mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
a2dde36093
Added Rtabmap::clearPath(), Rtabmap::computePath(), Rtabmap::getPathGoalId() and Rtabmap::updateGoalIndex() methods. Added virtual links when path retrieval is activated (virtual links are not saved to database and removed when the path goal is reached). New parameters: RGBD/GoalReachedRadius and RGBD/MaxAnticipatedNodes Refactored how loop closure hypotheses are selected (fixed ratio between consecutive hypotheses, not the last loop closure). Updated getNodesInRadius() to use all filtered scans. GUI: window can be saved/loaded maximized GUI: saving Graph View parameters to config.ini
134 lines
5.5 KiB
C++
134 lines
5.5 KiB
C++
/*
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Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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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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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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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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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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* 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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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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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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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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(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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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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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef DBDRIVERSQLITE3_H_
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#define DBDRIVERSQLITE3_H_
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#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
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#include "rtabmap/core/DBDriver.h"
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#include <opencv2/features2d/features2d.hpp>
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#include "sqlite3/sqlite3.h"
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#include <pcl/point_types.h>
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namespace rtabmap {
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class RTABMAP_EXP DBDriverSqlite3: public DBDriver {
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public:
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DBDriverSqlite3(const ParametersMap & parameters = ParametersMap());
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virtual ~DBDriverSqlite3();
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virtual void parseParameters(const ParametersMap & parameters);
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void setDbInMemory(bool dbInMemory);
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void setJournalMode(int journalMode);
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void setCacheSize(unsigned int cacheSize);
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void setSynchronous(int synchronous);
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void setTempStore(int tempStore);
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private:
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virtual bool connectDatabaseQuery(const std::string & url, bool overwirtten = false);
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virtual void disconnectDatabaseQuery();
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virtual bool isConnectedQuery() const;
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virtual long getMemoryUsedQuery() const; // In bytes
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virtual void executeNoResultQuery(const std::string & sql) const;
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virtual void getWeightQuery(int signatureId, int & weight) const;
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virtual void saveQuery(const std::list<Signature *> & signatures) const;
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virtual void saveQuery(const std::list<VisualWord *> & words) const;
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virtual void updateQuery(const std::list<Signature *> & signatures) const;
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virtual void updateQuery(const std::list<VisualWord *> & words) const;
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// Load objects
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virtual void loadQuery(VWDictionary * dictionary) const;
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virtual void loadLastNodesQuery(std::list<Signature *> & signatures) const;
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virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures) const;
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virtual void loadWordsQuery(const std::set<int> & wordIds, std::list<VisualWord *> & vws) const;
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virtual void loadLinksQuery(int signatureId, std::map<int, Link> & links, Link::Type type = Link::kUndef) const;
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virtual void loadNodeDataQuery(std::list<Signature *> & signatures, bool loadMetricData) const;
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virtual void getNodeDataQuery(
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int signatureId,
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cv::Mat & imageCompressed,
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cv::Mat & depthCompressed,
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cv::Mat & laserScanCompressed,
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float & fx,
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float & fy,
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float & cx,
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float & cy,
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Transform & localTransform) const;
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virtual void getNodeDataQuery(int signatureId, cv::Mat & imageCompressed) const;
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virtual void getPoseQuery(int signatureId, Transform & pose, int & mapId) const;
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virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren) const;
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virtual void getLastIdQuery(const std::string & tableName, int & id) const;
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virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const;
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private:
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std::string queryStepNode() const;
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std::string queryStepImage() const;
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std::string queryStepDepth() const;
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std::string queryStepLink() const;
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std::string queryStepWordsChanged() const;
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std::string queryStepKeypoint() const;
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void stepNode(sqlite3_stmt * ppStmt, const Signature * s) const;
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void stepImage(
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sqlite3_stmt * ppStmt,
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int id,
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const cv::Mat & imageBytes) const;
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void stepDepth(
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sqlite3_stmt * ppStmt,
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int id,
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const cv::Mat & depthBytes,
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const cv::Mat & depth2dBytes,
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float fx,
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float fy,
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float cx,
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float cy,
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const Transform & localTransform) const;
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void stepLink(sqlite3_stmt * ppStmt, int fromId, int toId, Link::Type type, float variance, const Transform & transform) const;
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void stepWordsChanged(sqlite3_stmt * ppStmt, int signatureId, int oldWordId, int newWordId) const;
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void stepKeypoint(sqlite3_stmt * ppStmt, int signatureId, int wordId, const cv::KeyPoint & kp, const pcl::PointXYZ & pt) const;
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private:
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void loadLinksQuery(std::list<Signature *> & signatures) const;
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int loadOrSaveDb(sqlite3 *pInMemory, const std::string & fileName, int isSave) const;
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bool getVersion(std::string &) const;
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private:
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sqlite3 * _ppDb;
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std::string _version;
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bool _dbInMemory;
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unsigned int _cacheSize;
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int _journalMode;
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int _synchronous;
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int _tempStore;
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};
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}
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#endif /* DBDRIVERSQLITE3_H_ */
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