i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 08:47:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed actions saved in db

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@59 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-06-06 05:12:27 +00:00
parent 6fccc56e7a
commit 147bee0e63
5 changed files with 31 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files
cmake_modules/FindUtiLite.cmake
+1 -3
View File
@@ -11,12 +11,11 @@
SET(UTILITE_VERSION_REQUIRED 0.2.11) SET(UTILITE_VERSION_REQUIRED 0.2.11)
SET (UTILITE_ROOT) SET(UTILITE_ROOT)
# Add ROS UtiLite directory if ROS is installed # Add ROS UtiLite directory if ROS is installed
FIND_PROGRAM(ROSPACK_EXEC NAME rospack PATHS) FIND_PROGRAM(ROSPACK_EXEC NAME rospack PATHS)
IF(ROSPACK_EXEC) IF(ROSPACK_EXEC)
MESSAGE(STATUS "Found rospack executable : ${ROSPACK_EXEC}")
EXECUTE_PROCESS(COMMAND ${ROSPACK_EXEC} find utilite EXECUTE_PROCESS(COMMAND ${ROSPACK_EXEC} find utilite
OUTPUT_VARIABLE UTILITE_ROS_PATH OUTPUT_VARIABLE UTILITE_ROS_PATH
OUTPUT_STRIP_TRAILING_WHITESPACE OUTPUT_STRIP_TRAILING_WHITESPACE
@@ -81,4 +80,3 @@ ELSE ()
MESSAGE(FATAL_ERROR "Could not find UtiLite. Verify your PATH if it is already installed or download it at http://utilite.googlecode.com") MESSAGE(FATAL_ERROR "Could not find UtiLite. Verify your PATH if it is already installed or download it at http://utilite.googlecode.com")
ENDIF (UtiLite_FIND_REQUIRED) ENDIF (UtiLite_FIND_REQUIRED)
ENDIF () ENDIF ()
corelib/ConsoleApp/main.cpp
+3 -6
View File
@@ -413,12 +413,9 @@ int main(int argc, char * argv[])
if(i<maxTeleopActions) if(i<maxTeleopActions)
{ {
// ONLY TESTING HERE if maxTeleopActions>0 // ONLY TESTING HERE if maxTeleopActions>0
std::vector<float> v(5); std::vector<float> v(2);
v[0] = 1; v[0] = 2;
v[1] = 16; v[1] = 0;
v[2] = 32;
v[3] = 64;
v[4] = 128;
teleopActions.push_back(v); teleopActions.push_back(v);
smState = new SMState(image, teleopActions); smState = new SMState(image, teleopActions);
} }
corelib/include/rtabmap/core/SMState.h
+1 -1
View File
@@ -61,7 +61,7 @@ public:
} }
for(unsigned int i=0; i<sensors.size() && i<i+sensorStep; i+=sensorStep) for(unsigned int i=0; i<sensors.size() && i<i+sensorStep; i+=sensorStep)
{ {
_sensors.push_back(std::vector<float>(sensors.data()+i, sensors.data()+i+actuatorStep)); _sensors.push_back(std::vector<float>(sensors.data()+i, sensors.data()+i+sensorStep));
} }
for(unsigned int i=0; i<actuators.size() && i<i+actuatorStep; i+=actuatorStep) for(unsigned int i=0; i<actuators.size() && i<i+actuatorStep; i+=actuatorStep)
{ {
corelib/src/DBDriverSqlite3.cpp
+26 -9
View File
@@ -868,7 +868,7 @@ bool DBDriverSqlite3::addNeighborQuery(int id, int neighbor, const std::list<std
} }
actions.insert(actions.end(), iter->begin(), iter->end()); actions.insert(actions.end(), iter->begin(), iter->end());
} }
rc = sqlite3_bind_blob(ppStmt, 4, (unsigned char *)actions.data(), actions.size()*sizeof(float), SQLITE_STATIC); rc = sqlite3_bind_blob(ppStmt, 4, actions.data(), actions.size()*sizeof(float), SQLITE_STATIC);
if (rc != SQLITE_OK) if (rc != SQLITE_OK)
{ {
ULOGGER_ERROR("DB error 2.4: %s", sqlite3_errmsg(_ppDb)); ULOGGER_ERROR("DB error 2.4: %s", sqlite3_errmsg(_ppDb));
@@ -1970,20 +1970,30 @@ bool DBDriverSqlite3::loadNeighborsQuery(int signatureId, NeighborsMap & neighbo
rc = sqlite3_step(ppStmt); rc = sqlite3_step(ppStmt);
while(rc == SQLITE_ROW) while(rc == SQLITE_ROW)
{ {
actions.clear();
nid = sqlite3_column_int(ppStmt, 0); nid = sqlite3_column_int(ppStmt, 0);
actionSize = sqlite3_column_int(ppStmt, 1); actionSize = sqlite3_column_int(ppStmt, 1);
