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Added Memory::getAllLabels(), added labels to statistics and added DBDriver::getNodeInfo()

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This commit is contained in:
Mathieu Labbe
2015-03-06 16:14:09 -05:00
parent 64fc7a05ae
commit 0c55d30f76
13 changed files with 235 additions and 55 deletions
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corelib/src/DBDriverSqlite3.cpp
+73 -6
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@@ -751,8 +751,14 @@ void DBDriverSqlite3::getNodeDataQuery(int signatureId, cv::Mat & imageCompresse
}
}
void DBDriverSqlite3::getPoseQuery(int signatureId, Transform & pose, int & mapId) const
bool DBDriverSqlite3::getNodeInfoQuery(int signatureId,
Transform & pose,
int & mapId,
int & weight,
std::string & label,
double & stamp) const
{
bool found = false;
if(_ppDb && signatureId)
{
int rc = SQLITE_OK;
@@ -760,10 +766,20 @@ void DBDriverSqlite3::getPoseQuery(int signatureId, Transform & pose, int & mapI
std::stringstream query;
// Prepare the query... Get the map from signature and visual words
query << "SELECT pose, map_id "
"FROM Node "
"WHERE id = " << signatureId <<
";";
if(uStrNumCmp(_version, "0.8.5") >= 0)
{
query << "SELECT pose, map_id, weight, label "
"FROM Node "
"WHERE id = " << signatureId <<
";";
}
else
{
query << "SELECT pose, map_id, weight "
"FROM Node "
"WHERE id = " << signatureId <<
";";
}
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());
@@ -775,6 +791,7 @@ void DBDriverSqlite3::getPoseQuery(int signatureId, Transform & pose, int & mapI
rc = sqlite3_step(ppStmt);
if(rc == SQLITE_ROW)
{
found = true;
int index = 0;
data = sqlite3_column_blob(ppStmt, index); // pose
dataSize = sqlite3_column_bytes(ppStmt, index++);
@@ -784,7 +801,16 @@ void DBDriverSqlite3::getPoseQuery(int signatureId, Transform & pose, int & mapI
}
mapId = sqlite3_column_int(ppStmt, index++); // map id
weight = sqlite3_column_int(ppStmt, index++); // weight
if(uStrNumCmp(_version, "0.8.5") >= 0)
{
const unsigned char * p = sqlite3_column_text(ppStmt, index++);
if(p)
{
label = reinterpret_cast<const char*>(p); // label
}
}
rc = sqlite3_step(ppStmt); // next result...
}
@@ -794,6 +820,7 @@ void DBDriverSqlite3::getPoseQuery(int signatureId, Transform & pose, int & mapI
rc = sqlite3_finalize(ppStmt);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
}
return found;
}
@@ -929,7 +956,7 @@ void DBDriverSqlite3::getInvertedIndexNiQuery(int nodeId, int & ni) const
void DBDriverSqlite3::getNodeIdByLabelQuery(const std::string & label, int & id) const
{
if(_ppDb && !label.empty())
if(_ppDb && !label.empty() && uStrNumCmp(_version, "0.8.5") >= 0)
{
UTimer timer;
timer.start();
@@ -957,6 +984,46 @@ void DBDriverSqlite3::getNodeIdByLabelQuery(const std::string & label, int & id)
}
}
void DBDriverSqlite3::getAllLabelsQuery(std::map<int, std::string> & labels) const
{
if(_ppDb && uStrNumCmp(_version, "0.8.5") >= 0)
{
UTimer timer;
timer.start();
int rc = SQLITE_OK;
sqlite3_stmt * ppStmt = 0;
std::stringstream query;
query << "SELECT id,label FROM Node WHERE label IS NOT NULL";
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());
// Process the result if one
rc = sqlite3_step(ppStmt);
while(rc == SQLITE_ROW)
{
int index = 0;
int id = sqlite3_column_int(ppStmt, index++);
const unsigned char * p = sqlite3_column_text(ppStmt, index++);
if(p)
{
std::string label = reinterpret_cast<const char*>(p);
if(!label.empty())
{
labels.insert(std::make_pair(id, label));
}
}
rc = sqlite3_step(ppStmt);
}
UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
// Finalize (delete) the statement
rc = sqlite3_finalize(ppStmt);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
ULOGGER_DEBUG("Time=%f", timer.ticks());
}
}
void DBDriverSqlite3::getWeightQuery(int nodeId, int & weight) const
{
weight = 0;