DBDriverSqlite3.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
6 modification, are permitted provided that the following conditions are met:
7  * Redistributions of source code must retain the above copyright
8  notice, this list of conditions and the following disclaimer.
9  * Redistributions in binary form must reproduce the above copyright
10  notice, this list of conditions and the following disclaimer in the
11  documentation and/or other materials provided with the distribution.
12  * Neither the name of the Universite de Sherbrooke nor the
13  names of its contributors may be used to endorse or promote products
14  derived from this software without specific prior written permission.
15 
16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
17 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
20 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27 
28 #ifndef DBDRIVERSQLITE3_H_
29 #define DBDRIVERSQLITE3_H_
30 
31 #include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
32 #include "rtabmap/core/DBDriver.h"
33 #include <opencv2/features2d/features2d.hpp>
34 
35 typedef struct sqlite3_stmt sqlite3_stmt;
36 typedef struct sqlite3 sqlite3;
37 
38 namespace rtabmap {
39 
40 class RTABMAP_CORE_EXPORT DBDriverSqlite3: public DBDriver {
41 public:
42  DBDriverSqlite3(const ParametersMap & parameters = ParametersMap());
43  virtual ~DBDriverSqlite3();
44 
45  virtual void parseParameters(const ParametersMap & parameters);
46  virtual bool isInMemory() const {return getUrl().empty() || _dbInMemory;}
47  void setDbInMemory(bool dbInMemory);
48  void setJournalMode(int journalMode);
49  void setCacheSize(unsigned int cacheSize);
50  void setSynchronous(int synchronous);
51  void setTempStore(int tempStore);
52 
53 protected:
54  virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false);
55  virtual void disconnectDatabaseQuery(bool save = true, const std::string & outputUrl = "");
56  virtual bool isConnectedQuery() const;
57  virtual unsigned long getMemoryUsedQuery() const; // In bytes
58  virtual bool getDatabaseVersionQuery(std::string & version) const;
59  virtual long getNodesMemoryUsedQuery() const;
60  virtual long getLinksMemoryUsedQuery() const;
61  virtual long getImagesMemoryUsedQuery() const;
62  virtual long getDepthImagesMemoryUsedQuery() const;
63  virtual long getCalibrationsMemoryUsedQuery() const;
64  virtual long getGridsMemoryUsedQuery() const;
65  virtual long getLaserScansMemoryUsedQuery() const;
66  virtual long getUserDataMemoryUsedQuery() const;
67  virtual long getWordsMemoryUsedQuery() const;
68  virtual long getFeaturesMemoryUsedQuery() const;
69  virtual long getStatisticsMemoryUsedQuery() const;
70  virtual int getLastNodesSizeQuery() const;
71  virtual int getLastDictionarySizeQuery() const;
72  virtual int getTotalNodesSizeQuery() const;
73  virtual int getTotalDictionarySizeQuery() const;
74  virtual ParametersMap getLastParametersQuery() const;
75  virtual std::map<std::string, float> getStatisticsQuery(int nodeId, double & stamp, std::vector<int> * wmState) const;
76  virtual std::map<int, std::pair<std::map<std::string, float>, double> > getAllStatisticsQuery() const;
77  virtual std::map<int, std::vector<int> > getAllStatisticsWmStatesQuery() const;
78 
79  virtual void executeNoResultQuery(const std::string & sql) const;
80 
81  virtual void getWeightQuery(int signatureId, int & weight) const;
82 
83  virtual void saveQuery(const std::list<Signature *> & signatures);
84  virtual void saveQuery(const std::list<VisualWord *> & words) const;
85  virtual void updateQuery(const std::list<Signature *> & signatures, bool updateTimestamp) const;
86  virtual void updateQuery(const std::list<VisualWord *> & words, bool updateTimestamp) const;
87 
88  virtual void addLinkQuery(const Link & link) const;
89  virtual void updateLinkQuery(const Link & link) const;
90 