data = (const float *)sqlite3_column_blob(ppStmt, 2); // actions array data = (const float *)sqlite3_column_blob(ppStmt, 2); // actions array
dataSize = sqlite3_column_bytes(ppStmt, 2)/sizeof(float); dataSize = sqlite3_column_bytes(ppStmt, 2)/sizeof(float);
//UDEBUG("%d=%s", nid, uBytes2Hex((char *)data, dataSize*sizeof(float)).c_str());
//UDEBUG("actionSize=%d, dataSize=%d", actionSize, dataSize);
//std::stringstream stream;
//stream << nid << "=";
for(int i=0; i<dataSize; i+=actionSize) for(int i=0; i<dataSize; i+=actionSize)
{ {
//stream << "[";
std::vector<float> action(actionSize); std::vector<float> action(actionSize);
for(int j=0; j<actionSize; ++j) for(int j=0; j<actionSize; ++j)
{ {
action[j] = data[i*actionSize + j]; action[j] = data[i + j];
//stream << action[j] << ",";
} }
actions.push_back(action); actions.push_back(action);
//stream << "],";
} }
//UDEBUG("%s", stream.str().c_str());
neighbors.insert(neighbors.end(), std::pair<int, std::list<std::vector<float> > >(nid, actions)); // nid neighbors.insert(neighbors.end(), std::pair<int, std::list<std::vector<float> > >(nid, actions)); // nid
rc = sqlite3_step(ppStmt); rc = sqlite3_step(ppStmt);
} }
@@ -2168,10 +2178,10 @@ bool DBDriverSqlite3::updateQuery(const std::list<Signature *> & signatures) con
rc = sqlite3_finalize(ppStmt); rc = sqlite3_finalize(ppStmt);
return false; return false;
} }
std::vector<float> actions;
if(actionSize) if(actionSize)
{ {
//Concatenate actions //Concatenate actions
std::vector<float> actions;
for(std::list<std::vector<float> >::const_iterator iter=i->second.begin(); iter!=i->second.end(); ++iter) for(std::list<std::vector<float> >::const_iterator iter=i->second.begin(); iter!=i->second.end(); ++iter)
{ {
if(iter->size() != actionSize) if(iter->size() != actionSize)
@@ -2180,7 +2190,7 @@ bool DBDriverSqlite3::updateQuery(const std::list<Signature *> & signatures) con
} }
actions.insert(actions.end(), iter->begin(), iter->end()); actions.insert(actions.end(), iter->begin(), iter->end());
} }
rc = sqlite3_bind_blob(ppStmt, 4, (unsigned char *)actions.data(), actions.size()*sizeof(float), SQLITE_STATIC); rc = sqlite3_bind_blob(ppStmt, 4, actions.data(), actions.size()*sizeof(float), SQLITE_STATIC);
} }
else else
{ {
@@ -2435,6 +2445,7 @@ bool DBDriverSqlite3::saveQuery(const KeypointSignature * ss) const
if(compressed) if(compressed)
{ {
cvReleaseMat(&compressed); cvReleaseMat(&compressed);
compressed=0;
} }
return false; return false;
} }
@@ -2444,6 +2455,7 @@ bool DBDriverSqlite3::saveQuery(const KeypointSignature * ss) const
if(compressed) if(compressed)
{ {
cvReleaseMat(&compressed);// release before any return false cvReleaseMat(&compressed);// release before any return false
compressed=0;
} }
if (rc != SQLITE_DONE) if (rc != SQLITE_DONE)
{ {
@@ -2607,10 +2619,10 @@ bool DBDriverSqlite3::saveQuery(const KeypointSignature * ss) const
rc = sqlite3_finalize(ppStmt); rc = sqlite3_finalize(ppStmt);
return false; return false;
} }
std::vector<float> actions;
if(actionSize) if(actionSize)
{ {
//Concatenate actions //Concatenate actions
std::vector<float> actions;
for(std::list<std::vector<float> >::const_iterator iter=i->second.begin(); iter!=i->second.end(); ++iter) for(std::list<std::vector<float> >::const_iterator iter=i->second.begin(); iter!=i->second.end(); ++iter)
{ {
if(iter->size() != actionSize) if(iter->size() != actionSize)
@@ -2619,7 +2631,7 @@ bool DBDriverSqlite3::saveQuery(const KeypointSignature * ss) const
} }
actions.insert(actions.end(), iter->begin(), iter->end()); actions.insert(actions.end(), iter->begin(), iter->end());
