0, bool loadWordIdsOnly = false); // returned signatures must be freed after usage
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* @brief Statistics, preview image, optimized poses, 2D map, mesh and FLANN index.
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void loadWords(const std::set<int> & wordIds, std::list<VisualWord *> & vws); // returned words must be freed after usage
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* @{*/
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void addInfoAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap & parameters) const;
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// Specific queries...
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/**
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void loadNodeData(Signature & signature, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
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* @brief Append a @ref Statistics record for a processed node.
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void loadNodeData(std::list<Signature *> & signatures, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
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* @param statistics Metrics for @ref Statistics::refImageId() (insert skipped if id ≤ 0 or data empty).
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void getNodeData(int signatureId, SensorData & data, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
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* @param saveWmState If true and schema ≥ 0.16.2, also store compressed working-memory state.
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bool getCalibration(int signatureId, std::vector<CameraModel> & models, std::vector<StereoCameraModel> & stereoModels) const;
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*/
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bool getLaserScanInfo(int signatureId, LaserScan & info) const;
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void addStatistics(const Statistics & statistics, bool saveWmState) const;
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bool getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps, EnvSensors & sensors) const;
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/**
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void getLocalFeatures(int signatureId, std::multimap<int, int> & words, std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & points, cv::Mat & descriptors) const;
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* @brief Save the map preview thumbnail in the Admin table.
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void loadLinks(int signatureId, std::multimap<int, Link> & links, Link::Type type = Link::kUndef) const;
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* @param image Raw image or JPEG-compressed blob (@c CV_8UC1, single row); empty clears it.
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void getWeight(int signatureId, int & weight) const;
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* @note Requires database schema ≥ 0.12.0.
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void getLastNodeIds(std::set<int> & ids) const;
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*/
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void getAllNodeIds(std::set<int> & ids, bool ignoreChildren = false, bool ignoreBadSignatures = false, bool ignoreIntermediateNodes = false) const;
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void savePreviewImage(const cv::Mat & image) const;
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void getAllOdomPoses(std::map<int, Transform> & poses, bool ignoreChildren = false, bool ignoreIntermediateNodes = false) const;
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/** @brief Load and uncompress the map preview thumbnail from the Admin table. */
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void getAllLinks(std::multimap<int, Link> & links, bool ignoreNullLinks = true, bool withLandmarks = false) const;
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cv::Mat loadPreviewImage() const;
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void getLastNodeId(int & id) const;
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/** @brief Persist graph-optimized poses and last localization pose. */
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void getLastMapId(int & mapId) const;
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void saveOptimizedPoses(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const;
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void getLastWordId(int & id) const;
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/** @brief Load optimized poses; optional last localization pose output. */
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void getInvertedIndexNi(int signatureId, int & ni) const;
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std::map<int, Transform> loadOptimizedPoses(Transform * lastlocalizationPose = 0) const;
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void getNodesObservingLandmark(int landmarkId, std::map<int, Link> & nodes) const;
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/** @brief Save the assembled 2D occupancy grid and its origin metadata. */
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void getNodeIdByLabel(const std::string & label, int & id) const;
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void save2DMap(const cv::Mat & map, float xMin, float yMin, float cellSize) const;
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void getAllLabels(std::map<int, std::string> & labels) const;
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/** @brief Load the 2D map and fill origin/cell size outputs. */
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cv::Mat load2DMap(float & xMin, float & yMin, float & cellSize) const;
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protected:
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/**
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DBDriver(const ParametersMap & parameters = ParametersMap());
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* @brief Persist the global optimized 3D mesh to the database.
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* @param cloud Point cloud (@c CV_32FC1 or @c CV_32FC3).
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virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false, bool readOnly = false) = 0;
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* @param polygons Optional per-texture polygon index lists (texture → polygon → vertex indices).
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virtual void disconnectDatabaseQuery(bool save = true, const std::string & outputUrl = "") = 0;
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* @param texCoords Optional UV coordinates per texture (one per polygon vertex).
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virtual bool isConnectedQuery() const = 0;
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* @param textures Optional concatenated square texture images (same size per texture).
