kidnapped_robot::PlaceDatabase Class Reference

#include <place_database.h>

Public Member Functions
int64_t	add (ros::Time stamp, const tf::Pose &pose_in_map, const tf::Transform &optical_transform, const frame_common::Frame &frame, int64_t id=AUTO_ID)
void	findInRegion (cv::Rect_< double > bounding_box, std::vector< int64_t > &ids) const
void	findMatching (const frame_common::Frame &query_frame, size_t N, vt::Matches &matches) const
void	getFrame (int64_t id, frame_common::Frame &frame) const
void	getImages (int64_t id, cv::Mat &left, cv::Mat &right)
sqlite3 *	getSqlite ()
void	getTransforms (int64_t id, tf::Pose &pose_in_map, tf::Transform &optical_transform) const
void	load (const std::string &db_file, const std::string &tree_file, const std::string &weights_file)
	PlaceDatabase (const std::string &db_file, const std::string &tree_file, const std::string &weights_file)
	PlaceDatabase ()
	~PlaceDatabase ()
Static Public Attributes
static const int64_t	AUTO_ID = LONG_MIN
Protected Member Functions
void	bindCameraParams (const frame_common::CamParams &cam)
void	bindImage (int col, const cv::Mat &image)
void	bindTransform (const btTransform &xfm, int param_index)
template<typename T >
void	bindVector (sqlite3_stmt *stmt, int col, const std::vector< T > &vec)
void	checkErr (int returned_code, const char *msg, int expected_code=SQLITE_OK) const
void	extractImage (cv::Mat &image, int col) const
void	extractTransform (btTransform &xfm, int start_index) const
void	loadDocumentDatabase (const std::string &weights_file)
void	loadPersistentDatabase (const std::string &db_file)
void	prepareReusedStatements ()
Private Types
typedef std::map< vt::DocId, int64_t >	IdMap
Private Attributes
int	camera_param_index_
int	disparities_param_index_
IdMap	doc_to_place_id_
vt::Database	document_db_
sqlite3_stmt *	insert_stmt_
int	keypoints_param_index_
int	map_pose_param_index_
int	optical_transform_param_index_
sqlite3 *	persistent_db_
sqlite3_stmt *	select_frame_stmt_
sqlite3_stmt *	select_images_stmt_
sqlite3_stmt *	select_spatial_stmt_
sqlite3_stmt *	select_transforms_stmt_
vt::GenericTree	voctree_

Detailed Description

Definition at line 11 of file place_database.h.

Member Typedef Documentation

typedef std::map<vt::DocId, int64_t> kidnapped_robot::PlaceDatabase::IdMap [private]

Definition at line 13 of file place_database.h.

Constructor & Destructor Documentation

kidnapped_robot::PlaceDatabase::PlaceDatabase ( )

Definition at line 25 of file place_database.cpp.

kidnapped_robot::PlaceDatabase::PlaceDatabase	(	const std::string &	db_file,
		const std::string &	tree_file,
		const std::string &	weights_file
	)

Definition at line 32 of file place_database.cpp.

kidnapped_robot::PlaceDatabase::~PlaceDatabase ( )

Definition at line 40 of file place_database.cpp.

Member Function Documentation

int64_t kidnapped_robot::PlaceDatabase::add	(	ros::Time	stamp,
		const tf::Pose &	pose_in_map,
		const tf::Transform &	optical_transform,
		const frame_common::Frame &	frame,
		int64_t	id = `AUTO_ID`
	)

Todo:: Move persistent db stuff to separate function

Definition at line 183 of file place_database.cpp.

void kidnapped_robot::PlaceDatabase::bindCameraParams ( const frame_common::CamParams & cam ) [protected]

Definition at line 390 of file place_database.cpp.

void kidnapped_robot::PlaceDatabase::bindImage	(	int	col,
		const cv::Mat &	image
	)			`[protected]`

Definition at line 412 of file place_database.cpp.

void kidnapped_robot::PlaceDatabase::bindTransform	(	const btTransform &	xfm,
		int	param_index
	)			`[protected]`

Definition at line 375 of file place_database.cpp.

template<typename T >

void kidnapped_robot::PlaceDatabase::bindVector	(	sqlite3_stmt *	stmt,
		int	col,
		const std::vector< T > &	vec
	)			`[inline, protected]`

Definition at line 7 of file place_database.cpp.

void kidnapped_robot::PlaceDatabase::checkErr	(	int	returned_code,
		const char *	msg,
		int	expected_code = `SQLITE_OK`
	)			const `[protected]`

Definition at line 353 of file place_database.cpp.

