#include <DBDriver.h>

Inheritance diagram for rtabmap::DBDriver:

Public Member Functions
void	addInfoAfterRun (int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap &parameters) const

void	addLink (const Link &link)

void	addStatistics (const Statistics &statistics, bool saveWmState) const

void	asyncSave (Signature *s)

void	asyncSave (VisualWord *vw)

void	beginTransaction () const

void	closeConnection (bool save=true, const std::string &outputUrl="")

void	commit () const

void	emptyTrashes (bool async=false)

void	executeNoResult (const std::string &sql) const

void	generateGraph (const std::string &fileName, const std::set< int > &ids=std::set< int >(), const std::map< int, Signature * > &otherSignatures=std::map< int, Signature * >())

void	getAllLabels (std::map< int, std::string > &labels) const

void	getAllLinks (std::multimap< int, Link > &links, bool ignoreNullLinks=true, bool withLandmarks=false) const

void	getAllNodeIds (std::set< int > &ids, bool ignoreChildren=false, bool ignoreBadSignatures=false) const

std::map< int, std::pair< std::map< std::string, float >, double > >	getAllStatistics () const

std::map< int, std::vector< int > >	getAllStatisticsWmStates () const

bool	getCalibration (int signatureId, std::vector< CameraModel > &models, StereoCameraModel &stereoModel) const

long	getCalibrationsMemoryUsed () const

std::string	getDatabaseVersion () const

long	getDepthImagesMemoryUsed () const

double	getEmptyTrashesTime () const

long	getFeaturesMemoryUsed () const

long	getGridsMemoryUsed () const

long	getImagesMemoryUsed () const

void	getInvertedIndexNi (int signatureId, int &ni) const

bool	getLaserScanInfo (int signatureId, LaserScan &info) const

long	getLaserScansMemoryUsed () const

int	getLastDictionarySize () const

void	getLastMapId (int &mapId) const

void	getLastNodeId (int &id) const

void	getLastNodeIds (std::set< int > &ids) const

int	getLastNodesSize () const

ParametersMap	getLastParameters () const

void	getLastWordId (int &id) const

long	getLinksMemoryUsed () const

unsigned long	getMemoryUsed () const

void	getNodeData (int signatureId, SensorData &data, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const

void	getNodeIdByLabel (const std::string &label, int &id) const

bool	getNodeInfo (int signatureId, Transform &pose, int &mapId, int &weight, std::string &label, double &stamp, Transform &groundTruthPose, std::vector< float > &velocity, GPS &gps, EnvSensors &sensors) const

long	getNodesMemoryUsed () const

void	getNodesObservingLandmark (int landmarkId, std::map< int, Link > &nodes) const

std::map< std::string, float >	getStatistics (int nodeId, double &stamp, std::vector< int > *wmState=0) const

long	getStatisticsMemoryUsed () const

const std::string &	getTargetVersion () const

int	getTotalDictionarySize () const

int	getTotalNodesSize () const

const std::string &	getUrl () const

long	getUserDataMemoryUsed () const

void	getWeight (int signatureId, int &weight) const

long	getWordsMemoryUsed () const

bool	isConnected () const

virtual bool	isInMemory () const

void	load (VWDictionary *dictionary, bool lastStateOnly=true) const

cv::Mat	load2DMap (float &xMin, float &yMin, float &cellSize) const

void	loadLastNodes (std::list< Signature * > &signatures) const

void	loadLinks (int signatureId, std::multimap< int, Link > &links, Link::Type type=Link::kUndef) const

void	loadNodeData (Signature *signature, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const

void	loadNodeData (std::list< Signature * > &signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const

cv::Mat	loadOptimizedMesh (std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > polygons=0, std::vector< std::vector< Eigen::Vector2f > > texCoords=0, cv::Mat *textures=0) const

std::map< int, Transform >	loadOptimizedPoses (Transform *lastlocalizationPose=0) const

cv::Mat	loadPreviewImage () const

Signature *	loadSignature (int id, bool *loadedFromTrash=0)

void	loadSignatures (const std::list< int > &ids, std::list< Signature * > &signatures, std::set< int > *loadedFromTrash=0)

void	loadWords (const std::set< int > &wordIds, std::list< VisualWord * > &vws)

bool	openConnection (const std::string &url, bool overwritten=false)

virtual void	parseParameters (const ParametersMap &parameters)

void	removeLink (int from, int to)