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virtual unsigned long getMemoryUsedQuery() const = 0; // In bytes
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*/
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virtual bool getDatabaseVersionQuery(std::string & version) const = 0;
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void saveOptimizedMesh(
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virtual long getNodesMemoryUsedQuery() const = 0;
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const cv::Mat & cloud,
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virtual long getLinksMemoryUsedQuery() const = 0;
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const std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons = std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > >(), // Textures -> polygons -> vertices
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virtual long getImagesMemoryUsedQuery() const = 0;
|
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
|
||||||
virtual long getDepthImagesMemoryUsedQuery() const = 0;
|
const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords = std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > >(), // Textures -> uv coords for each vertex of the polygons
|
||||||
virtual long getCalibrationsMemoryUsedQuery() const = 0;
|
#else
|
||||||
virtual long getGridsMemoryUsedQuery() const = 0;
|
const std::vector<std::vector<Eigen::Vector2f> > & texCoords = std::vector<std::vector<Eigen::Vector2f> >(), // Textures -> uv coords for each vertex of the polygons
|
||||||
virtual long getLaserScansMemoryUsedQuery() const = 0;
|
#endif
|
||||||
virtual long getUserDataMemoryUsedQuery() const = 0;
|
const cv::Mat & textures = cv::Mat()) const; // concatenated textures (assuming square textures with all same size);
|
||||||
virtual long getWordsMemoryUsedQuery() const = 0;
|
cv::Mat loadOptimizedMesh(
|
||||||
virtual long getFeaturesMemoryUsedQuery() const = 0;
|
std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > * polygons = 0,
|
||||||
virtual long getStatisticsMemoryUsedQuery() const = 0;
|
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
|
||||||
virtual int getLastNodesSizeQuery() const = 0;
|
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords = 0,
|
||||||
virtual int getLastDictionarySizeQuery() const = 0;
|
#else
|
||||||
virtual int getTotalNodesSizeQuery() const = 0;
|
std::vector<std::vector<Eigen::Vector2f> > * texCoords = 0,
|
||||||
virtual int getTotalDictionarySizeQuery() const = 0;
|
#endif
|
||||||
virtual ParametersMap getLastParametersQuery() const = 0;
|
cv::Mat * textures = 0) const;
|
||||||
virtual std::map<std::string, float> getStatisticsQuery(int nodeId, double & stamp, std::vector<int> * wmState) const = 0;
|
/**
|
||||||
virtual std::map<int, std::pair<std::map<std::string, float>, double> > getAllStatisticsQuery() const = 0;
|
* @brief Persist the visual word dictionary FLANN index (serialized blob).
|
||||||
virtual std::map<int, std::vector<int> > getAllStatisticsWmStatesQuery() const = 0;
|
* @param indexData Serialized index from @ref VWDictionary::serializeIndex(); pass empty to clear.
|
||||||
|
* @note Requires database schema ≥ 0.23.0. Used when @ref Parameters::kKpFlannIndexSaved() is enabled.
|
||||||
virtual void executeNoResultQuery(const std::string & sql) const = 0;
|
*/
|
||||||
|
void saveFlannIndex(const std::vector<unsigned char> & indexData) const;
|
||||||
virtual void getWeightQuery(int signatureId, int & weight) const = 0;
|
/** @} */
|
||||||
|
|
||||||
virtual void saveQuery(const std::list<Signature *> & signatures) = 0;
|
public:
|
||||||
virtual void saveQuery(const std::list<VisualWord *> & words) const = 0;
|
/**
|
||||||
virtual void updateQuery(const std::list<Signature *> & signatures, bool updateTimestamp) const = 0;
|
* @name Connection and database introspection
|
||||||
virtual void updateQuery(const std::list<VisualWord *> & words, bool updateTimestamp) const = 0;
|
* @brief Mutex-protected wrappers around protected \c *Query() methods.
