#include <DBDriver.h>
Public Member Functions | |
void | addInfoAfterRun (int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap ¶meters) 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, bool ignoreIntermediateNodes=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, std::vector< StereoCameraModel > &stereoModels) 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 ¶meters) |
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 | updateCalibration (int nodeId, const std::vector< CameraModel > &models, const std::vector< StereoCameraModel > &stereoModels) |
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 ¶meters=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 (const Handle &H) |
static int | Detach (Handle H) |
static int | Join (const Handle &H) |
static int | Join (Handle H) |
static int | Kill (const Handle &H) |
static int | Kill (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 ¶meters=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, bool ignoreIntermediateNodes) 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, std::vector< StereoCameraModel > &stereoModels) 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 | updateCalibrationQuery (int nodeId, const std::vector< CameraModel > &models, const std::vector< StereoCameraModel > &stereoModels) 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 () |
Definition at line 62 of file DBDriver.h.
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virtual |
Definition at line 53 of file DBDriver.cpp.
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protected |
Definition at line 46 of file DBDriver.cpp.
void rtabmap::DBDriver::addInfoAfterRun | ( | int | stMemSize, |
int | lastSignAdded, | ||
int | processMemUsed, | ||
int | databaseMemUsed, | ||
int | dictionarySize, | ||
const ParametersMap & | parameters | ||
) | const |
Definition at line 1119 of file DBDriver.cpp.
void rtabmap::DBDriver::addLink | ( | const Link & | link | ) |
Definition at line 467 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
void rtabmap::DBDriver::addStatistics | ( | const Statistics & | statistics, |
bool | saveWmState | ||
) | const |
Definition at line 1169 of file DBDriver.cpp.
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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.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
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static |
Definition at line 41 of file DBDriver.cpp.
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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.
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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 1250 of file DBDriver.cpp.
void rtabmap::DBDriver::getAllLabels | ( | std::map< int, std::string > & | labels | ) | const |
Definition at line 1100 of file DBDriver.cpp.
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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 925 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
void rtabmap::DBDriver::getAllNodeIds | ( | std::set< int > & | ids, |
bool | ignoreChildren = false , |
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bool | ignoreBadSignatures = false , |
||
bool | ignoreIntermediateNodes = false |
||
) | const |
Definition at line 886 of file DBDriver.cpp.
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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.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
Definition at line 266 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
bool rtabmap::DBDriver::getCalibration | ( | int | signatureId, |
std::vector< CameraModel > & | models, | ||
std::vector< StereoCameraModel > & | stereoModels | ||
) | const |
Definition at line 736 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
long rtabmap::DBDriver::getCalibrationsMemoryUsed | ( | ) | const |
Definition at line 151 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
std::string rtabmap::DBDriver::getDatabaseVersion | ( | ) | const |
Definition at line 275 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
long rtabmap::DBDriver::getDepthImagesMemoryUsed | ( | ) | const |
Definition at line 143 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
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inline |
Definition at line 81 of file DBDriver.h.
long rtabmap::DBDriver::getFeaturesMemoryUsed | ( | ) | const |
Definition at line 191 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
long rtabmap::DBDriver::getGridsMemoryUsed | ( | ) | const |
Definition at line 159 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
long rtabmap::DBDriver::getImagesMemoryUsed | ( | ) | const |
Definition at line 135 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
Definition at line 1018 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
Definition at line 762 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
long rtabmap::DBDriver::getLaserScansMemoryUsed | ( | ) | const |
Definition at line 167 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
int rtabmap::DBDriver::getLastDictionarySize | ( | ) | const |
Definition at line 215 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
void rtabmap::DBDriver::getLastMapId | ( | int & | mapId | ) | const |
Definition at line 988 of file DBDriver.cpp.
void rtabmap::DBDriver::getLastNodeId | ( | int & | id | ) | const |
Definition at line 964 of file DBDriver.cpp.
Definition at line 879 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
int rtabmap::DBDriver::getLastNodesSize | ( | ) | const |
Definition at line 207 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
ParametersMap rtabmap::DBDriver::getLastParameters | ( | ) | const |
Definition at line 239 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
void rtabmap::DBDriver::getLastWordId | ( | int & | id | ) | const |
Definition at line 1003 of file DBDriver.cpp.
long rtabmap::DBDriver::getLinksMemoryUsed | ( | ) | const |
Definition at line 127 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
unsigned long rtabmap::DBDriver::getMemoryUsed | ( | ) | const |
Definition at line 110 of file DBDriver.cpp.
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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 685 of file DBDriver.cpp.
void rtabmap::DBDriver::getNodeIdByLabel | ( | const std::string & | label, |
int & | id | ||
) | const |
Definition at line 1065 of file DBDriver.cpp.
