DBDriver.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 DBDRIVER_H_
29 #define DBDRIVER_H_
30 
31 #include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
32 
33 #include <string>
34 #include <list>
35 #include <map>
36 #include <set>
37 #include <opencv2/core/core.hpp>
38 #include "rtabmap/utilite/UMutex.h"
39 #include "rtabmap/utilite/UThreadNode.h"
40 #include "rtabmap/core/Parameters.h"
41 #include "rtabmap/core/SensorData.h"
42 #include <rtabmap/core/Statistics.h>
43 
44 #include <rtabmap/core/Transform.h>
45 #include <rtabmap/core/Link.h>
46 
47 namespace rtabmap {
48 
49 class Signature;
50 class VWDictionary;
51 class VisualWord;
52 
53 // Todo This class needs a refactoring, the _dbSafeAccessMutex problem when the trash is emptying (transaction)
54 // "Of course, it has always been the case and probably always will be
55 //that you cannot use the same sqlite3 connection in two or more
56 //threads at the same time. You can use different sqlite3 connections
57 //at the same time in different threads, or you can move the same
58 //sqlite3 connection across threads (subject to the constraints above)
59 //but never, never try to use the same connection simultaneously in
60 //two or more threads."
61 //
62 class RTABMAP_CORE_EXPORT DBDriver : public UThreadNode
63 {
64 public:
65  static DBDriver * create(const ParametersMap & parameters = ParametersMap());
66 
67 public:
68  virtual ~DBDriver();
69 
70  virtual void parseParameters(const ParametersMap & parameters);
71  virtual bool isInMemory() const {return _url.empty();}
72  const std::string & getUrl() const {return _url;}
73  const std::string & getTargetVersion() const {return _targetVersion;}
74 
75  void beginTransaction() const;
76  void commit() const;
77 
78  void asyncSave(Signature * s); //ownership transferred
79  void asyncSave(VisualWord * vw); //ownership transferred
80  void emptyTrashes(bool async = false);
81  double getEmptyTrashesTime() const {return _emptyTrashesTime;}
82  void setTimestampUpdateEnabled(bool enabled) {_timestampUpdate = enabled;} // used on Update Signature and Word queries
83 
84  // Warning: the following functions don't look in the trash, direct database modifications
85  void generateGraph(
86  const std::string & fileName,
87  const std::set<int> & ids = std::set<int>(),
88  const std::map<int, Signature *> & otherSignatures = std::map<int, Signature *>());
89  void addLink(const Link & link);
90  void removeLink(int from, int to);
91  void updateLink(const Link & link);
92  void updateOccupancyGrid(
93  int nodeId,
94  const cv::Mat & ground,
95  const cv::Mat & obstacles,
96  const cv::Mat & empty,
97  float cellSize,
98  const cv::Point3f & viewpoint);
99  void updateCalibration(
100  int nodeId,
101  const std::vector<CameraModel> & models,
102  const std::vector<StereoCameraModel> & stereoModels);
103  void updateDepthImage(int nodeId, const cv::Mat & image);
104  void updateLaserScan(int nodeId, const LaserScan & scan);
105 
106 public:
107  void addInfoAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap & parameters) const;
108  void addStatistics(const Statistics & statistics, bool saveWmState) const;
109  void savePreviewImage(const cv::Mat & image) const;
110  cv::Mat loadPreviewImage() const;
111  void saveOptimizedPoses(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const;
112  std::map<int, Transform> loadOptimizedPoses(Transform * lastlocalizationPose = 0) const;
113  void save2DMap(const cv::Mat & map, float xMin, float yMin, float cellSize) const;
114  cv::Mat load2DMap(float & xMin, float & yMin, float & cellSize) const;
115  void saveOptimizedMesh(
116  const cv::Mat & cloud,
117  const std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons = std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > >(), // Textures -> polygons -> vertices
118 #if PCL_VERSION_COMPARE(>=, 1, 8, 0)
119  const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords = std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > >(), // Textures -> uv coords for each vertex of the polygons
120 #else
121  const std::vector<std::vector<Eigen::Vector2f> > & texCoords = std::vector<std::vector<Eigen::Vector2f> >(), // Textures -> uv coords for each vertex of the polygons
122 #endif
123  const cv::Mat & textures = cv::Mat()) const; // concatenated textures (assuming square textures with all same size);