void	save2DMap (const cv::Mat &map, float xMin, float yMin, float cellSize) const

void	saveOptimizedMesh (const cv::Mat &cloud, const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > &polygons=std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > >(), const std::vector< std::vector< Eigen::Vector2f > > &texCoords=std::vector< std::vector< Eigen::Vector2f > >(), const cv::Mat &textures=cv::Mat()) const

void	saveOptimizedPoses (const std::map< int, Transform > &optimizedPoses, const Transform &lastlocalizationPose) const

void	savePreviewImage (const cv::Mat &image) const

void	setTimestampUpdateEnabled (bool enabled)

void	updateDepthImage (int nodeId, const cv::Mat &image)

void	updateLaserScan (int nodeId, const LaserScan &scan)

void	updateLink (const Link &link)

void	updateOccupancyGrid (int nodeId, const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewpoint)

virtual	~DBDriver ()

Public Member Functions inherited from UThread
Handle	getThreadHandle () const

unsigned long	getThreadId () const

bool	isCreating () const

bool	isIdle () const

bool	isKilled () const

bool	isRunning () const

void	join (bool killFirst=false)

void	kill ()

void	setAffinity (int cpu=0)

void	setPriority (Priority priority)

void	start ()

	UThread (Priority priority=kPNormal)

virtual	~UThread ()

Public Member Functions inherited from UThreadC< void >
int	Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const

int	Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const

int	Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const

int	Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const

virtual	~UThreadC ()

virtual	~UThreadC ()

Static Public Member Functions
static DBDriver *	create (const ParametersMap &parameters=ParametersMap())

Static Public Member Functions inherited from UThread
static unsigned long	currentThreadId ()

Static Public Member Functions inherited from UThreadC< void >
static int	Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)

static int	Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)

static int	Detach (Handle H)

static int	Detach (const Handle &H)

static int	Join (const Handle &H)

static int	Join (Handle H)

static int	Kill (Handle H)

static int	Kill (const Handle &H)

Protected Member Functions
virtual void	addLinkQuery (const Link &link) const =0

virtual void	addStatisticsQuery (const Statistics &statistics, bool saveWmState) const =0

virtual bool	connectDatabaseQuery (const std::string &url, bool overwritten=false)=0

	DBDriver (const ParametersMap &parameters=ParametersMap())

virtual void	disconnectDatabaseQuery (bool save=true, const std::string &outputUrl="")=0

virtual void	executeNoResultQuery (const std::string &sql) const =0

virtual void	getAllLabelsQuery (std::map< int, std::string > &labels) const =0

virtual void	getAllLinksQuery (std::multimap< int, Link > &links, bool ignoreNullLinks, bool withLandmarks) const =0

virtual void	getAllNodeIdsQuery (std::set< int > &ids, bool ignoreChildren, bool ignoreBadSignatures) const =0

virtual std::map< int, std::pair< std::map< std::string, float >, double > >	getAllStatisticsQuery () const =0

virtual std::map< int, std::vector< int > >	getAllStatisticsWmStatesQuery () const =0

virtual bool	getCalibrationQuery (int signatureId, std::vector< CameraModel > &models, StereoCameraModel &stereoModel) const =0

virtual long	getCalibrationsMemoryUsedQuery () const =0

virtual bool	getDatabaseVersionQuery (std::string &version) const =0

virtual long	getDepthImagesMemoryUsedQuery () const =0

virtual long	getFeaturesMemoryUsedQuery () const =0

virtual long	getGridsMemoryUsedQuery () const =0

virtual long	getImagesMemoryUsedQuery () const =0

virtual void	getInvertedIndexNiQuery (int signatureId, int &ni) const =0

virtual bool	getLaserScanInfoQuery (int signatureId, LaserScan &info) const =0

virtual long	getLaserScansMemoryUsedQuery () const =0

virtual int	getLastDictionarySizeQuery () const =0

virtual void	getLastIdQuery (const std::string &tableName, int &id, const std::string &fieldName="id") const =0

virtual void	getLastNodeIdsQuery (std::set< int > &ids) const =0

virtual int	getLastNodesSizeQuery () const =0

virtual ParametersMap	getLastParametersQuery () const =0

virtual long	getLinksMemoryUsedQuery () const =0

virtual unsigned long	getMemoryUsedQuery () const =0

virtual void	getNodeIdByLabelQuery (const std::string &label, int &id) const =0

virtual bool	getNodeInfoQuery (int signatureId, Transform &pose, int &mapId, int &weight, std::string &label, double &stamp, Transform &groundTruthPose, std::vector< float > &velocity, GPS &gps, EnvSensors &sensors) const =0