91  virtual void updateOccupancyGridQuery(
92  int nodeId,
93  const cv::Mat & ground,
94  const cv::Mat & obstacles,
95  const cv::Mat & empty,
96  float cellSize,
97  const cv::Point3f & viewpoint) const;
98 
99  virtual void updateCalibrationQuery(
100  int nodeId,
101  const std::vector<CameraModel> & models,
102  const std::vector<StereoCameraModel> & stereoModels) const;
103 
104  virtual void updateDepthImageQuery(
105  int nodeId,
106  const cv::Mat & image) const;
107 
108  void updateLaserScanQuery(
109  int nodeId,
110  const LaserScan & scan) const;
111 
112  virtual void addStatisticsQuery(const Statistics & statistics, bool saveWmState) const;
113  virtual void savePreviewImageQuery(const cv::Mat & image) const;
114  virtual cv::Mat loadPreviewImageQuery() const;
115  virtual void saveOptimizedPosesQuery(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const;
116  virtual std::map<int, Transform> loadOptimizedPosesQuery(Transform * lastlocalizationPose = 0) const;
117  virtual void save2DMapQuery(const cv::Mat & map, float xMin, float yMin, float cellSize) const;
118  virtual cv::Mat load2DMapQuery(float & xMin, float & yMin, float & cellSize) const;
119  virtual void saveOptimizedMeshQuery(
120  const cv::Mat & cloud,
121  const std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons,
122 #if PCL_VERSION_COMPARE(>=, 1, 8, 0)
123  const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
124 #else
125  const std::vector<std::vector<Eigen::Vector2f> > & texCoords,
126 #endif
127  const cv::Mat & textures) const;
128  virtual cv::Mat loadOptimizedMeshQuery(
129  std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > * polygons,
130 #if PCL_VERSION_COMPARE(>=, 1, 8, 0)
131  std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords,
132 #else
133  std::vector<std::vector<Eigen::Vector2f> > * texCoords,
134 #endif
135  cv::Mat * textures) const;
136 
137  // Load objects
138  virtual void loadQuery(VWDictionary * dictionary, bool lastStateOnly = true) const;
139  virtual void loadLastNodesQuery(std::list<Signature *> & signatures) const;
140  virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures) const;
141  virtual void loadWordsQuery(const std::set<int> & wordIds, std::list<VisualWord *> & vws) const;
142  virtual void loadLinksQuery(int signatureId, std::multimap<int, Link> & links, Link::Type type = Link::kUndef) const;
143 
144  virtual void loadNodeDataQuery(std::list<Signature *> & signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const;
145  virtual bool getCalibrationQuery(int signatureId, std::vector<CameraModel> & models, std::vector<StereoCameraModel> & stereoModels) const;
146  virtual bool getLaserScanInfoQuery(int signatureId, LaserScan & info) const;
147  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;
148  virtual void getLastNodeIdsQuery(std::set<int> & ids) const;
149  virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures, bool ignoreIntermediateNodes) const;
150  virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks, bool withLandmarks) const;
151  virtual void getLastIdQuery(const std::string & tableName, int & id, const std::string & fieldName="id") const;
152  virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const;
153  virtual void getNodesObservingLandmarkQuery(int landmarkId, std::map<int, Link> & nodes) const;
154  virtual void getNodeIdByLabelQuery(const std::string & label, int & id) const;
155  virtual void getAllLabelsQuery(std::map<int, std::string> & labels) const;
156 
157 private:
158  std::string queryStepNode() const;
159  std::string queryStepImage() const;
160  std::string queryStepDepth() const;
161  std::string queryStepCalibrationUpdate() const;
162  std::string queryStepDepthUpdate() const;
163  std::string queryStepScanUpdate() const;
164  std::string queryStepSensorData() const;
165  std::string queryStepLinkUpdate() const;