|
||||||
|
* @{*/
|
||||||
virtual void addLinkQuery(const Link & link) const = 0;
|
/** @brief Open or create the database at @p url (empty @p url uses an in-memory database). */
|
||||||
virtual void updateLinkQuery(const Link & link) const = 0;
|
bool openConnection(const std::string & url, bool overwritten = false, bool readOnly = false);
|
||||||
|
/** @brief Close the connection; optionally flush trashes and save in-memory DB to @p outputUrl. */
|
||||||
virtual void updateOccupancyGridQuery(
|
void closeConnection(bool save = true, const std::string & outputUrl = "");
|
||||||
int nodeId,
|
/** @return True if a database connection is active. */
|
||||||
const cv::Mat & ground,
|
bool isConnected() const;
|
||||||
const cv::Mat & obstacles,
|
unsigned long getMemoryUsed() const; // In bytes
|
||||||
const cv::Mat & empty,
|
/** @return Schema version string stored in the database (e.g. "0.21.0"). */
|
||||||
float cellSize,
|
std::string getDatabaseVersion() const;
|
||||||
const cv::Point3f & viewpoint) const = 0;
|
long getNodesMemoryUsed() const;
|
||||||
|
long getLinksMemoryUsed() const;
|
||||||
virtual void updateCalibrationQuery(
|
long getImagesMemoryUsed() const;
|
||||||
int nodeId,
|
long getDepthImagesMemoryUsed() const;
|
||||||
const std::vector<CameraModel> & models,
|
long getCalibrationsMemoryUsed() const;
|
||||||
const std::vector<StereoCameraModel> & stereoModels) const = 0;
|
long getGridsMemoryUsed() const;
|
||||||
|
long getLaserScansMemoryUsed() const;
|
||||||
virtual void updateDepthImageQuery(
|
long getUserDataMemoryUsed() const;
|
||||||
int nodeId,
|
long getWordsMemoryUsed() const;
|
||||||
const cv::Mat & image,
|
long getFeaturesMemoryUsed() const;
|
||||||
const std::string & format) const = 0;
|
long getStatisticsMemoryUsed() const;
|
||||||
|
int getLastNodesSize() const; // working memory
|
||||||
virtual void updateLaserScanQuery(
|
int getLastDictionarySize() const; // working memory
|
||||||
int nodeId,
|
int getTotalNodesSize() const;
|
||||||
const LaserScan & scan) const = 0;
|
int getTotalDictionarySize() const;
|
||||||
|
ParametersMap getLastParameters() const;
|
||||||
virtual void addStatisticsQuery(const Statistics & statistics, bool saveWmState) const = 0;
|
std::map<std::string, float> getStatistics(int nodeId, double & stamp, std::vector<int> * wmState=0) const;
|
||||||
virtual void savePreviewImageQuery(const cv::Mat & image) const = 0;
|
std::map<int, std::pair<std::map<std::string, float>, double> > getAllStatistics() const;
|
||||||
virtual cv::Mat loadPreviewImageQuery() const = 0;
|
std::map<int, std::vector<int> > getAllStatisticsWmStates() const;
|
||||||
virtual void saveOptimizedPosesQuery(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const = 0;
|
|
||||||
virtual std::map<int, Transform> loadOptimizedPosesQuery(Transform * lastlocalizationPose = 0) const = 0;
|
/** @} */
|
||||||
virtual void save2DMapQuery(const cv::Mat & map, float xMin, float yMin, float cellSize) const = 0;
|
|
||||||
virtual cv::Mat load2DMapQuery(float & xMin, float & yMin, float & cellSize) const = 0;
|
/**
|
||||||
virtual void saveOptimizedMeshQuery(
|
* @brief Run a SQL statement that does not return result rows.
|
||||||
const cv::Mat & cloud,
|
*
|
||||||
const std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons,
|
* Executes @p sql on the open database (e.g. @c INSERT, @c UPDATE, @c DELETE,
|
||||||
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
|
* @c CREATE, @c PRAGMA). Thread-safe wrapper around @ref executeNoResultQuery().
|
||||||
const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
|
*
|
||||||
#else
|
* For reads, use the dedicated @ref loadSignature(), @ref loadLinks() and related
|
||||||
const std::vector<std::vector<Eigen::Vector2f> > & texCoords,
|
* query methods instead of raw SQL.
|
||||||
#endif
|
*
|
||||||
const cv::Mat & textures) const = 0;
|
* @param sql Complete SQL statement (SQLite syntax for @ref DBDriverSqlite3).
|
||||||
virtual cv::Mat loadOptimizedMeshQuery(
|
* @note The connection must be open (@ref isConnected()). On failure the driver
|
||||||
std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > * polygons,
|
* aborts with an assertion (SQLite backend).
|
||||||
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
|
* @warning @p sql is passed verbatim; sanitize any user-controlled values before calling.