virtual long	getNodesMemoryUsedQuery () const =0

virtual void	getNodesObservingLandmarkQuery (int landmarkId, std::map< int, Link > &nodes) const =0

virtual long	getStatisticsMemoryUsedQuery () const =0

virtual std::map< std::string, float >	getStatisticsQuery (int nodeId, double &stamp, std::vector< int > *wmState) const =0

virtual int	getTotalDictionarySizeQuery () const =0

virtual int	getTotalNodesSizeQuery () const =0

virtual long	getUserDataMemoryUsedQuery () const =0

virtual void	getWeightQuery (int signatureId, int &weight) const =0

virtual long	getWordsMemoryUsedQuery () const =0

virtual bool	isConnectedQuery () const =0

virtual cv::Mat	load2DMapQuery (float &xMin, float &yMin, float &cellSize) const =0

virtual void	loadLastNodesQuery (std::list< Signature * > &signatures) const =0

virtual void	loadLinksQuery (int signatureId, std::multimap< int, Link > &links, Link::Type type=Link::kUndef) const =0

virtual void	loadNodeDataQuery (std::list< Signature * > &signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const =0

virtual cv::Mat	loadOptimizedMeshQuery (std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > polygons, std::vector< std::vector< Eigen::Vector2f > > texCoords, cv::Mat *textures) const =0

virtual std::map< int, Transform >	loadOptimizedPosesQuery (Transform *lastlocalizationPose=0) const =0

virtual cv::Mat	loadPreviewImageQuery () const =0

virtual void	loadQuery (VWDictionary *dictionary, bool lastStateOnly=true) const =0

virtual void	loadSignaturesQuery (const std::list< int > &ids, std::list< Signature * > &signatures) const =0

virtual void	loadWordsQuery (const std::set< int > &wordIds, std::list< VisualWord * > &vws) const =0

virtual void	save2DMapQuery (const cv::Mat &map, float xMin, float yMin, float cellSize) const =0

virtual void	saveOptimizedMeshQuery (const cv::Mat &cloud, const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > &polygons, const std::vector< std::vector< Eigen::Vector2f > > &texCoords, const cv::Mat &textures) const =0

virtual void	saveOptimizedPosesQuery (const std::map< int, Transform > &optimizedPoses, const Transform &lastlocalizationPose) const =0

virtual void	savePreviewImageQuery (const cv::Mat &image) const =0

virtual void	saveQuery (const std::list< Signature * > &signatures)=0

virtual void	saveQuery (const std::list< VisualWord * > &words) const =0

virtual void	updateDepthImageQuery (int nodeId, const cv::Mat &image) const =0

virtual void	updateLaserScanQuery (int nodeId, const LaserScan &scan) const =0

virtual void	updateLinkQuery (const Link &link) const =0

virtual void	updateOccupancyGridQuery (int nodeId, const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewpoint) const =0

virtual void	updateQuery (const std::list< Signature * > &signatures, bool updateTimestamp) const =0

virtual void	updateQuery (const std::list< VisualWord * > &words, bool updateTimestamp) const =0

Protected Member Functions inherited from UThreadC< void >
	UThreadC ()

	UThreadC ()

Private Member Functions
virtual void	mainLoop ()

void	saveOrUpdate (const std::vector< Signature * > &signatures)

void	saveOrUpdate (const std::vector< VisualWord * > &words) const

Private Attributes
USemaphore	_addSem

UMutex	_dbSafeAccessMutex

double	_emptyTrashesTime

std::string	_targetVersion

bool	_timestampUpdate

UMutex	_transactionMutex

UMutex	_trashesMutex

std::map< int, Signature * >	_trashSignatures

std::map< int, VisualWord * >	_trashVisualWords

std::string	_url

Additional Inherited Members
Public Types inherited from UThread
enum	Priority { kPLow, kPBelowNormal, kPNormal, kPAboveNormal, kPRealTime }

Public Types inherited from UThreadC< void >
typedef THREAD_HANDLE	Handle

typedef THREAD_HANDLE	Handle

typedef void(*	Handler) ()

typedef void(*	Handler) ()

Static Protected Member Functions inherited from UThreadC< void >
static void	Exit ()

static void	Exit ()

static Handle	Self ()

static int	Self ()

static void	TestCancel ()

static void	TestCancel ()

Detailed Description

Definition at line 62 of file DBDriver.h.

