Database: added "parameters" field in Statistics table. GUI: detecting if parameters in database are different from the Preferences, if so ask user to update them.

corelib/include/rtabmap/core/DBDriver.h

@@ -88,7 +88,7 @@ public:
 	void updateLink(const Link & link);
 
 public:
-	void addStatisticsAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize) const;
+	void addStatisticsAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap & parameters) const;
 
 public:
 	// Mutex-protected methods of abstract versions below
@@ -107,6 +107,7 @@ public:
 	int getLastDictionarySize() const; // working memory
 	int getTotalNodesSize() const;
 	int getTotalDictionarySize() const;
+	ParametersMap getLastParameters() const;
 
 	void executeNoResult(const std::string & sql) const;
 
@@ -149,6 +150,7 @@ private:
 	virtual int getLastDictionarySizeQuery() const = 0;
 	virtual int getTotalNodesSizeQuery() const = 0;
 	virtual int getTotalDictionarySizeQuery() const = 0;
+	virtual ParametersMap getLastParametersQuery() const = 0;
 
 	virtual void executeNoResultQuery(const std::string & sql) const = 0;
 

corelib/include/rtabmap/core/Parameters.h

@@ -495,6 +495,9 @@ public:
 	static std::string getVersion();
 	static std::string getDefaultDatabaseName();
 	
+	static std::string serialize(const ParametersMap & parameters);
+	static ParametersMap deserialize(const std::string & parameters);
+
 	static bool isFeatureParameter(const std::string & param);
 	static ParametersMap getDefaultOdometryParameters(bool stereo = false);
 	static ParametersMap getDefaultParameters(const std::string & group);

corelib/src/DBDriver.cpp

@@ -188,6 +188,14 @@ int DBDriver::getTotalDictionarySize() const
 	_dbSafeAccessMutex.unlock();
 	return words;
 }
+ParametersMap DBDriver::getLastParameters() const
+{
+	ParametersMap parameters;
+	_dbSafeAccessMutex.lock();
+	parameters = getLastParametersQuery();
+	_dbSafeAccessMutex.unlock();
+	return parameters;
+}
 
 std::string DBDriver::getDatabaseVersion() const
 {
@@ -834,18 +842,38 @@ void DBDriver::getAllLabels(std::map<int, std::string> & labels) const
 	_dbSafeAccessMutex.unlock();
 }
 
-void DBDriver::addStatisticsAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize) const
+void DBDriver::addStatisticsAfterRun(
+		int stMemSize,
+		int lastSignAdded,
+		int processMemUsed,
+		int databaseMemUsed,
+		int dictionarySize,
+		const ParametersMap & parameters) const
 {
 	ULOGGER_DEBUG("");
 	if(this->isConnected())
 	{
 		std::stringstream query;
-		query << "INSERT INTO Statistics(STM_size,last_sign_added,process_mem_used,database_mem_used,dictionary_size) values("
-			  << stMemSize << ","
-		      << lastSignAdded << ","
-		      << processMemUsed << ","
-		      << databaseMemUsed << ","
-			  << dictionarySize << ");";
+		if(uStrNumCmp(this->getDatabaseVersion(), "0.11.8") >= 0)
+		{
+			std::string param = Parameters::serialize(parameters);
+			query << "INSERT INTO Statistics(STM_size,last_sign_added,process_mem_used,database_mem_used,dictionary_size,parameters) values("
+				  << stMemSize << ","
+				  << lastSignAdded << ","
+				  << processMemUsed << ","
+				  << databaseMemUsed << ","
+				  << dictionarySize << ","
+				  "\"" << param.c_str() << "\");";
+		}
+		else
+		{
+			query << "INSERT INTO Statistics(STM_size,last_sign_added,process_mem_used,database_mem_used,dictionary_size) values("
+				  << stMemSize << ","
+				  << lastSignAdded << ","
+				  << processMemUsed << ","
+				  << databaseMemUsed << ","
+				  << dictionarySize << ");";
+		}
 
 		this->executeNoResultQuery(query.str());
 	}

corelib/src/DBDriverSqlite3.cpp

@@ -699,6 +699,42 @@ int DBDriverSqlite3::getTotalDictionarySizeQuery() const
 	return size;
 }
 
+ParametersMap DBDriverSqlite3::getLastParametersQuery() const
+{
+	UDEBUG("");
+	ParametersMap parameters;
+	if(_ppDb)
+	{
+		if(uStrNumCmp(_version, "0.11.8") >= 0)
+		{
+			std::string query = "SELECT parameters "
+					 "FROM Statistics "
+					 "WHERE time_enter >= (SELECT MAX(time_enter) FROM Statistics);";
+
+			int rc = SQLITE_OK;
+			sqlite3_stmt * ppStmt = 0;
+			rc = sqlite3_prepare_v2(_ppDb, query.c_str(), -1, &ppStmt, 0);
+			UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+			rc = sqlite3_step(ppStmt);
+			if(rc == SQLITE_ROW)
+			{
+				std::string text((const char *)sqlite3_column_text(ppStmt, 0));
+
+				if(text.size())
+				{
+					parameters = Parameters::deserialize(text);
+				}
+
+				rc = sqlite3_step(ppStmt);
+			}
+			UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+			rc = sqlite3_finalize(ppStmt);
+			UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+		}
+	}
+	return parameters;
+}
+
 void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures) const
 {
 	UDEBUG("load data for %d signatures", (int)signatures.size());

corelib/src/DBDriverSqlite3.h

@@ -62,6 +62,7 @@ private:
 	virtual int getLastDictionarySizeQuery() const;
 	virtual int getTotalNodesSizeQuery() const;
 	virtual int getTotalDictionarySizeQuery() const;
+	virtual ParametersMap getLastParametersQuery() const;
 
 	virtual void executeNoResultQuery(const std::string & sql) const;
 

corelib/src/Memory.cpp

@@ -1275,7 +1275,8 @@ void Memory::clear()
 					_lastSignature?_lastSignature->id():0,
 					UProcessInfo::getMemoryUsage(),
 					_dbDriver->getMemoryUsed(),
-					(int)_vwd->getVisualWords().size());
+					(int)_vwd->getVisualWords().size(),
+					parameters_);
 		}
 	}
 	UDEBUG("");

corelib/src/Parameters.cpp

@@ -82,6 +82,68 @@ std::string Parameters::getDefaultDatabaseName()
 	return "rtabmap.db";
 }
 
+std::string Parameters::serialize(const ParametersMap & parameters)
+{
+	std::stringstream output;
+	for(ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
+	{
+		if(iter != parameters.begin())
+		{
+			output << ";";
+		}
+		// make sure there are no commas instead of dots
+		output << iter->first << ":" << uReplaceChar(iter->second, ',', '.');
+	}
+	return output.str();
+}
+
+ParametersMap Parameters::deserialize(const std::string & parameters)
+{
+	ParametersMap output;
+	std::list<std::string> tuplets = uSplit(parameters, ';');
+	for(std::list<std::string>::iterator iter=tuplets.begin(); iter!=tuplets.end(); ++iter)
+	{
+		std::list<std::string> p = uSplit(*iter, ':');
+		if(p.size() == 2)
+		{
+			std::string key = p.front();
+			std::string value = p.back();
+
+			// look for old parameter name
+			bool addParameter = true;
+			std::map<std::string, std::pair<bool, std::string> >::const_iterator oldIter = Parameters::getRemovedParameters().find(key);
+			if(oldIter!=Parameters::getRemovedParameters().end())
+			{
+				addParameter = oldIter->second.first;
+				if(addParameter)
+				{
+					key = oldIter->second.second;
+					UWARN("Parameter migration from \"%s\" to \"%s\" (value=%s).",
+							oldIter->first.c_str(), oldIter->second.second.c_str(), value.c_str());
+				}
+				else if(oldIter->second.second.empty())
+				{
+					UWARN("Parameter \"%s\" doesn't exist anymore.",
+								oldIter->first.c_str());
+				}
+				else
+				{
+					UWARN("Parameter \"%s\" doesn't exist anymore, you may want to use this similar parameter \"%s\":\"%s\".",
+								oldIter->first.c_str(), oldIter->second.second.c_str(), Parameters::getDescription(oldIter->second.second).c_str());
+				}
+
+			}
+
+			if(Parameters::getDefaultParameters().find(key) == Parameters::getDefaultParameters().end())
+			{
+				UWARN("Unknown parameter \"%s\"=\"%s\"! The parameter is still added to output map.", key.c_str(), value.c_str());
+			}
+			uInsert(output, ParametersPair(key, value));
+		}
+	}
+	return output;
+}
+
 bool Parameters::isFeatureParameter(const std::string & parameter)
 {
 	std::string group = uSplit(parameter, '/').front();