124  cv::Mat loadOptimizedMesh(
125  std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > * polygons = 0,
126 #if PCL_VERSION_COMPARE(>=, 1, 8, 0)
127  std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords = 0,
128 #else
129  std::vector<std::vector<Eigen::Vector2f> > * texCoords = 0,
130 #endif
131  cv::Mat * textures = 0) const;
132 
133 public:
134  // Mutex-protected methods of abstract versions below
135 
136  bool openConnection(const std::string & url, bool overwritten = false);
137  void closeConnection(bool save = true, const std::string & outputUrl = "");
138  bool isConnected() const;
139  unsigned long getMemoryUsed() const; // In bytes
140  std::string getDatabaseVersion() const;
141  long getNodesMemoryUsed() const;
142  long getLinksMemoryUsed() const;
143  long getImagesMemoryUsed() const;
144  long getDepthImagesMemoryUsed() const;
145  long getCalibrationsMemoryUsed() const;
146  long getGridsMemoryUsed() const;
147  long getLaserScansMemoryUsed() const;
148  long getUserDataMemoryUsed() const;
149  long getWordsMemoryUsed() const;
150  long getFeaturesMemoryUsed() const;
151  long getStatisticsMemoryUsed() const;
152  int getLastNodesSize() const; // working memory
153  int getLastDictionarySize() const; // working memory
154  int getTotalNodesSize() const;
155  int getTotalDictionarySize() const;
156  ParametersMap getLastParameters() const;
157  std::map<std::string, float> getStatistics(int nodeId, double & stamp, std::vector<int> * wmState=0) const;
158  std::map<int, std::pair<std::map<std::string, float>, double> > getAllStatistics() const;
159  std::map<int, std::vector<int> > getAllStatisticsWmStates() const;
160 
161  void executeNoResult(const std::string & sql) const;
162 
163  // Load objects
164  void load(VWDictionary * dictionary, bool lastStateOnly = true) const;
165  void loadLastNodes(std::list<Signature *> & signatures) const; // returned signatures must be freed after usage
166  Signature * loadSignature(int id, bool * loadedFromTrash = 0); // returned signature must be freed after usage, call loadSignatures() instead if more than one signature should be loaded
167  void loadSignatures(const std::list<int> & ids, std::list<Signature *> & signatures, std::set<int> * loadedFromTrash = 0); // returned signatures must be freed after usage
168  void loadWords(const std::set<int> & wordIds, std::list<VisualWord *> & vws); // returned words must be freed after usage
169 
170  // Specific queries...
171  void loadNodeData(Signature * signature, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
172  void loadNodeData(std::list<Signature *> & signatures, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
173  void getNodeData(int signatureId, SensorData & data, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
174  bool getCalibration(int signatureId, std::vector<CameraModel> & models, std::vector<StereoCameraModel> & stereoModels) const;
175  bool getLaserScanInfo(int signatureId, LaserScan & info) const;
176  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;
177  void loadLinks(int signatureId, std::multimap<int, Link> & links, Link::Type type = Link::kUndef) const;
178  void getWeight(int signatureId, int & weight) const;
179  void getLastNodeIds(std::set<int> & ids) const;
180  void getAllNodeIds(std::set<int> & ids, bool ignoreChildren = false, bool ignoreBadSignatures = false, bool ignoreIntermediateNodes = false) const;
181  void getAllLinks(std::multimap<int, Link> & links, bool ignoreNullLinks = true, bool withLandmarks = false) const;
182  void getLastNodeId(int & id) const;
183  void getLastMapId(int & mapId) const;
184  void getLastWordId(int & id) const;
185  void getInvertedIndexNi(int signatureId, int & ni) const;
186  void getNodesObservingLandmark(int landmarkId, std::map<int, Link> & nodes) const;
187  void getNodeIdByLabel(const std::string & label, int & id) const;
188  void getAllLabels(std::map<int, std::string> & labels) const;
189 
190 protected:
191  DBDriver(const ParametersMap & parameters = ParametersMap());
192 
193  virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false) = 0;
194  virtual void disconnectDatabaseQuery(bool save = true, const std::string & outputUrl = "") = 0;
195  virtual bool isConnectedQuery() const = 0;
196  virtual unsigned long getMemoryUsedQuery() const = 0; // In bytes