Constructor & Destructor Documentation

rtabmap::DBDriver::~DBDriver ( )

virtual

Definition at line 53 of file DBDriver.cpp.

rtabmap::DBDriver::DBDriver ( const ParametersMap & parameters = ParametersMap() )

protected

Definition at line 46 of file DBDriver.cpp.

Member Function Documentation

void rtabmap::DBDriver::addInfoAfterRun	(	int	stMemSize,
		int	lastSignAdded,
		int	processMemUsed,
		int	databaseMemUsed,
		int	dictionarySize,
		const ParametersMap &	parameters
	)		const

Definition at line 1109 of file DBDriver.cpp.

void rtabmap::DBDriver::addLink ( const Link & link )

Definition at line 467 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::addLinkQuery ( const Link & link ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::addStatistics	(	const Statistics &	statistics,
		bool	saveWmState
	)		const

Definition at line 1159 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::addStatisticsQuery	(	const Statistics &	statistics,
		bool	saveWmState
	)		const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::asyncSave ( Signature * s )

Definition at line 382 of file DBDriver.cpp.

void rtabmap::DBDriver::asyncSave ( VisualWord * vw )

Definition at line 395 of file DBDriver.cpp.

void rtabmap::DBDriver::beginTransaction ( ) const

Definition at line 290 of file DBDriver.cpp.

void rtabmap::DBDriver::closeConnection	(	bool	save = `true`,
		const std::string &	outputUrl = `""`
	)

Definition at line 64 of file DBDriver.cpp.

void rtabmap::DBDriver::commit ( ) const

Definition at line 297 of file DBDriver.cpp.

virtual bool rtabmap::DBDriver::connectDatabaseQuery	(	const std::string &	url,
		bool	overwritten = `false`
	)

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

DBDriver * rtabmap::DBDriver::create ( const ParametersMap & parameters = ParametersMap() )

static

Definition at line 41 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::disconnectDatabaseQuery	(	bool	save = `true`,
		const std::string &	outputUrl = `""`
	)

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::emptyTrashes ( bool async = false )

Definition at line 311 of file DBDriver.cpp.

void rtabmap::DBDriver::executeNoResult ( const std::string & sql ) const

Definition at line 304 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::executeNoResultQuery ( const std::string & sql ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::generateGraph	(	const std::string &	fileName,
		const std::set< int > &	ids = `std::set<int>()`,
		const std::map< int, Signature * > &	otherSignatures = `std::map<int, Signature *>()`
	)

Definition at line 1240 of file DBDriver.cpp.

void rtabmap::DBDriver::getAllLabels ( std::map< int, std::string > & labels ) const

Definition at line 1090 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::getAllLabelsQuery ( std::map< int, std::string > & labels ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::getAllLinks	(	std::multimap< int, Link > &	links,
		bool	ignoreNullLinks = `true`,
		bool	withLandmarks = `false`
	)		const

Definition at line 915 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::getAllLinksQuery	(	std::multimap< int, Link > &	links,
		bool	ignoreNullLinks,
		bool	withLandmarks
	)		const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::getAllNodeIds	(	std::set< int > &	ids,
		bool	ignoreChildren = `false`,
		bool	ignoreBadSignatures = `false`
	)		const

Definition at line 876 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::getAllNodeIdsQuery	(	std::set< int > &	ids,
		bool	ignoreChildren,
		bool	ignoreBadSignatures
	)		const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

std::map< int, std::pair< std::map< std::string, float >, double > > rtabmap::DBDriver::getAllStatistics ( ) const

Definition at line 257 of file DBDriver.cpp.

virtual std::map<int, std::pair<std::map<std::string, float>, double> > rtabmap::DBDriver::getAllStatisticsQuery ( ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

std::map< int, std::vector< int > > rtabmap::DBDriver::getAllStatisticsWmStates ( ) const

Definition at line 266 of file DBDriver.cpp.

virtual std::map<int, std::vector<int> > rtabmap::DBDriver::getAllStatisticsWmStatesQuery ( ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

bool rtabmap::DBDriver::getCalibration	(	int	signatureId,
		std::vector< CameraModel > &	models,
		StereoCameraModel &	stereoModel
	)		const