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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 786 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
long rtabmap::DBDriver::getNodesMemoryUsed | ( | ) | const |
Definition at line 119 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
void rtabmap::DBDriver::getNodesObservingLandmark | ( | int | landmarkId, |
std::map< int, Link > & | nodes | ||
) | const |
Definition at line 1038 of file DBDriver.cpp.
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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.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
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inline |
Definition at line 73 of file DBDriver.h.
int rtabmap::DBDriver::getTotalDictionarySize | ( | ) | const |
Definition at line 231 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
int rtabmap::DBDriver::getTotalNodesSize | ( | ) | const |
Definition at line 223 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
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inline |
Definition at line 72 of file DBDriver.h.
long rtabmap::DBDriver::getUserDataMemoryUsed | ( | ) | const |
Definition at line 175 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
Definition at line 859 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
long rtabmap::DBDriver::getWordsMemoryUsed | ( | ) | const |
Definition at line 183 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
bool rtabmap::DBDriver::isConnected | ( | ) | const |
Definition at line 100 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
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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 533 of file DBDriver.cpp.
Definition at line 1212 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
void rtabmap::DBDriver::loadLastNodes | ( | std::list< Signature * > & | signatures | ) | const |
Definition at line 540 of file DBDriver.cpp.
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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 825 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
void rtabmap::DBDriver::loadNodeData | ( | Signature * | signature, |
bool | images = true , |
||
bool | scan = true , |
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bool | userData = true , |
||
bool | occupancyGrid = true |
||
) | const |
Definition at line 658 of file DBDriver.cpp.
void rtabmap::DBDriver::loadNodeData | ( | std::list< Signature * > & | signatures, |
bool | images = true , |
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bool | scan = true , |
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bool | userData = true , |
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bool | occupancyGrid = true |
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) | const |
Definition at line 665 of file DBDriver.cpp.
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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 , |
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cv::Mat * | textures = 0 |
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) | const |
Definition at line 1235 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
std::map< int, Transform > rtabmap::DBDriver::loadOptimizedPoses | ( | Transform * | lastlocalizationPose = 0 | ) | const |
Definition at line 1197 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
cv::Mat rtabmap::DBDriver::loadPreviewImage | ( | ) | const |
Definition at line 1183 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
Definition at line 547 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 564 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
void rtabmap::DBDriver::loadWords | ( | const std::set< int > & | wordIds, |
std::list< VisualWord * > & | vws | ||
) |
Definition at line 616 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
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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.
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.
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virtual |
Reimplemented in rtabmap::DBDriverSqlite3.
Definition at line 59 of file DBDriver.cpp.
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 1205 of file DBDriver.cpp.
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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> > >() , |
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const std::vector< std::vector< Eigen::Vector2f > > & | texCoords = std::vector<std::vector<Eigen::Vector2f> >() , |
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const cv::Mat & | textures = cv::Mat() |
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) | const |
Definition at line 1220 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
void rtabmap::DBDriver::saveOptimizedPoses | ( | const std::map< int, Transform > & | optimizedPoses, |
const Transform & | lastlocalizationPose | ||
) | const |
Definition at line 1191 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
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private |
Definition at line 407 of file DBDriver.cpp.
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private |
Definition at line 437 of file DBDriver.cpp.
void rtabmap::DBDriver::savePreviewImage | ( | const cv::Mat & | image | ) | const |
Definition at line 1176 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
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inline |
Definition at line 82 of file DBDriver.h.
void rtabmap::DBDriver::updateCalibration | ( | int | nodeId, |
const std::vector< CameraModel > & | models, | ||
const std::vector< StereoCameraModel > & | stereoModels | ||
) |
Definition at line 505 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
Definition at line 515 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
Definition at line 524 of file DBDriver.cpp.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
void rtabmap::DBDriver::updateLink | ( | const Link & | link | ) |
Definition at line 477 of file DBDriver.cpp.
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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.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
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protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
|
protectedpure virtual |
Implemented in rtabmap::DBDriverSqlite3.
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private |
Definition at line 310 of file DBDriver.h.
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private |
Definition at line 309 of file DBDriver.h.
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private |
Definition at line 311 of file DBDriver.h.
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private |
Definition at line 313 of file DBDriver.h.
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private |
Definition at line 314 of file DBDriver.h.
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private |
Definition at line 305 of file DBDriver.h.
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private |
Definition at line 308 of file DBDriver.h.
Definition at line 306 of file DBDriver.h.
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private |
Definition at line 307 of file DBDriver.h.
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private |
Definition at line 312 of file DBDriver.h.