197  virtual bool getDatabaseVersionQuery(std::string & version) const = 0;
198  virtual long getNodesMemoryUsedQuery() const = 0;
199  virtual long getLinksMemoryUsedQuery() const = 0;
200  virtual long getImagesMemoryUsedQuery() const = 0;
201  virtual long getDepthImagesMemoryUsedQuery() const = 0;
202  virtual long getCalibrationsMemoryUsedQuery() const = 0;
203  virtual long getGridsMemoryUsedQuery() const = 0;
204  virtual long getLaserScansMemoryUsedQuery() const = 0;
205  virtual long getUserDataMemoryUsedQuery() const = 0;
206  virtual long getWordsMemoryUsedQuery() const = 0;
207  virtual long getFeaturesMemoryUsedQuery() const = 0;
208  virtual long getStatisticsMemoryUsedQuery() const = 0;
209  virtual int getLastNodesSizeQuery() const = 0;
210  virtual int getLastDictionarySizeQuery() const = 0;
211  virtual int getTotalNodesSizeQuery() const = 0;
212  virtual int getTotalDictionarySizeQuery() const = 0;
213  virtual ParametersMap getLastParametersQuery() const = 0;
214  virtual std::map<std::string, float> getStatisticsQuery(int nodeId, double & stamp, std::vector<int> * wmState) const = 0;
215  virtual std::map<int, std::pair<std::map<std::string, float>, double> > getAllStatisticsQuery() const = 0;
216  virtual std::map<int, std::vector<int> > getAllStatisticsWmStatesQuery() const = 0;
217 
218  virtual void executeNoResultQuery(const std::string & sql) const = 0;
219 
220  virtual void getWeightQuery(int signatureId, int & weight) const = 0;
221 
222  virtual void saveQuery(const std::list<Signature *> & signatures) = 0;
223  virtual void saveQuery(const std::list<VisualWord *> & words) const = 0;
224  virtual void updateQuery(const std::list<Signature *> & signatures, bool updateTimestamp) const = 0;
225  virtual void updateQuery(const std::list<VisualWord *> & words, bool updateTimestamp) const = 0;
226 
227  virtual void addLinkQuery(const Link & link) const = 0;
228  virtual void updateLinkQuery(const Link & link) const = 0;
229 
230  virtual void updateOccupancyGridQuery(
231  int nodeId,
232  const cv::Mat & ground,
233  const cv::Mat & obstacles,
234  const cv::Mat & empty,
235  float cellSize,
236  const cv::Point3f & viewpoint) const = 0;
237 
238  virtual void updateCalibrationQuery(
239  int nodeId,
240  const std::vector<CameraModel> & models,
241  const std::vector<StereoCameraModel> & stereoModels) const = 0;
242 
243  virtual void updateDepthImageQuery(
244  int nodeId,
245  const cv::Mat & image) const = 0;
246 
247  virtual void updateLaserScanQuery(
248  int nodeId,
249  const LaserScan & scan) const = 0;
250 
251  virtual void addStatisticsQuery(const Statistics & statistics, bool saveWmState) const = 0;
252  virtual void savePreviewImageQuery(const cv::Mat & image) const = 0;
253  virtual cv::Mat loadPreviewImageQuery() const = 0;
254  virtual void saveOptimizedPosesQuery(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const = 0;
255  virtual std::map<int, Transform> loadOptimizedPosesQuery(Transform * lastlocalizationPose = 0) const = 0;
256  virtual void save2DMapQuery(const cv::Mat & map, float xMin, float yMin, float cellSize) const = 0;
257  virtual cv::Mat load2DMapQuery(float & xMin, float & yMin, float & cellSize) const = 0;
258  virtual void saveOptimizedMeshQuery(
259  const cv::Mat & cloud,
260  const std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons,
261 #if PCL_VERSION_COMPARE(>=, 1, 8, 0)
262  const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
263 #else
264  const std::vector<std::vector<Eigen::Vector2f> > & texCoords,
265 #endif
266  const cv::Mat & textures) const = 0;
267  virtual cv::Mat loadOptimizedMeshQuery(
268  std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > * polygons,
269 #if PCL_VERSION_COMPARE(>=, 1, 8, 0)
270  std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords,
271 #else
272  std::vector<std::vector<Eigen::Vector2f> > * texCoords,
273 #endif
274  cv::Mat * textures) const = 0;
275 
276  // Load objects
277  virtual void loadQuery(VWDictionary * dictionary, bool lastStateOnly = true) const = 0;
278  virtual void loadLastNodesQuery(std::list<Signature *> & signatures) const = 0;
279  virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures) const = 0;
280  virtual void loadWordsQuery(const std::set<int> & wordIds, std::list<VisualWord *> & vws) const = 0;