} }
rc = sqlite3_bind_blob(ppStmt, 4, (unsigned char *)actions.data(), actions.size()*sizeof(float), SQLITE_STATIC); rc = sqlite3_bind_blob(ppStmt, 4, actions.data(), actions.size()*sizeof(float), SQLITE_STATIC);
} }
else else
{ {
@@ -2755,6 +2767,7 @@ bool DBDriverSqlite3::saveQuery(const std::list<KeypointSignature *> & signature
if(compressed) if(compressed)
{ {
cvReleaseMat(&compressed); cvReleaseMat(&compressed);
compressed = 0;
} }
return false; return false;
} }
@@ -2932,10 +2945,10 @@ bool DBDriverSqlite3::saveQuery(const std::list<KeypointSignature *> & signature
rc = sqlite3_finalize(ppStmt); rc = sqlite3_finalize(ppStmt);
return false; return false;
} }
std::vector<float> actions;
if(actionSize) if(actionSize)
{ {
//Concatenate actions //Concatenate actions
std::vector<float> actions;
for(std::list<std::vector<float> >::const_iterator iter=i->second.begin(); iter!=i->second.end(); ++iter) for(std::list<std::vector<float> >::const_iterator iter=i->second.begin(); iter!=i->second.end(); ++iter)
{ {
if(iter->size() != actionSize) if(iter->size() != actionSize)
@@ -2944,7 +2957,11 @@ bool DBDriverSqlite3::saveQuery(const std::list<KeypointSignature *> & signature
} }
actions.insert(actions.end(), iter->begin(), iter->end()); actions.insert(actions.end(), iter->begin(), iter->end());
} }
rc = sqlite3_bind_blob(ppStmt, 4, (unsigned char *)actions.data(), actions.size()*sizeof(float), SQLITE_STATIC);
//UDEBUG("actions.size()=%d",actions.size());
//UDEBUG("%d=%s", i->first, uBytes2Hex((char*)actions.data(), actions.size()*sizeof(float)).c_str());
rc = sqlite3_bind_blob(ppStmt, 4, actions.data(), actions.size()*sizeof(float), SQLITE_STATIC);
} }
else else
{ {
@@ -3032,7 +3049,7 @@ bool DBDriverSqlite3::saveQuery(const std::vector<VisualWord *> & visualWords) c
rc = sqlite3_finalize(ppStmt); rc = sqlite3_finalize(ppStmt);
return false; return false;
} }
rc = sqlite3_bind_blob(ppStmt, 3, (unsigned char *)w->getDescriptor(), w->getDim()*sizeof(float), SQLITE_STATIC); rc = sqlite3_bind_blob(ppStmt, 3, w->getDescriptor(), w->getDim()*sizeof(float), SQLITE_STATIC);
if (rc != SQLITE_OK) if (rc != SQLITE_OK)
{ {
ULOGGER_ERROR("DB error 2.4: %s", sqlite3_errmsg(_ppDb)); ULOGGER_ERROR("DB error 2.4: %s", sqlite3_errmsg(_ppDb));
guilib/src/MainWindow.cpp
-2
View File
@@ -1303,7 +1303,6 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionOpen_working_directory->setEnabled(true); _ui->actionOpen_working_directory->setEnabled(true);
_ui->actionApply_settings_to_the_detector->setEnabled(true); _ui->actionApply_settings_to_the_detector->setEnabled(true);
_ui->menuSelect_source->setEnabled(true); _ui->menuSelect_source->setEnabled(true);
_ui->doubleSpinBox_stats_imgRate->setEnabled(true);
_ui->statusbar->clearMessage(); _ui->statusbar->clearMessage();
_state = newState; _state = newState;
_oneSecondTimer->stop(); _oneSecondTimer->stop();
@@ -1378,7 +1377,6 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionOpen_working_directory->setEnabled(false); _ui->actionOpen_working_directory->setEnabled(false);
_ui->actionApply_settings_to_the_detector->setEnabled(false); _ui->actionApply_settings_to_the_detector->setEnabled(false);
_ui->menuSelect_source->setEnabled(false); _ui->menuSelect_source->setEnabled(false);
_ui->doubleSpinBox_stats_imgRate->setEnabled(false);
_ui->statusbar->showMessage(tr("Monitoring...")); _ui->statusbar->showMessage(tr("Monitoring..."));
_state = newState; _state = newState;
_ui->label_elapsedTime->setText("00:00:00"); _ui->label_elapsedTime->setText("00:00:00");