corelib/src/RtabmapThread.cpp

@@ -205,6 +205,7 @@ void RtabmapThread::mainLoop()
 	int id = 0;
 	cv::Mat userData;
 	UTimer timer;
+	std::string str;
 	switch(state)
 	{
 	case kStateDetecting:
@@ -212,12 +213,14 @@ void RtabmapThread::mainLoop()
 		break;
 	case kStateInit:
 		UASSERT(!parameters.at("RtabmapThread/DatabasePath").empty());
+		str = parameters.at("RtabmapThread/DatabasePath");
+		parameters.erase("RtabmapThread/DatabasePath");
 		Parameters::parse(parameters, Parameters::kRtabmapImageBufferSize(), _dataBufferMaxSize);
 		Parameters::parse(parameters, Parameters::kRtabmapDetectionRate(), _rate);
 		Parameters::parse(parameters, Parameters::kRtabmapCreateIntermediateNodes(), _createIntermediateNodes);
 		UASSERT(_dataBufferMaxSize >= 0);
 		UASSERT(_rate >= 0.0f);
-		_rtabmap->init(parameters, parameters.at("RtabmapThread/DatabasePath"));
+		_rtabmap->init(parameters, str);
 		break;
 	case kStateChangingParameters:
 		Parameters::parse(parameters, Parameters::kRtabmapImageBufferSize(), _dataBufferMaxSize);

corelib/src/resources/DatabaseSchema.sql.in

@@ -82,6 +82,7 @@ CREATE TABLE Statistics (
 	process_mem_used INTEGER,
 	database_mem_used INTEGER,
 	dictionary_size INTEGER,
+	parameters TEXT,
 	time_enter DATE
 );
 

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -129,6 +129,7 @@ public:
 	QString loadCustomConfig(const QString & section, const QString & key);
 
 	rtabmap::ParametersMap getAllParameters() const;
+	void setParameter(const std::string & key, const std::string & value);
 
 	//General panel
 	int getGeneralLoggerLevel() const;
@@ -305,8 +306,6 @@ protected:
 	virtual void showEvent ( QShowEvent * event );
 	virtual void closeEvent(QCloseEvent *event);
 
-	void setParameter(const std::string & key, const std::string & value);
-
 	virtual QString getParamMessage();
 
 	virtual void readGuiSettings(const QString & filePath = QString());

guilib/src/DatabaseViewer.cpp

@@ -531,7 +531,18 @@ void DatabaseViewer::writeSettings()
 
 	settings.endGroup(); // DatabaseViewer
 
-	const ParametersMap & parameters = ui_->parameters_toolbox->getParameters();
+	ParametersMap parameters = ui_->parameters_toolbox->getParameters();
+	for(ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end();)
+	{
+		if(!ui_->parameters_toolbox->getParameterWidget(iter->first.c_str()))
+		{
+			parameters.erase(iter++);
+		}
+		else
+		{
+			++iter;
+		}
+	}
 	Parameters::writeINI(path.toStdString(), parameters);
 