281  virtual void loadLinksQuery(int signatureId, std::multimap<int, Link> & links, Link::Type type = Link::kUndef) const = 0;
282 
283  virtual void loadNodeDataQuery(std::list<Signature *> & signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const = 0;
284  virtual bool getCalibrationQuery(int signatureId, std::vector<CameraModel> & models, std::vector<StereoCameraModel> & stereoModels) const = 0;
285  virtual bool getLaserScanInfoQuery(int signatureId, LaserScan & info) const = 0;
286  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;
287  virtual void getLastNodeIdsQuery(std::set<int> & ids) const = 0;
288  virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures, bool ignoreIntermediateNodes) const = 0;
289  virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks, bool withLandmarks) const = 0;
290  virtual void getLastIdQuery(const std::string & tableName, int & id, const std::string & fieldName="id") const = 0;
291  virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const = 0;
292  virtual void getNodesObservingLandmarkQuery(int landmarkId, std::map<int, Link> & nodes) const = 0;
293  virtual void getNodeIdByLabelQuery(const std::string & label, int & id) const = 0;
294  virtual void getAllLabelsQuery(std::map<int, std::string> & labels) const = 0;
295 
296 private:
297  //non-abstract methods
298  void saveOrUpdate(const std::vector<Signature *> & signatures);
299  void saveOrUpdate(const std::vector<VisualWord *> & words) const;
300 
301  //thread stuff
302  virtual void mainLoop();
303 
304 private:
305  UMutex _transactionMutex;
306  std::map<int, Signature *> _trashSignatures;//<id, Signature*>
307  std::map<int, VisualWord *> _trashVisualWords; //<id, VisualWord*>
308  UMutex _trashesMutex;
309  UMutex _dbSafeAccessMutex;
310  USemaphore _addSem;
311  double _emptyTrashesTime;
312  std::string _url;
313  std::string _targetVersion;
314  bool _timestampUpdate;
315 };
316 
317 }
318 
319 #endif /* DBDRIVER_H_ */
rtabmap::SensorData
Definition: SensorData.h:51
rtabmap::DBDriver::_trashVisualWords
std::map< int, VisualWord * > _trashVisualWords
Definition: DBDriver.h:307
create
ADT create(const Signature &signature)
rtabmap::Statistics
Definition: Statistics.h:53
UThreadNode.h
rtabmap::DBDriver::_timestampUpdate
bool _timestampUpdate
Definition: DBDriver.h:314
rtabmap::DBDriver::_trashSignatures
std::map< int, Signature * > _trashSignatures
Definition: DBDriver.h:306
SensorData.h
rtabmap::GPS
Definition: GPS.h:35
Transform.h
type
rtabmap::LaserScan
Definition: LaserScan.h:37
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
rtabmap::VisualWord
Definition: VisualWord.h:38
Parameters.h
rtabmap::DBDriver::_emptyTrashesTime
double _emptyTrashesTime
Definition: DBDriver.h:311
rtabmap::DBDriver::setTimestampUpdateEnabled
void setTimestampUpdateEnabled(bool enabled)
Definition: DBDriver.h:82
rtabmap::DBDriver::_url
std::string _url
Definition: DBDriver.h:312
rtabmap::DBDriver::isInMemory
virtual bool isInMemory() const
Definition: DBDriver.h:71
Eigen::aligned_allocator
UMutex
Definition: UMutex.h:54
rtabmap::DBDriver::_transactionMutex
UMutex _transactionMutex
Definition: DBDriver.h:305
rtabmap::DBDriver::getUrl
const std::string & getUrl() const
Definition: DBDriver.h:72
UMutex.h
rtabmap::DBDriver::_targetVersion
std::string _targetVersion
Definition: DBDriver.h:313
rtabmap::DBDriver::getTargetVersion
const std::string & getTargetVersion() const
Definition: DBDriver.h:73
rtabmap::DBDriver
Definition: DBDriver.h:62
rtabmap::Transform
Definition: Transform.h:41
empty
rtabmap::VWDictionary
Definition: VWDictionary.h:46
UThread
Definition: UThread.h:86
rtabmap::EnvSensors
std::map< EnvSensor::Type, EnvSensor > EnvSensors
Definition: EnvSensor.h:81
rtabmap::DBDriver::_dbSafeAccessMutex
UMutex _dbSafeAccessMutex
Definition: DBDriver.h:309
rtabmap::DBDriver::_addSem
USemaphore _addSem
Definition: DBDriver.h:310
USemaphore
Definition: USemaphore.h:54
Statistics.h
rtabmap::DBDriver::_trashesMutex
UMutex _trashesMutex
Definition: DBDriver.h:308
rtabmap::DBDriver::getEmptyTrashesTime
double getEmptyTrashesTime() const
Definition: DBDriver.h:81
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NearestNeighbourSearch< T >::Matrix load(const char *fileName)
rtabmap::Signature
Definition: Signature.h:48

rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:08