166  std::string queryStepLink() const;
167  std::string queryStepWordsChanged() const;
168  std::string queryStepKeypoint() const;
169  std::string queryStepGlobalDescriptor() const;
170  std::string queryStepOccupancyGridUpdate() const;
171  void stepNode(sqlite3_stmt * ppStmt, const Signature * s) const;
172  void stepImage(sqlite3_stmt * ppStmt, int id, const cv::Mat & imageBytes) const;
173  void stepDepth(sqlite3_stmt * ppStmt, const SensorData & sensorData) const;
174  void stepCalibrationUpdate(sqlite3_stmt * ppStmt, int nodeId, const std::vector<CameraModel> & models, const std::vector<StereoCameraModel> & stereoModels) const;
175  void stepDepthUpdate(sqlite3_stmt * ppStmt, int nodeId, const cv::Mat & imageCompressed) const;
176  void stepScanUpdate(sqlite3_stmt * ppStmt, int nodeId, const LaserScan & image) const;
177  void stepSensorData(sqlite3_stmt * ppStmt, const SensorData & sensorData) const;
178  void stepLink(sqlite3_stmt * ppStmt, const Link & link) const;
179  void stepWordsChanged(sqlite3_stmt * ppStmt, int signatureId, int oldWordId, int newWordId) const;
180  void stepKeypoint(sqlite3_stmt * ppStmt, int nodeID, int wordId, const cv::KeyPoint & kp, const cv::Point3f & pt, const cv::Mat & descriptor) const;
181  void stepGlobalDescriptor(sqlite3_stmt * ppStmt, int nodeId, const GlobalDescriptor & descriptor) const;
182  void stepOccupancyGridUpdate(sqlite3_stmt * ppStmt,
183  int nodeId,
184  const cv::Mat & ground,
185  const cv::Mat & obstacles,
186  const cv::Mat & empty,
187  float cellSize,
188  const cv::Point3f & viewpoint) const;
189 
190 private:
191  void loadLinksQuery(std::list<Signature *> & signatures) const;
192  int loadOrSaveDb(sqlite3 *pInMemory, const std::string & fileName, int isSave) const;
193 
194 protected:
195  sqlite3 * _ppDb;
196  std::string _version;
197 
198 private:
199  unsigned long _memoryUsedEstimate;
200  bool _dbInMemory;
201  unsigned int _cacheSize;
202  int _journalMode;
203  int _synchronous;
204  int _tempStore;
205 };
206 
207 }
208 
209 #endif /* DBDRIVERSQLITE3_H_ */
rtabmap::SensorData
Definition: SensorData.h:51
rtabmap::DBDriverSqlite3::_memoryUsedEstimate
unsigned long _memoryUsedEstimate
Definition: DBDriverSqlite3.h:199
rtabmap::Statistics
Definition: Statistics.h:53
rtabmap::DBDriverSqlite3::_tempStore
int _tempStore
Definition: DBDriverSqlite3.h:204
rtabmap_netvlad.descriptor
def descriptor
Definition: rtabmap_netvlad.py:81
rtabmap::GPS
Definition: GPS.h:35
type
rtabmap::LaserScan
Definition: LaserScan.h:37
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
Eigen::aligned_allocator
rtabmap::DBDriverSqlite3
Definition: DBDriverSqlite3.h:40
rtabmap::DBDriverSqlite3::_dbInMemory
bool _dbInMemory
Definition: DBDriverSqlite3.h:200
rtabmap::DBDriverSqlite3::_journalMode
int _journalMode
Definition: DBDriverSqlite3.h:202
rtabmap::DBDriverSqlite3::_cacheSize
unsigned int _cacheSize
Definition: DBDriverSqlite3.h:201
DBDriver.h
rtabmap::GlobalDescriptor
Definition: GlobalDescriptor.h:35
rtabmap::DBDriverSqlite3::_version
std::string _version
Definition: DBDriverSqlite3.h:196
rtabmap::DBDriverSqlite3::_synchronous
int _synchronous
Definition: DBDriverSqlite3.h:203
rtabmap::DBDriver
Definition: DBDriver.h:62
rtabmap::Transform
Definition: Transform.h:41
empty
rtabmap::VWDictionary
Definition: VWDictionary.h:46
rtabmap::EnvSensors
std::map< EnvSensor::Type, EnvSensor > EnvSensors
Definition: EnvSensor.h:81
sqlite3_stmt
struct sqlite3_stmt sqlite3_stmt
Definition: DBDriverSqlite3.h:35
sqlite3
Definition: sqlite3.c:10170
rtabmap
Definition: CameraARCore.cpp:35
rtabmap::DBDriverSqlite3::_ppDb
sqlite3 * _ppDb
Definition: DBDriverSqlite3.h:195
rtabmap::Signature
Definition: Signature.h:48
rtabmap::DBDriverSqlite3::isInMemory
virtual bool isInMemory() const
Definition: DBDriverSqlite3.h:46

rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:09