Definition at line 726 of file DBDriver.cpp.

virtual bool rtabmap::DBDriver::getCalibrationQuery	(	int	signatureId,
		std::vector< CameraModel > &	models,
		StereoCameraModel &	stereoModel
	)		const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

long rtabmap::DBDriver::getCalibrationsMemoryUsed ( ) const

Definition at line 151 of file DBDriver.cpp.

virtual long rtabmap::DBDriver::getCalibrationsMemoryUsedQuery ( ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

std::string rtabmap::DBDriver::getDatabaseVersion ( ) const

Definition at line 275 of file DBDriver.cpp.

virtual bool rtabmap::DBDriver::getDatabaseVersionQuery ( std::string & version ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

long rtabmap::DBDriver::getDepthImagesMemoryUsed ( ) const

Definition at line 143 of file DBDriver.cpp.

virtual long rtabmap::DBDriver::getDepthImagesMemoryUsedQuery ( ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

double rtabmap::DBDriver::getEmptyTrashesTime ( ) const

inline

Definition at line 81 of file DBDriver.h.

long rtabmap::DBDriver::getFeaturesMemoryUsed ( ) const

Definition at line 191 of file DBDriver.cpp.

virtual long rtabmap::DBDriver::getFeaturesMemoryUsedQuery ( ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

long rtabmap::DBDriver::getGridsMemoryUsed ( ) const

Definition at line 159 of file DBDriver.cpp.

virtual long rtabmap::DBDriver::getGridsMemoryUsedQuery ( ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

long rtabmap::DBDriver::getImagesMemoryUsed ( ) const

Definition at line 135 of file DBDriver.cpp.

virtual long rtabmap::DBDriver::getImagesMemoryUsedQuery ( ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::getInvertedIndexNi	(	int	signatureId,
		int &	ni
	)		const

Definition at line 1008 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::getInvertedIndexNiQuery	(	int	signatureId,
		int &	ni
	)		const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

bool rtabmap::DBDriver::getLaserScanInfo	(	int	signatureId,
		LaserScan &	info
	)		const

Definition at line 752 of file DBDriver.cpp.

virtual bool rtabmap::DBDriver::getLaserScanInfoQuery	(	int	signatureId,
		LaserScan &	info
	)		const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

long rtabmap::DBDriver::getLaserScansMemoryUsed ( ) const

Definition at line 167 of file DBDriver.cpp.

virtual long rtabmap::DBDriver::getLaserScansMemoryUsedQuery ( ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

int rtabmap::DBDriver::getLastDictionarySize ( ) const

Definition at line 215 of file DBDriver.cpp.

virtual int rtabmap::DBDriver::getLastDictionarySizeQuery ( ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

virtual void rtabmap::DBDriver::getLastIdQuery	(	const std::string &	tableName,
		int &	id,
		const std::string &	fieldName = `"id"`
	)		const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::getLastMapId ( int & mapId ) const

Definition at line 978 of file DBDriver.cpp.

void rtabmap::DBDriver::getLastNodeId ( int & id ) const

Definition at line 954 of file DBDriver.cpp.

void rtabmap::DBDriver::getLastNodeIds ( std::set< int > & ids ) const

Definition at line 869 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::getLastNodeIdsQuery ( std::set< int > & ids ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

int rtabmap::DBDriver::getLastNodesSize ( ) const

Definition at line 207 of file DBDriver.cpp.

virtual int rtabmap::DBDriver::getLastNodesSizeQuery ( ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

ParametersMap rtabmap::DBDriver::getLastParameters ( ) const

Definition at line 239 of file DBDriver.cpp.

virtual ParametersMap rtabmap::DBDriver::getLastParametersQuery ( ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::getLastWordId ( int & id ) const

Definition at line 993 of file DBDriver.cpp.

long rtabmap::DBDriver::getLinksMemoryUsed ( ) const

Definition at line 127 of file DBDriver.cpp.

virtual long rtabmap::DBDriver::getLinksMemoryUsedQuery ( ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

unsigned long rtabmap::DBDriver::getMemoryUsed ( ) const

Definition at line 110 of file DBDriver.cpp.

virtual unsigned long rtabmap::DBDriver::getMemoryUsedQuery ( ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::getNodeData	(	int	signatureId,
		SensorData &	data,
		bool	images = `true`,
		bool	scan = `true`,
		bool	userData = `true`,
		bool	occupancyGrid = `true`
	)		const