void kidnapped_robot::PlaceDatabase::extractImage	(	cv::Mat &	image,
		int	col
	)			const `[protected]`

Definition at line 400 of file place_database.cpp.

void kidnapped_robot::PlaceDatabase::extractTransform	(	btTransform &	xfm,
		int	start_index
	)			const `[protected]`

Definition at line 362 of file place_database.cpp.

void kidnapped_robot::PlaceDatabase::findInRegion	(	cv::Rect_< double >	bounding_box,
		std::vector< int64_t > &	ids
	)			const

Definition at line 264 of file place_database.cpp.

void kidnapped_robot::PlaceDatabase::findMatching	(	const frame_common::Frame &	query_frame,
		size_t	N,
		vt::Matches &	matches
	)			const

Todo:: Copy-pasta from add()

Definition at line 247 of file place_database.cpp.

void kidnapped_robot::PlaceDatabase::getFrame	(	int64_t	id,
		frame_common::Frame &	frame
	)			const

Definition at line 284 of file place_database.cpp.

void kidnapped_robot::PlaceDatabase::getImages	(	int64_t	id,
		cv::Mat &	left,
		cv::Mat &	right
	)

Definition at line 341 of file place_database.cpp.

sqlite3* kidnapped_robot::PlaceDatabase::getSqlite ( ) [inline]

Definition at line 45 of file place_database.h.

void kidnapped_robot::PlaceDatabase::getTransforms	(	int64_t	id,
		tf::Pose &	pose_in_map,
		tf::Transform &	optical_transform
	)			const

Definition at line 329 of file place_database.cpp.

void kidnapped_robot::PlaceDatabase::load	(	const std::string &	db_file,
		const std::string &	tree_file,
		const std::string &	weights_file
	)

Definition at line 53 of file place_database.cpp.

void kidnapped_robot::PlaceDatabase::loadDocumentDatabase ( const std::string & weights_file ) [protected]

Definition at line 98 of file place_database.cpp.

void kidnapped_robot::PlaceDatabase::loadPersistentDatabase ( const std::string & db_file ) [protected]

Todo:: Could use R*Tree module instead

Definition at line 61 of file place_database.cpp.

void kidnapped_robot::PlaceDatabase::prepareReusedStatements ( ) [protected]

Definition at line 123 of file place_database.cpp.

Member Data Documentation

const int64_t kidnapped_robot::PlaceDatabase::AUTO_ID = LONG_MIN [static]

Definition at line 30 of file place_database.h.

int kidnapped_robot::PlaceDatabase::camera_param_index_ [private]

Definition at line 17 of file place_database.h.

int kidnapped_robot::PlaceDatabase::disparities_param_index_ [private]

Definition at line 18 of file place_database.h.

IdMap kidnapped_robot::PlaceDatabase::doc_to_place_id_ [private]

Definition at line 14 of file place_database.h.

vt::Database kidnapped_robot::PlaceDatabase::document_db_ [private]

Definition at line 12 of file place_database.h.

sqlite3_stmt* kidnapped_robot::PlaceDatabase::insert_stmt_ [private]

Definition at line 16 of file place_database.h.

int kidnapped_robot::PlaceDatabase::keypoints_param_index_ [private]

Definition at line 18 of file place_database.h.

int kidnapped_robot::PlaceDatabase::map_pose_param_index_ [private]

Definition at line 17 of file place_database.h.

int kidnapped_robot::PlaceDatabase::optical_transform_param_index_ [private]

Definition at line 17 of file place_database.h.

sqlite3* kidnapped_robot::PlaceDatabase::persistent_db_ [private]

Definition at line 10 of file place_database.h.

sqlite3_stmt * kidnapped_robot::PlaceDatabase::select_frame_stmt_ [mutable, private]

Definition at line 19 of file place_database.h.

sqlite3_stmt * kidnapped_robot::PlaceDatabase::select_images_stmt_ [mutable, private]

Definition at line 19 of file place_database.h.

sqlite3_stmt * kidnapped_robot::PlaceDatabase::select_spatial_stmt_ [mutable, private]

Definition at line 19 of file place_database.h.

sqlite3_stmt* kidnapped_robot::PlaceDatabase::select_transforms_stmt_ [mutable, private]

Definition at line 19 of file place_database.h.

vt::GenericTree kidnapped_robot::PlaceDatabase::voctree_ [private]

Definition at line 11 of file place_database.h.

The documentation for this class was generated from the following files:

kidnapped_robot::PlaceDatabase Class Reference

Public Member Functions

Static Public Attributes

Protected Member Functions

Private Types

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation