DB: loading calibration when reactivating signatures (for PnP registration without reloading compressed data)

corelib/src/DBDriverSqlite3.cpp

@@ -1584,6 +1584,7 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
 		rc = sqlite3_prepare_v2(_ppDb, query2.str().c_str(), -1, &ppStmt, 0);
 		UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
 
+		std::set<int> calibrationsToLoad;
 		for(std::list<Signature*>::const_iterator iter=nodes.begin(); iter!=nodes.end(); ++iter)
 		{
 			//ULOGGER_DEBUG("Loading words of %d...", (*iter)->id());
@@ -1659,6 +1660,7 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
 			}
 			else
 			{
+				calibrationsToLoad.insert((*iter)->id());
 				(*iter)->setWords(visualWords);
 				(*iter)->setWords3(visualWords3);
 				(*iter)->setWordsDescriptors(descriptors);
@@ -1683,6 +1685,115 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
 		}
 		ULOGGER_DEBUG("Time load links=%fs", timer.ticks());
 
+		// load calibrations
+		if(calibrationsToLoad.size() && uStrNumCmp(_version, "0.10.0") >= 0)
+		{
+			std::stringstream query3;
+			query3 << "SELECT calibration "
+					 "FROM Data "
+					 "WHERE id = ? ";
+
+			rc = sqlite3_prepare_v2(_ppDb, query3.str().c_str(), -1, &ppStmt, 0);
+			UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+
+
+			for(std::list<Signature*>::const_iterator iter=nodes.begin(); iter!=nodes.end(); ++iter)
+			{
+				if(calibrationsToLoad.find((*iter)->id())!=calibrationsToLoad.end())
+				{
+					// bind id
+					rc = sqlite3_bind_int(ppStmt, 1, (*iter)->id());
+					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)
+					{
+						int index=0;
+						const void * data = 0;
+						int dataSize = 0;
+						Transform localTransform = Transform::getIdentity();
+						std::vector<CameraModel> models;
+						StereoCameraModel stereoModel;
+
+						// calibration
+						data = sqlite3_column_blob(ppStmt, index);
+						dataSize = sqlite3_column_bytes(ppStmt, index++);
+						// multi-cameras [fx,fy,cx,cy,[width,height],local_transform, ... ,fx,fy,cx,cy,[width,height],local_transform] (4or6+12)*float * numCameras
+						// stereo [fx, fy, cx, cy, baseline, local_transform] (5+12)*float
+						if(dataSize > 0 && data)
+						{
+							float * dataFloat = (float*)data;
+							if((unsigned int)dataSize % (4+localTransform.size())*sizeof(float) == 0)
+							{
+								int cameraCount = dataSize / ((4+localTransform.size())*sizeof(float));
+								UDEBUG("Loading calibration for %d cameras (%d bytes)", cameraCount, dataSize);
+								int max = cameraCount*(4+localTransform.size());
+								for(int i=0; i<max; i+=4+localTransform.size())
+								{
+									memcpy(localTransform.data(), dataFloat+i+4, localTransform.size()*sizeof(float));
+									models.push_back(CameraModel(
+											(double)dataFloat[i],
+											(double)dataFloat[i+1],
+											(double)dataFloat[i+2],
+											(double)dataFloat[i+3],
+											localTransform));
+								}
+							}
+							else if((unsigned int)dataSize == (5+localTransform.size())*sizeof(float))
+							{
+								UDEBUG("Loading calibration of a stereo camera");
+								memcpy(localTransform.data(), dataFloat+5, localTransform.size()*sizeof(float));
+								stereoModel = StereoCameraModel(
+										dataFloat[0],  // fx
+										dataFloat[1],  // fy
+										dataFloat[2],  // cx
+										dataFloat[3],  // cy
+										dataFloat[4], // baseline
+										localTransform);
+							}
+							else if((unsigned int)dataSize % (6+localTransform.size())*sizeof(float) == 0)
+							{
+								int cameraCount = dataSize / ((6+localTransform.size())*sizeof(float));
+								UDEBUG("Loading calibration for %d cameras (%d bytes)", cameraCount, dataSize);
+								int max = cameraCount*(6+localTransform.size());
+								for(int i=0; i<max; i+=6+localTransform.size())
+								{
+									memcpy(localTransform.data(), dataFloat+i+6, localTransform.size()*sizeof(float));
+									models.push_back(CameraModel(
+											(double)dataFloat[i],
+											(double)dataFloat[i+1],
+											(double)dataFloat[i+2],
+											(double)dataFloat[i+3],
+											localTransform));
+									models.back().setImageSize(cv::Size(dataFloat[i+4], dataFloat[i+5]));
+									UDEBUG("%f %f %f %f %f %f %s", dataFloat[i], dataFloat[i+1], dataFloat[i+2],
+											dataFloat[i+3], dataFloat[i+4], dataFloat[i+5],
+											localTransform.prettyPrint().c_str());
+								}
+							}
+							else
+							{
+								UFATAL("Wrong format of the Data.calibration field (size=%d bytes)", dataSize);
+							}
+
+							(*iter)->sensorData().setCameraModels(models);
+							(*iter)->sensorData().setStereoCameraModel(stereoModel);
+						}
+					}
+					UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+
+					//reset
+					rc = sqlite3_reset(ppStmt);
+					UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+				}
+			}
+			// Finalize (delete) the statement
+			rc = sqlite3_finalize(ppStmt);
+			UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+		}
+
+		ULOGGER_DEBUG("Time load calibrations=%fs", timer.ticks());
+
 		if(ids.size() != loaded)
 		{
 			UERROR("Some signatures not found in database");