Definition at line 675 of file DBDriver.cpp.

void rtabmap::DBDriver::getNodeIdByLabel	(	const std::string &	label,
		int &	id
	)		const

Definition at line 1055 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::getNodeIdByLabelQuery	(	const std::string &	label,
		int &	id
	)		const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

bool rtabmap::DBDriver::getNodeInfo	(	int	signatureId,
		Transform &	pose,
		int &	mapId,
		int &	weight,
		std::string &	label,
		double &	stamp,
		Transform &	groundTruthPose,
		std::vector< float > &	velocity,
		GPS &	gps,
		EnvSensors &	sensors
	)		const

Definition at line 776 of file DBDriver.cpp.

virtual bool rtabmap::DBDriver::getNodeInfoQuery	(	int	signatureId,
		Transform &	pose,
		int &	mapId,
		int &	weight,
		std::string &	label,
		double &	stamp,
		Transform &	groundTruthPose,
		std::vector< float > &	velocity,
		GPS &	gps,
		EnvSensors &	sensors
	)		const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

long rtabmap::DBDriver::getNodesMemoryUsed ( ) const

Definition at line 119 of file DBDriver.cpp.

virtual long rtabmap::DBDriver::getNodesMemoryUsedQuery ( ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::getNodesObservingLandmark	(	int	landmarkId,
		std::map< int, Link > &	nodes
	)		const

Definition at line 1028 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::getNodesObservingLandmarkQuery	(	int	landmarkId,
		std::map< int, Link > &	nodes
	)		const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

std::map< std::string, float > rtabmap::DBDriver::getStatistics	(	int	nodeId,
		double &	stamp,
		std::vector< int > *	wmState = `0`
	)		const

Definition at line 248 of file DBDriver.cpp.

long rtabmap::DBDriver::getStatisticsMemoryUsed ( ) const

Definition at line 199 of file DBDriver.cpp.

virtual long rtabmap::DBDriver::getStatisticsMemoryUsedQuery ( ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

virtual std::map<std::string, float> rtabmap::DBDriver::getStatisticsQuery	(	int	nodeId,
		double &	stamp,
		std::vector< int > *	wmState
	)		const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

const std::string& rtabmap::DBDriver::getTargetVersion ( ) const

inline

Definition at line 73 of file DBDriver.h.

int rtabmap::DBDriver::getTotalDictionarySize ( ) const

Definition at line 231 of file DBDriver.cpp.

virtual int rtabmap::DBDriver::getTotalDictionarySizeQuery ( ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

int rtabmap::DBDriver::getTotalNodesSize ( ) const

Definition at line 223 of file DBDriver.cpp.

virtual int rtabmap::DBDriver::getTotalNodesSizeQuery ( ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

const std::string& rtabmap::DBDriver::getUrl ( ) const

inline

Definition at line 72 of file DBDriver.h.

long rtabmap::DBDriver::getUserDataMemoryUsed ( ) const

Definition at line 175 of file DBDriver.cpp.

virtual long rtabmap::DBDriver::getUserDataMemoryUsedQuery ( ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::getWeight	(	int	signatureId,
		int &	weight
	)		const

Definition at line 849 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::getWeightQuery	(	int	signatureId,
		int &	weight
	)		const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

long rtabmap::DBDriver::getWordsMemoryUsed ( ) const

Definition at line 183 of file DBDriver.cpp.

virtual long rtabmap::DBDriver::getWordsMemoryUsedQuery ( ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

bool rtabmap::DBDriver::isConnected ( ) const

Definition at line 100 of file DBDriver.cpp.

virtual bool rtabmap::DBDriver::isConnectedQuery ( ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

virtual bool rtabmap::DBDriver::isInMemory ( ) const

inlinevirtual

Reimplemented in rtabmap::DBDriverSqlite3.