|
||||||
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords,
|
*/
|
||||||
#else
|
void executeNoResult(const std::string & sql) const;
|
||||||
std::vector<std::vector<Eigen::Vector2f> > * texCoords,
|
|
||||||
#endif
|
/**
|
||||||
cv::Mat * textures) const = 0;
|
* @name Load and query
|
||||||
virtual void saveFlannIndexQuery(const std::vector<unsigned char> & indexData) const = 0;
|
* @brief Load signatures, words, links and node metadata from the database.
|
||||||
|
* @{*/
|
||||||
// Load objects
|
|
||||||
virtual void loadQuery(VWDictionary & dictionary, bool lastStateOnly = true) const = 0;
|
// Load objects
|
||||||
virtual void loadLastNodesQuery(std::list<Signature *> & signatures, bool loadWordIdsOnly) const = 0;
|
void load(VWDictionary & dictionary, bool lastStateOnly = true) const;
|
||||||
virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures, bool loadWordIdsOnly) const = 0;
|
void loadLastNodes(std::list<Signature *> & signatures, bool loadWordIdsOnly = false) const; // returned signatures must be freed after usage
|
||||||
virtual void loadWordsQuery(const std::set<int> & wordIds, std::list<VisualWord *> & vws) const = 0;
|
/** @brief Load one signature by id; caller must delete the returned pointer. */
|
||||||
virtual void loadLinksQuery(int signatureId, std::multimap<int, Link> & links, Link::Type type = Link::kUndef) const = 0;
|
Signature * loadSignature(int id, bool * loadedFromTrash = 0); // returned signature must be freed after usage, call loadSignatures() instead if more than one signature should be loaded
|
||||||
|
void loadSignatures(const std::list<int> & ids, std::list<Signature *> & signatures, std::set<int> * loadedFromTrash = 0, bool loadWordIdsOnly = false); // returned signatures must be freed after usage
|
||||||
virtual void loadNodeDataQuery(std::list<Signature *> & signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const = 0;
|
void loadWords(const std::set<int> & wordIds, std::list<VisualWord *> & vws); // returned words must be freed after usage
|
||||||
virtual bool getCalibrationQuery(int signatureId, std::vector<CameraModel> & models, std::vector<StereoCameraModel> & stereoModels) const = 0;
|
|
||||||
virtual bool getLaserScanInfoQuery(int signatureId, LaserScan & info) const = 0;
|
// Specific queries...
|
||||||
virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps, EnvSensors & sensors) const = 0;
|
void loadNodeData(Signature & signature, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
|
||||||
virtual void getLocalFeaturesQuery(int signatureId, std::multimap<int, int> & words, std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & points, cv::Mat & descriptors) const = 0;
|
void loadNodeData(std::list<Signature *> & signatures, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
|
||||||
virtual void getLastNodeIdsQuery(std::set<int> & ids) const = 0;
|
void getNodeData(int signatureId, SensorData & data, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
|
||||||
virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures, bool ignoreIntermediateNodes) const = 0;
|
bool getCalibration(int signatureId, std::vector<CameraModel> & models, std::vector<StereoCameraModel> & stereoModels) const;
|
||||||
virtual void getAllOdomPosesQuery(std::map<int, Transform> & poses, bool ignoreChildren, bool ignoreIntermediateNodes) const = 0;
|
bool getLaserScanInfo(int signatureId, LaserScan & info) const;
|
||||||
virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks, bool withLandmarks) const = 0;
|
bool getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps, EnvSensors & sensors) const;
|
||||||
virtual void getLastIdQuery(const std::string & tableName, int & id, const std::string & fieldName="id") const = 0;
|