 	this->setWindowModified(false);
@@ -588,6 +599,50 @@ bool DatabaseViewer::openDatabase(const QString & path)
 		{
 			pathDatabase_ = UDirectory::getDir(path.toStdString()).c_str();
 			databaseFileName_ = UFile::getName(path.toStdString());
+
+			// look if there are saved parameters
+			ParametersMap parameters = dbDriver_->getLastParameters();
+
+			if(parameters.size())
+			{
+				const ParametersMap & currentParameters = ui_->parameters_toolbox->getParameters();
+				ParametersMap differentParameters;
+				for(ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
+				{
+					ParametersMap::const_iterator jter = currentParameters.find(iter->first);
+					if(jter!=currentParameters.end() &&
+					   ui_->parameters_toolbox->getParameterWidget(QString(iter->first.c_str())) != 0 &&
+					   iter->second.compare(jter->second) != 0 &&
+					   iter->first.compare(Parameters::kRtabmapWorkingDirectory()) != 0)
+					{
+						differentParameters.insert(*iter);
+						QString msg = tr("Parameter \"%1\": database=\"%2\" Preferences=\"%3\"")
+								.arg(iter->first.c_str())
+								.arg(iter->second.c_str())
+								.arg(jter->second.c_str());
+						UWARN(msg.toStdString().c_str());
+					}
+				}
+
+				if(differentParameters.size())
+				{
+					int r = QMessageBox::question(this,
+							tr("Update parameters..."),
+							tr("The database is using %1 different parameter(s) than "
+							   "those currently set in Core parameters panel. Do you want "
+							   "to use database's parameters?").arg(differentParameters.size()),
+							QMessageBox::Yes | QMessageBox::No,
+							QMessageBox::Yes);
+					if(r == QMessageBox::Yes)
+					{
+						for(rtabmap::ParametersMap::const_iterator iter = differentParameters.begin(); iter!=differentParameters.end(); ++iter)
+						{
+							ui_->parameters_toolbox->updateParameter(iter->first, iter->second);
+						}
+					}
+				}
+			}
+
 			updateIds();
 			return true;
 		}

guilib/src/MainWindow.cpp

@@ -3597,6 +3597,56 @@ void MainWindow::openDatabase(const QString & path)
 
 		this->clearTheCache();
 		_openedDatabasePath = path;
+
+		// look if there are saved parameters
+		DBDriver * driver = DBDriver::create();
+		if(driver->openConnection(value, false))
+		{
+			ParametersMap parameters = driver->getLastParameters();
+			driver->closeConnection(false);
+			delete driver;
+
+			if(parameters.size())
+			{
+				ParametersMap currentParameters = _preferencesDialog->getAllParameters();
+				ParametersMap differentParameters;
+				for(ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
+				{
+					ParametersMap::iterator jter = currentParameters.find(iter->first);
+					if(jter!=currentParameters.end() &&
+					   iter->second.compare(jter->second) != 0 &&
+					   iter->first.compare(Parameters::kRtabmapWorkingDirectory()) != 0)
+					{
+						differentParameters.insert(*iter);
+						QString msg = tr("Parameter \"%1\": database=\"%2\" Preferences=\"%3\"")
+										.arg(iter->first.c_str())
+										.arg(iter->second.c_str())
+										.arg(jter->second.c_str());
+						_ui->widget_console->appendMsg(msg);
+						UWARN(msg.toStdString().c_str());
+					}
+				}
+
+				if(differentParameters.size())
+				{
+					int r = QMessageBox::question(this,
+							tr("Update parameters..."),
+							tr("The database is using %1 different parameter(s) than "
+							   "those currently set in Preferences. Do you want "
+							   "to use database's parameters?").arg(differentParameters.size()),
+							QMessageBox::Yes | QMessageBox::No,
+							QMessageBox::Yes);
+					if(r == QMessageBox::Yes)
+					{
+						for(rtabmap::ParametersMap::const_iterator iter = differentParameters.begin(); iter!=differentParameters.end(); ++iter)
+						{
+							_preferencesDialog->setParameter(iter->first.c_str(), iter->second.c_str());
+						}
+					}
+				}
+			}
+		}
+
 		this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdInit, value, 0, _preferencesDialog->getAllParameters()));
 		applyPrefSettings(_preferencesDialog->getAllParameters(), false);
 	}

guilib/src/ParametersToolBox.cpp

@@ -249,43 +249,49 @@ void ParametersToolBox::updateParameter(const std::string & key, const std::stri
 	QString group = QString::fromStdString(key).split("/").first();
 	if(!ignoredGroups_.contains(group))
 	{
-		UASSERT_MSG(parameters_.find(key) != parameters_.end(), uFormat("key=\"%s\"", key.c_str()).c_str());
-		parameters_.at(key) = value;
-		QWidget * widget = this->findChild<QWidget*>(key.c_str());
-		QString type = QString::fromStdString(Parameters::getType(key));
-		if(type.compare("string") == 0)
+		if(parameters_.find(key) == parameters_.end())
 		{
-			QString valueQt = QString::fromStdString(value);
-			if(valueQt.contains(';'))
+			UWARN("key=\"%s\" doesn't exist", key.c_str());
+		}
+		else
+		{
+			parameters_.at(key) = value;
+			QWidget * widget = this->findChild<QWidget*>(key.c_str());
+			QString type = QString::fromStdString(Parameters::getType(key));
+			if(type.compare("string") == 0)
 			{
-				// It's a list, just change the index
-				QStringList splitted = valueQt.split(':');
-				((QComboBox*)widget)->setCurrentIndex(splitted.first().toInt());
+				QString valueQt = QString::fromStdString(value);
+				if(valueQt.contains(';'))
+				{
+					// It's a list, just change the index
+					QStringList splitted = valueQt.split(':');
+					((QComboBox*)widget)->setCurrentIndex(splitted.first().toInt());
+				}
+				else
+				{
+					((QLineEdit*)widget)->setText(valueQt);
+				}
 			}
-			else
+			else if(type.compare("int") == 0)
 			{
-				((QLineEdit*)widget)->setText(valueQt);
+				((QSpinBox*)widget)->setValue(uStr2Int(value));
+			}
+			else if(type.compare("uint") == 0)
+			{
+				((QSpinBox*)widget)->setValue(uStr2Int(value));
+			}
+			else if(type.compare("double") == 0)
+			{
+				((QDoubleSpinBox*)widget)->setValue(uStr2Double(value));
+			}
+			else if(type.compare("float") == 0)
+			{
+				((QDoubleSpinBox*)widget)->setValue(uStr2Float(value));
+			}
+			else if(type.compare("bool") == 0)
+			{
+				((QCheckBox*)widget)->setChecked(uStr2Bool(value));
 			}
-		}
-		else if(type.compare("int") == 0)
-		{
-			((QSpinBox*)widget)->setValue(uStr2Int(value));
-		}
-		else if(type.compare("uint") == 0)
-		{
-			((QSpinBox*)widget)->setValue(uStr2Int(value));
-		}
-		else if(type.compare("double") == 0)
-		{
-			((QDoubleSpinBox*)widget)->setValue(uStr2Double(value));
-		}
-		else if(type.compare("float") == 0)
-		{
-			((QDoubleSpinBox*)widget)->setValue(uStr2Float(value));
-		}
-		else if(type.compare("bool") == 0)
-		{
-			((QCheckBox*)widget)->setChecked(uStr2Bool(value));
 		}
 	}
 }

guilib/src/PreferencesDialog.cpp

@@ -2679,7 +2679,6 @@ void PreferencesDialog::selectSourceDatabase()
 	if(paths.size())
 	{
 		int r = QMessageBox::question(this, tr("Odometry in database..."), tr("Use odometry saved in database (if some saved)?"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);
-
 		_ui->source_checkBox_ignoreOdometry->setChecked(r != QMessageBox::Yes);
 		_ui->source_database_lineEdit_path->setText(paths.size()==1?paths.front():paths.join(";"));
 		_ui->source_spinBox_databaseStartPos->setValue(0);
@@ -2918,10 +2917,11 @@ void PreferencesDialog::selectSourceSvoPath()
 void PreferencesDialog::setParameter(const std::string & key, const std::string & value)
 {
 	UDEBUG("%s=%s", key.c_str(), value.c_str());
-	uInsert(_parameters, ParametersPair(key, value));
 	QWidget * obj = _ui->stackedWidget->findChild<QWidget*>(key.c_str());
 	if(obj)
 	{
+		uInsert(_parameters, ParametersPair(key, value));
+
 		QSpinBox * spin = qobject_cast<QSpinBox *>(obj);
 		QDoubleSpinBox * doubleSpin = qobject_cast<QDoubleSpinBox *>(obj);
 		QComboBox * combo = qobject_cast<QComboBox *>(obj);