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Increased version to 0.10.10. Database: added user_data field for links. DatabaseViewer: showing all scans of a local loop closure. Added parameters RGBD/PlanLinearVelocity and RGBD/PlanAngularVelocity. Updated how variance is set on links. MainWindow: added Send Waypoints action and goal can be either an ID or a label.

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This commit is contained in:
matlabbe
2015-10-13 12:50:25 -04:00
parent aaf0eba7ba
commit 988e83cf1c
27 changed files with 1010 additions and 298 deletions
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corelib/src/DBDriverSqlite3.cpp
+59 -6
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@@ -1552,7 +1552,11 @@ void DBDriverSqlite3::loadLinksQuery(
sqlite3_stmt * ppStmt = 0;
std::stringstream query;
if(uStrNumCmp(_version, "0.8.4") >= 0)
if(uStrNumCmp(_version, "0.10.10") >= 0)
{
query << "SELECT to_id, type, transform, rot_variance, trans_variance, user_data FROM Link ";
}
else if(uStrNumCmp(_version, "0.8.4") >= 0)
{
query << "SELECT to_id, type, transform, rot_variance, trans_variance FROM Link ";
}
@@ -1618,7 +1622,20 @@ void DBDriverSqlite3::loadLinksQuery(
{
rotVariance = sqlite3_column_double(ppStmt, index++);
transVariance = sqlite3_column_double(ppStmt, index++);
neighbors.insert(neighbors.end(), std::make_pair(toId, Link(signatureId, toId, (Link::Type)type, transform, rotVariance, transVariance)));
cv::Mat userDataCompressed;
if(uStrNumCmp(_version, "0.10.10") >= 0)
{
const void * data = sqlite3_column_blob(ppStmt, index);
dataSize = sqlite3_column_bytes(ppStmt, index++);
//Create the userData
if(dataSize>4 && data)
{
userDataCompressed = cv::Mat(1, dataSize, CV_8UC1, (void *)data).clone(); // userData
}
}
neighbors.insert(neighbors.end(), std::make_pair(toId, Link(signatureId, toId, (Link::Type)type, transform, rotVariance, transVariance, userDataCompressed)));
}
else if(uStrNumCmp(_version, "0.7.4") >= 0)
{
@@ -1658,7 +1675,13 @@ void DBDriverSqlite3::loadLinksQuery(std::list<Signature *> & signatures) const
std::stringstream query;
int totalLinksLoaded = 0;
if(uStrNumCmp(_version, "0.8.4") >= 0)
if(uStrNumCmp(_version, "0.10.10") >= 0)
{
query << "SELECT to_id, type, rot_variance, trans_variance, user_data, transform FROM Link "
<< "WHERE from_id = ? "
<< "ORDER BY to_id";
}
else if(uStrNumCmp(_version, "0.8.4") >= 0)
{
query << "SELECT to_id, type, rot_variance, trans_variance, transform FROM Link "
<< "WHERE from_id = ? "
@@ -1702,10 +1725,22 @@ void DBDriverSqlite3::loadLinksQuery(std::list<Signature *> & signatures) const
toId = sqlite3_column_int(ppStmt, index++);
linkType = sqlite3_column_int(ppStmt, index++);
cv::Mat userDataCompressed;
if(uStrNumCmp(_version, "0.8.4") >= 0)
{
rotVariance = sqlite3_column_double(ppStmt, index++);
transVariance = sqlite3_column_double(ppStmt, index++);
if(uStrNumCmp(_version, "0.10.10") >= 0)
{
const void * data = sqlite3_column_blob(ppStmt, index);
dataSize = sqlite3_column_bytes(ppStmt, index++);
//Create the userData
if(dataSize>4 && data)
{
userDataCompressed = cv::Mat(1, dataSize, CV_8UC1, (void *)data).clone(); // userData
}
}
}
else if(uStrNumCmp(_version, "0.7.4") >= 0)
{
@@ -1729,11 +1764,11 @@ void DBDriverSqlite3::loadLinksQuery(std::list<Signature *> & signatures) const
{
if(uStrNumCmp(_version, "0.7.4") >= 0)
{
links.push_back(Link((*iter)->id(), toId, (Link::Type)linkType, transform, rotVariance, transVariance));
links.push_back(Link((*iter)->id(), toId, (Link::Type)linkType, transform, rotVariance, transVariance, userDataCompressed));
}
else // neighbor is 0, loop closures are 1 and 2 (child)
{
links.push_back(Link((*iter)->id(), toId, linkType == 0?Link::kNeighbor:Link::kGlobalClosure, transform, rotVariance, transVariance));
links.push_back(Link((*iter)->id(), toId, linkType == 0?Link::kNeighbor:Link::kGlobalClosure, transform, rotVariance, transVariance, userDataCompressed));
}
}
else
@@ -2516,7 +2551,11 @@ void DBDriverSqlite3::stepSensorData(sqlite3_stmt * ppStmt,
std::string DBDriverSqlite3::queryStepLink() const
{
if(uStrNumCmp(_version, "0.8.4") >= 0)
if(uStrNumCmp(_version, "0.10.10") >= 0)
{
return "INSERT INTO Link(from_id, to_id, type, rot_variance, trans_variance, transform, user_data) VALUES(?,?,?,?,?,?,?);";
}
else if(uStrNumCmp(_version, "0.8.4") >= 0)
{
return "INSERT INTO Link(from_id, to_id, type, rot_variance, trans_variance, transform) VALUES(?,?,?,?,?,?);";
}
@@ -2571,6 +2610,20 @@ void DBDriverSqlite3::stepLink(
rc = sqlite3_bind_blob(ppStmt, index++, link.transform().data(), link.transform().size()*sizeof(float), SQLITE_STATIC);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
if(uStrNumCmp(_version, "0.10.10") >= 0)
{
// user_data
if(!link.userDataCompressed().empty())
{
rc = sqlite3_bind_blob(ppStmt, index++, link.userDataCompressed().data, (int)link.userDataCompressed().cols, SQLITE_STATIC);
}
else
{
rc = sqlite3_bind_zeroblob(ppStmt, index++, 4);
}
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
}
rc=sqlite3_step(ppStmt);
UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());