void getLocalFeatures(int signatureId, std::multimap<int, int> & words, std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & points, cv::Mat & descriptors) const;
|
||||||
virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const = 0;
|
/** @brief Load outgoing links from @p signatureId, optionally filtered by @p type. */
|
||||||
virtual void getNodesObservingLandmarkQuery(int landmarkId, std::map<int, Link> & nodes) const = 0;
|
void loadLinks(int signatureId, std::multimap<int, Link> & links, Link::Type type = Link::kUndef) const;
|
||||||
virtual void getNodeIdByLabelQuery(const std::string & label, int & id) const = 0;
|
void getWeight(int signatureId, int & weight) const;
|
||||||
virtual void getAllLabelsQuery(std::map<int, std::string> & labels) const = 0;
|
void getLastNodeIds(std::set<int> & ids) const;
|
||||||
|
void getAllNodeIds(std::set<int> & ids, bool ignoreChildren = false, bool ignoreBadSignatures = false, bool ignoreIntermediateNodes = false) const;
|
||||||
private:
|
void getAllOdomPoses(std::map<int, Transform> & poses, bool ignoreChildren = false, bool ignoreIntermediateNodes = false) const;
|
||||||
//non-abstract methods
|
void getAllLinks(std::multimap<int, Link> & links, bool ignoreNullLinks = true, bool withLandmarks = false) const;
|
||||||
void saveOrUpdate(const std::vector<Signature *> & signatures);
|
void getLastNodeId(int & id) const;
|
||||||
void saveOrUpdate(const std::vector<VisualWord *> & words) const;
|
void getLastMapId(int & mapId) const;
|
||||||
|
void getLastWordId(int & id) const;
|
||||||
//thread stuff
|
void getInvertedIndexNi(int signatureId, int & ni) const;
|
||||||
virtual void mainLoop();
|
void getNodesObservingLandmark(int landmarkId, std::map<int, Link> & nodes) const;
|
||||||
|
void getNodeIdByLabel(const std::string & label, int & id) const;
|
||||||
private:
|
void getAllLabels(std::map<int, std::string> & labels) const;
|
||||||
UMutex _transactionMutex;
|
/** @} */
|
||||||
std::map<int, Signature *> _trashSignatures;//<id, Signature*>
|
|
||||||
std::map<int, VisualWord *> _trashVisualWords; //<id, VisualWord*>
|
protected:
|
||||||
UMutex _trashesMutex;
|
/**
|
||||||
UMutex _dbSafeAccessMutex;
|
* @brief Protected constructor for subclasses.
|
||||||
USemaphore _addSem;
|
*/
|
||||||
double _emptyTrashesTime;
|
DBDriver(const ParametersMap & parameters = ParametersMap());
|
||||||
std::string _url;
|
|
||||||
std::string _targetVersion;
|
/**
|
||||||
bool _timestampUpdate;
|
* @name Backend implementation (subclass responsibility)
|
||||||
};
|
* @brief Pure virtual SQL/backend hooks invoked by public wrappers above.
|
||||||
|
* @{*/
|
||||||
}
|
virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false, bool readOnly = false) = 0;
|
||||||
|
virtual void disconnectDatabaseQuery(bool save = true, const std::string & outputUrl = "") = 0;
|
||||||
#endif /* DBDRIVER_H_ */
|
virtual bool isConnectedQuery() const = 0;
|
||||||
|
virtual unsigned long getMemoryUsedQuery() const = 0; // In bytes
|
||||||
|
virtual bool getDatabaseVersionQuery(std::string & version) const = 0;
|
||||||
|
virtual long getNodesMemoryUsedQuery() const = 0;
|
||||||
|
virtual long getLinksMemoryUsedQuery() const = 0;
|
||||||
|
virtual long getImagesMemoryUsedQuery() const = 0;
|
||||||
|
virtual long getDepthImagesMemoryUsedQuery() const = 0;
|
||||||
|
virtual long getCalibrationsMemoryUsedQuery() const = 0;
|
||||||
|
virtual long getGridsMemoryUsedQuery() const = 0;
|
||||||
|
virtual long getLaserScansMemoryUsedQuery() const = 0;
|
||||||
|
virtual long getUserDataMemoryUsedQuery() const = 0;
|
||||||
|
virtual long getWordsMemoryUsedQuery() const = 0;
|
||||||
|
virtual long getFeaturesMemoryUsedQuery() const = 0;
|
||||||
|
virtual long getStatisticsMemoryUsedQuery() const = 0;
|
||||||
|
virtual int getLastNodesSizeQuery() const = 0;
|
||||||
|
virtual int getLastDictionarySizeQuery() const = 0;
|
||||||
|
virtual int getTotalNodesSizeQuery() const = 0;
|
||||||
|
virtual int getTotalDictionarySizeQuery() const = 0;
|
||||||
|
virtual ParametersMap getLastParametersQuery() const = 0;
|
||||||
|
virtual std::map<std::string, float> getStatisticsQuery(int nodeId, double & stamp, std::vector<int> * wmState) const = 0;
|
||||||
|
virtual std::map<int, std::pair<std::map<std::string, float>, double> > getAllStatisticsQuery() const = 0;
|
||||||
|
virtual std::map<int, std::vector<int> > getAllStatisticsWmStatesQuery() const = 0;
|
||||||
|
|
||||||
|
virtual void executeNoResultQuery(const std::string & sql) const = 0;
|
||||||
|
|
||||||
|
virtual void getWeightQuery(int signatureId, int & weight) const = 0;
|
||||||
|
|
||||||
|
virtual void saveQuery(const std::list<Signature *> & signatures) = 0;
|
||||||
|
virtual void saveQuery(const std::list<VisualWord *> & words) const = 0;
|
||||||
|
virtual void updateQuery(const std::list<Signature *> & signatures, bool updateTimestamp) const = 0;
|
||||||
|
virtual void updateQuery(const std::list<VisualWord *> & words, bool updateTimestamp) const = 0;
|
||||||
|
|
||||||
|
virtual void addLinkQuery(const Link & link) const = 0;
|
||||||
|
virtual void updateLinkQuery(const Link & link) const = 0;
|
||||||
|
|
||||||
|
virtual void updateOccupancyGridQuery(
|
||||||
|
int nodeId,
|
||||||
|
const cv::Mat & ground,
|
||||||
|
const cv::Mat & obstacles,
|
||||||
|
const cv::Mat & empty,
|
||||||
|
float cellSize,
|
||||||
|
const cv::Point3f & viewpoint) const = 0;
|
||||||
|
|
||||||
|
virtual void updateCalibrationQuery(
|
||||||
|
int nodeId,
|
||||||
|
const std::vector<CameraModel> & models,
|
||||||
|
const std::vector<StereoCameraModel> & stereoModels) const = 0;
|
||||||
|
|
||||||
|
virtual void updateDepthImageQuery(
|
||||||
|
int nodeId,
|
||||||
|
const cv::Mat & image,
|
||||||
|
const std::string & format) const = 0;
|
||||||
|
|
||||||
|
virtual void updateLaserScanQuery(
|
||||||
|
int nodeId,
|
||||||
|
const LaserScan & scan) 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;
|
||||||
|
virtual std::map<int, Transform> loadOptimizedPosesQuery(Transform * lastlocalizationPose = 0) const = 0;
|
||||||
|
virtual void save2DMapQuery(const cv::Mat & map, float xMin, float yMin, float cellSize) const = 0;
|
||||||
|
virtual cv::Mat load2DMapQuery(float & xMin, float & yMin, float & cellSize) const = 0;
|
||||||
|
virtual void saveOptimizedMeshQuery(
|
||||||
|
const cv::Mat & cloud,
|
||||||
|
const std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons,
|
||||||
|
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
|
||||||
|
const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
|
||||||
|
#else
|
||||||
|
const std::vector<std::vector<Eigen::Vector2f> > & texCoords,
|
||||||
|
#endif
|
||||||
|
const cv::Mat & textures) const = 0;
|
||||||
|
virtual cv::Mat loadOptimizedMeshQuery(
|
||||||
|
std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > * polygons,
|
||||||
|
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
|
||||||
|
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords,
|
||||||
|
#else
|
||||||
|
std::vector<std::vector<Eigen::Vector2f> > * texCoords,
|
||||||
|
#endif
|
||||||
|
cv::Mat * textures) const = 0;
|
||||||
|
virtual void saveFlannIndexQuery(const std::vector<unsigned char> & indexData) const = 0;
|
||||||
|
|
||||||
|
// Load objects
|
||||||
|
virtual void loadQuery(VWDictionary & dictionary, bool lastStateOnly = true) const = 0;
|
||||||
|
virtual void loadLastNodesQuery(std::list<Signature *> & signatures, bool loadWordIdsOnly) const = 0;
|
||||||
|
virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures, bool loadWordIdsOnly) const = 0;
|
||||||
|