Definition at line 71 of file DBDriver.h.

void rtabmap::DBDriver::load	(	VWDictionary *	dictionary,
		bool	lastStateOnly = `true`
	)		const

Definition at line 523 of file DBDriver.cpp.

cv::Mat rtabmap::DBDriver::load2DMap	(	float &	xMin,
		float &	yMin,
		float &	cellSize
	)		const

Definition at line 1202 of file DBDriver.cpp.

virtual cv::Mat rtabmap::DBDriver::load2DMapQuery	(	float &	xMin,
		float &	yMin,
		float &	cellSize
	)		const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::loadLastNodes ( std::list< Signature * > & signatures ) const

Definition at line 530 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::loadLastNodesQuery ( std::list< Signature * > & signatures ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::loadLinks	(	int	signatureId,
		std::multimap< int, Link > &	links,
		Link::Type	type = `Link::kUndef`
	)		const

Definition at line 815 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::loadLinksQuery	(	int	signatureId,
		std::multimap< int, Link > &	links,
		Link::Type	type = `Link::kUndef`
	)		const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::loadNodeData	(	Signature *	signature,
		bool	images = `true`,
		bool	scan = `true`,
		bool	userData = `true`,
		bool	occupancyGrid = `true`
	)		const

Definition at line 648 of file DBDriver.cpp.

void rtabmap::DBDriver::loadNodeData	(	std::list< Signature * > &	signatures,
		bool	images = `true`,
		bool	scan = `true`,
		bool	userData = `true`,
		bool	occupancyGrid = `true`
	)		const

Definition at line 655 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::loadNodeDataQuery	(	std::list< Signature * > &	signatures,
		bool	images = `true`,
		bool	scan = `true`,
		bool	userData = `true`,
		bool	occupancyGrid = `true`
	)		const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

cv::Mat rtabmap::DBDriver::loadOptimizedMesh	(	std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > *	polygons = `0`,
		std::vector< std::vector< Eigen::Vector2f > > *	texCoords = `0`,
		cv::Mat *	textures = `0`
	)		const

Definition at line 1225 of file DBDriver.cpp.

virtual cv::Mat rtabmap::DBDriver::loadOptimizedMeshQuery	(	std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > *	polygons,
		std::vector< std::vector< Eigen::Vector2f > > *	texCoords,
		cv::Mat *	textures
	)		const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

std::map< int, Transform > rtabmap::DBDriver::loadOptimizedPoses ( Transform * lastlocalizationPose = 0 ) const

Definition at line 1187 of file DBDriver.cpp.

virtual std::map<int, Transform> rtabmap::DBDriver::loadOptimizedPosesQuery ( Transform * lastlocalizationPose = 0 ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

cv::Mat rtabmap::DBDriver::loadPreviewImage ( ) const

Definition at line 1173 of file DBDriver.cpp.

virtual cv::Mat rtabmap::DBDriver::loadPreviewImageQuery ( ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

virtual void rtabmap::DBDriver::loadQuery	(	VWDictionary *	dictionary,
		bool	lastStateOnly = `true`
	)		const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

Signature * rtabmap::DBDriver::loadSignature	(	int	id,
		bool *	loadedFromTrash = `0`
	)

Definition at line 537 of file DBDriver.cpp.

void rtabmap::DBDriver::loadSignatures	(	const std::list< int > &	ids,
		std::list< Signature * > &	signatures,
		std::set< int > *	loadedFromTrash = `0`
	)

Definition at line 554 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::loadSignaturesQuery	(	const std::list< int > &	ids,
		std::list< Signature * > &	signatures
	)		const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::loadWords	(	const std::set< int > &	wordIds,
		std::list< VisualWord * > &	vws
	)

Definition at line 606 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::loadWordsQuery	(	const std::set< int > &	wordIds,
		std::list< VisualWord * > &	vws
	)		const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::mainLoop ( )

privatevirtual

Pure virtual method mainLoop(). The inner loop of the thread. This method is called repetitively until the thread is killed. Note that if kill() is called in mainLoopBegin(), mainLoop() is not called, terminating immediately the thread.

See also: mainLoop(); kill()

Implements UThread.

Definition at line 284 of file DBDriver.cpp.

bool rtabmap::DBDriver::openConnection	(	const std::string &	url,
		bool	overwritten = `false`
	)

Definition at line 86 of file DBDriver.cpp.

void rtabmap::DBDriver::parseParameters ( const ParametersMap & parameters )

virtual

Reimplemented in rtabmap::DBDriverSqlite3.