virtual void loadWordsQuery(const std::set<int> & wordIds, std::list<VisualWord *> & vws) const = 0;
|
||||||
|
virtual void loadLinksQuery(int signatureId, std::multimap<int, Link> & links, Link::Type type = Link::kUndef) const = 0;
|
||||||
|
|
||||||
|
virtual void loadNodeDataQuery(std::list<Signature *> & signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const = 0;
|
||||||
|
virtual bool getCalibrationQuery(int signatureId, std::vector<CameraModel> & models, std::vector<StereoCameraModel> & stereoModels) const = 0;
|
||||||
|
virtual bool getLaserScanInfoQuery(int signatureId, LaserScan & info) const = 0;
|
||||||
|
virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps, EnvSensors & sensors) const = 0;
|
||||||
|
virtual void getLocalFeaturesQuery(int signatureId, std::multimap<int, int> & words, std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & points, cv::Mat & descriptors) const = 0;
|
||||||
|
virtual void getLastNodeIdsQuery(std::set<int> & ids) const = 0;
|
||||||
|
virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures, bool ignoreIntermediateNodes) const = 0;
|
||||||
|
virtual void getAllOdomPosesQuery(std::map<int, Transform> & poses, bool ignoreChildren, bool ignoreIntermediateNodes) const = 0;
|
||||||
|
virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks, bool withLandmarks) const = 0;
|
||||||
|
virtual void getLastIdQuery(const std::string & tableName, int & id, const std::string & fieldName="id") const = 0;
|
||||||
|
virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const = 0;
|
||||||
|
virtual void getNodesObservingLandmarkQuery(int landmarkId, std::map<int, Link> & nodes) const = 0;
|
||||||
|
virtual void getNodeIdByLabelQuery(const std::string & label, int & id) const = 0;
|
||||||
|
virtual void getAllLabelsQuery(std::map<int, std::string> & labels) const = 0;
|
||||||
|
/** @} */
|
||||||
|
|
||||||
|
private:
|
||||||
|
/** @brief Begin a database transaction (nested calls are serialized). */
|
||||||
|
void beginTransaction() const;
|
||||||
|
/** @brief Commit the current transaction. */
|
||||||
|
void commit() const;
|
||||||
|
|
||||||
|
//non-abstract methods
|
||||||
|
void saveOrUpdate(const std::vector<Signature *> & signatures);
|
||||||
|
void saveOrUpdate(const std::vector<VisualWord *> & words) const;
|
||||||
|
|
||||||
|
//thread stuff
|
||||||
|
virtual void mainLoop();
|
||||||
|
|
||||||
|
private:
|
||||||
|
UMutex _transactionMutex;
|
||||||
|
std::map<int, Signature *> _trashSignatures;//<id, Signature*>
|
||||||
|
std::map<int, VisualWord *> _trashVisualWords; //<id, VisualWord*>
|
||||||
|
UMutex _trashesMutex;
|
||||||
|
UMutex _dbSafeAccessMutex;
|
||||||
|
USemaphore _addSem;
|
||||||
|
double _emptyTrashesTime;
|
||||||
|
std::string _url;
|
||||||
|
std::string _targetVersion;
|
||||||
|
bool _timestampUpdate;
|
||||||
|
};
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif /* DBDRIVER_H_ */
|
||||||
|
|||||||
@@ -121,6 +121,11 @@ add_executable(test_odometry test_odometry.cpp)
|
|||||||
target_link_libraries(test_odometry gtest_main rtabmap_core)
|
target_link_libraries(test_odometry gtest_main rtabmap_core)
|
||||||
gtest_discover_tests(test_odometry)
|
gtest_discover_tests(test_odometry)
|
||||||
|
|
||||||
|
#DBDriver.h
|
||||||
|
add_executable(test_dbdriver test_dbdriver.cpp)
|
||||||
|
target_link_libraries(test_dbdriver gtest_main rtabmap_core)
|
||||||
|
gtest_discover_tests(test_dbdriver)
|
||||||
|
|
||||||
#Signature.h
|
#Signature.h
|
||||||
add_executable(test_signature test_signature.cpp)
|
add_executable(test_signature test_signature.cpp)
|
||||||
target_link_libraries(test_signature gtest_main rtabmap_core)
|
target_link_libraries(test_signature gtest_main rtabmap_core)
|
||||||
|
|||||||
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user