Definition at line 59 of file DBDriver.cpp.

void rtabmap::DBDriver::removeLink	(	int	from,
		int	to
	)

Definition at line 473 of file DBDriver.cpp.

void rtabmap::DBDriver::save2DMap	(	const cv::Mat &	map,
		float	xMin,
		float	yMin,
		float	cellSize
	)		const

Definition at line 1195 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::save2DMapQuery	(	const cv::Mat &	map,
		float	xMin,
		float	yMin,
		float	cellSize
	)		const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::saveOptimizedMesh	(	const cv::Mat &	cloud,
		const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > &	polygons = `std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > >()`,
		const std::vector< std::vector< Eigen::Vector2f > > &	texCoords = `std::vector<std::vector<Eigen::Vector2f> >()`,
		const cv::Mat &	textures = `cv::Mat()`
	)		const

Definition at line 1210 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::saveOptimizedMeshQuery	(	const cv::Mat &	cloud,
		const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > &	polygons,
		const std::vector< std::vector< Eigen::Vector2f > > &	texCoords,
		const cv::Mat &	textures
	)		const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::saveOptimizedPoses	(	const std::map< int, Transform > &	optimizedPoses,
		const Transform &	lastlocalizationPose
	)		const

Definition at line 1181 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::saveOptimizedPosesQuery	(	const std::map< int, Transform > &	optimizedPoses,
		const Transform &	lastlocalizationPose
	)		const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::saveOrUpdate ( const std::vector< Signature * > & signatures )

private

Definition at line 407 of file DBDriver.cpp.

void rtabmap::DBDriver::saveOrUpdate ( const std::vector< VisualWord * > & words ) const

private

Definition at line 437 of file DBDriver.cpp.

void rtabmap::DBDriver::savePreviewImage ( const cv::Mat & image ) const

Definition at line 1166 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::savePreviewImageQuery ( const cv::Mat & image ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

virtual void rtabmap::DBDriver::saveQuery ( const std::list< Signature * > & signatures )

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

virtual void rtabmap::DBDriver::saveQuery ( const std::list< VisualWord * > & words ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::setTimestampUpdateEnabled ( bool enabled )

inline

Definition at line 82 of file DBDriver.h.

void rtabmap::DBDriver::updateDepthImage	(	int	nodeId,
		const cv::Mat &	image
	)

Definition at line 505 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::updateDepthImageQuery	(	int	nodeId,
		const cv::Mat &	image
	)		const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::updateLaserScan	(	int	nodeId,
		const LaserScan &	scan
	)

Definition at line 514 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::updateLaserScanQuery	(	int	nodeId,
		const LaserScan &	scan
	)		const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::updateLink ( const Link & link )

Definition at line 477 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::updateLinkQuery ( const Link & link ) const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::updateOccupancyGrid	(	int	nodeId,
		const cv::Mat &	ground,
		const cv::Mat &	obstacles,
		const cv::Mat &	empty,
		float	cellSize,
		const cv::Point3f &	viewpoint
	)

Definition at line 483 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::updateOccupancyGridQuery	(	int	nodeId,
		const cv::Mat &	ground,
		const cv::Mat &	obstacles,
		const cv::Mat &	empty,
		float	cellSize,
		const cv::Point3f &	viewpoint
	)		const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

virtual void rtabmap::DBDriver::updateQuery	(	const std::list< Signature * > &	signatures,
		bool	updateTimestamp
	)		const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

virtual void rtabmap::DBDriver::updateQuery	(	const std::list< VisualWord * > &	words,
		bool	updateTimestamp
	)		const

protectedpure virtual

Implemented in rtabmap::DBDriverSqlite3.

Member Data Documentation

USemaphore rtabmap::DBDriver::_addSem

private

Definition at line 301 of file DBDriver.h.

UMutex rtabmap::DBDriver::_dbSafeAccessMutex

private

Definition at line 300 of file DBDriver.h.

double rtabmap::DBDriver::_emptyTrashesTime

private

Definition at line 302 of file DBDriver.h.

std::string rtabmap::DBDriver::_targetVersion

private

Definition at line 304 of file DBDriver.h.

bool rtabmap::DBDriver::_timestampUpdate

private

Definition at line 305 of file DBDriver.h.

UMutex rtabmap::DBDriver::_transactionMutex

private

Definition at line 296 of file DBDriver.h.

UMutex rtabmap::DBDriver::_trashesMutex

private

Definition at line 299 of file DBDriver.h.

std::map<int, Signature *> rtabmap::DBDriver::_trashSignatures

private

Definition at line 297 of file DBDriver.h.

std::map<int, VisualWord *> rtabmap::DBDriver::_trashVisualWords

private

Definition at line 298 of file DBDriver.h.

std::string rtabmap::DBDriver::_url

private

Definition at line 303 of file DBDriver.h.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation