#include <DBDriverSqlite3.h>

Inheritance diagram for rtabmap::DBDriverSqlite3:

[legend]

Public Member Functions
	DBDriverSqlite3 (const ParametersMap &parameters=ParametersMap())

virtual bool	isInMemory () const

virtual void	parseParameters (const ParametersMap &parameters)

void	setCacheSize (unsigned int cacheSize)

void	setDbInMemory (bool dbInMemory)

void	setJournalMode (int journalMode)

void	setSynchronous (int synchronous)

void	setTempStore (int tempStore)

virtual	~DBDriverSqlite3 ()

Public Member Functions inherited from rtabmap::DBDriver
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, 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

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)

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 ()

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

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

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

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

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

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

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

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

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

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

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

virtual long	getCalibrationsMemoryUsedQuery () const

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

virtual long	getDepthImagesMemoryUsedQuery () const

virtual long	getFeaturesMemoryUsedQuery () const

virtual long	getGridsMemoryUsedQuery () const

virtual long	getImagesMemoryUsedQuery () const

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

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

virtual long	getLaserScansMemoryUsedQuery () const

virtual int	getLastDictionarySizeQuery () const

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

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

virtual int	getLastNodesSizeQuery () const

virtual ParametersMap	getLastParametersQuery () const

virtual long	getLinksMemoryUsedQuery () const

virtual unsigned long	getMemoryUsedQuery () const

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

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

virtual long	getNodesMemoryUsedQuery () const

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

virtual long	getStatisticsMemoryUsedQuery () const

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

virtual int	getTotalDictionarySizeQuery () const

virtual int	getTotalNodesSizeQuery () const

virtual long	getUserDataMemoryUsedQuery () const

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

virtual long	getWordsMemoryUsedQuery () const

virtual bool	isConnectedQuery () const

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

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

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

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

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

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

virtual cv::Mat	loadPreviewImageQuery () const

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

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

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

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

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

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

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

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

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

virtual void	updateCalibrationQuery (int nodeId, const std::vector< CameraModel > &models, const std::vector< StereoCameraModel > &stereoModels) const

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

void	updateLaserScanQuery (int nodeId, const LaserScan &scan) const

virtual void	updateLinkQuery (const Link &link) const

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

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

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

Protected Member Functions inherited from rtabmap::DBDriver
	DBDriver (const ParametersMap &parameters=ParametersMap())

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

	UThreadC ()

Protected Attributes
sqlite3 *	_ppDb

std::string	_version

Private Member Functions
void	loadLinksQuery (std::list< Signature * > &signatures) const

int	loadOrSaveDb (sqlite3 *pInMemory, const std::string &fileName, int isSave) const

std::string	queryStepCalibrationUpdate () const

std::string	queryStepDepth () const

std::string	queryStepDepthUpdate () const

std::string	queryStepGlobalDescriptor () const

std::string	queryStepImage () const

std::string	queryStepKeypoint () const

std::string	queryStepLink () const

std::string	queryStepLinkUpdate () const

std::string	queryStepNode () const

std::string	queryStepOccupancyGridUpdate () const

std::string	queryStepScanUpdate () const

std::string	queryStepSensorData () const

std::string	queryStepWordsChanged () const

void	stepCalibrationUpdate (sqlite3_stmt *ppStmt, int nodeId, const std::vector< CameraModel > &models, const std::vector< StereoCameraModel > &stereoModels) const

void	stepDepth (sqlite3_stmt *ppStmt, const SensorData &sensorData) const

void	stepDepthUpdate (sqlite3_stmt *ppStmt, int nodeId, const cv::Mat &imageCompressed) const

void	stepGlobalDescriptor (sqlite3_stmt *ppStmt, int nodeId, const GlobalDescriptor &descriptor) const

void	stepImage (sqlite3_stmt *ppStmt, int id, const cv::Mat &imageBytes) const

void	stepKeypoint (sqlite3_stmt *ppStmt, int nodeID, int wordId, const cv::KeyPoint &kp, const cv::Point3f &pt, const cv::Mat &descriptor) const

void	stepLink (sqlite3_stmt *ppStmt, const Link &link) const

void	stepNode (sqlite3_stmt ppStmt, const Signature s) const

void	stepOccupancyGridUpdate (sqlite3_stmt *ppStmt, int nodeId, const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewpoint) const

void	stepScanUpdate (sqlite3_stmt *ppStmt, int nodeId, const LaserScan &image) const

void	stepSensorData (sqlite3_stmt *ppStmt, const SensorData &sensorData) const

void	stepWordsChanged (sqlite3_stmt *ppStmt, int signatureId, int oldWordId, int newWordId) const

Private Attributes
unsigned int	_cacheSize

bool	_dbInMemory

int	_journalMode

unsigned long	_memoryUsedEstimate

int	_synchronous

int	_tempStore

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 Public Member Functions inherited from rtabmap::DBDriver
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 (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)

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 40 of file DBDriverSqlite3.h.

Constructor & Destructor Documentation

◆ DBDriverSqlite3()

rtabmap::DBDriverSqlite3::DBDriverSqlite3 ( const ParametersMap & parameters = ParametersMap() )

Definition at line 51 of file DBDriverSqlite3.cpp.

◆ ~DBDriverSqlite3()

rtabmap::DBDriverSqlite3::~DBDriverSqlite3 ( )

virtual

Definition at line 66 of file DBDriverSqlite3.cpp.

Member Function Documentation

◆ addLinkQuery()

void rtabmap::DBDriverSqlite3::addLinkQuery ( const Link & link ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 4524 of file DBDriverSqlite3.cpp.

◆ addStatisticsQuery()

void rtabmap::DBDriverSqlite3::addStatisticsQuery	(	const Statistics &	statistics,
		bool	saveWmState
	)		const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 4713 of file DBDriverSqlite3.cpp.

◆ connectDatabaseQuery()

bool rtabmap::DBDriverSqlite3::connectDatabaseQuery	(	const std::string &	url,
		bool	overwritten = `false`
	)

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 321 of file DBDriverSqlite3.cpp.

◆ disconnectDatabaseQuery()

void rtabmap::DBDriverSqlite3::disconnectDatabaseQuery	(	bool	save = `true`,
		const std::string &	outputUrl = `""`
	)

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 447 of file DBDriverSqlite3.cpp.

◆ executeNoResultQuery()

void rtabmap::DBDriverSqlite3::executeNoResultQuery ( const std::string & sql ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 513 of file DBDriverSqlite3.cpp.

◆ getAllLabelsQuery()

void rtabmap::DBDriverSqlite3::getAllLabelsQuery ( std::map< int, std::string > & labels ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 2820 of file DBDriverSqlite3.cpp.

◆ getAllLinksQuery()

void rtabmap::DBDriverSqlite3::getAllLinksQuery	(	std::multimap< int, Link > &	links,
		bool	ignoreNullLinks,
		bool	withLandmarks
	)		const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 2486 of file DBDriverSqlite3.cpp.

◆ getAllNodeIdsQuery()

void rtabmap::DBDriverSqlite3::getAllNodeIdsQuery	(	std::set< int > &	ids,
		bool	ignoreChildren,
		bool	ignoreBadSignatures,
		bool	ignoreIntermediateNodes
	)		const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 2416 of file DBDriverSqlite3.cpp.

◆ getAllStatisticsQuery()

std::map< int, std::pair< std::map< std::string, float >, double > > rtabmap::DBDriverSqlite3::getAllStatisticsQuery ( ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 1188 of file DBDriverSqlite3.cpp.

◆ getAllStatisticsWmStatesQuery()

std::map< int, std::vector< int > > rtabmap::DBDriverSqlite3::getAllStatisticsWmStatesQuery ( ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 1245 of file DBDriverSqlite3.cpp.

◆ getCalibrationQuery()

bool rtabmap::DBDriverSqlite3::getCalibrationQuery	(	int	signatureId,
		std::vector< CameraModel > &	models,
		std::vector< StereoCameraModel > &	stereoModels
	)		const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 1859 of file DBDriverSqlite3.cpp.

◆ getCalibrationsMemoryUsedQuery()

long rtabmap::DBDriverSqlite3::getCalibrationsMemoryUsedQuery ( ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 694 of file DBDriverSqlite3.cpp.

◆ getDatabaseVersionQuery()

bool rtabmap::DBDriverSqlite3::getDatabaseVersionQuery ( std::string & version ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 283 of file DBDriverSqlite3.cpp.

◆ getDepthImagesMemoryUsedQuery()

long rtabmap::DBDriverSqlite3::getDepthImagesMemoryUsedQuery ( ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 662 of file DBDriverSqlite3.cpp.

◆ getFeaturesMemoryUsedQuery()

long rtabmap::DBDriverSqlite3::getFeaturesMemoryUsedQuery ( ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 873 of file DBDriverSqlite3.cpp.

◆ getGridsMemoryUsedQuery()

long rtabmap::DBDriverSqlite3::getGridsMemoryUsedQuery ( ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 731 of file DBDriverSqlite3.cpp.

◆ getImagesMemoryUsedQuery()

long rtabmap::DBDriverSqlite3::getImagesMemoryUsedQuery ( ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 630 of file DBDriverSqlite3.cpp.

◆ getInvertedIndexNiQuery()

void rtabmap::DBDriverSqlite3::getInvertedIndexNiQuery	(	int	signatureId,
		int &	ni
	)		const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 2661 of file DBDriverSqlite3.cpp.

◆ getLaserScanInfoQuery()

bool rtabmap::DBDriverSqlite3::getLaserScanInfoQuery	(	int	signatureId,
		LaserScan &	info
	)		const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 2103 of file DBDriverSqlite3.cpp.

◆ getLaserScansMemoryUsedQuery()

long rtabmap::DBDriverSqlite3::getLaserScansMemoryUsedQuery ( ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 768 of file DBDriverSqlite3.cpp.

◆ getLastDictionarySizeQuery()

int rtabmap::DBDriverSqlite3::getLastDictionarySizeQuery ( ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 985 of file DBDriverSqlite3.cpp.

◆ getLastIdQuery()

void rtabmap::DBDriverSqlite3::getLastIdQuery	(	const std::string &	tableName,
		int &	id,
		const std::string &	fieldName = `"id"`
	)		const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 2622 of file DBDriverSqlite3.cpp.

◆ getLastNodeIdsQuery()

void rtabmap::DBDriverSqlite3::getLastNodeIdsQuery ( std::set< int > & ids ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 2372 of file DBDriverSqlite3.cpp.

◆ getLastNodesSizeQuery()

int rtabmap::DBDriverSqlite3::getLastNodesSizeQuery ( ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 953 of file DBDriverSqlite3.cpp.

◆ getLastParametersQuery()

ParametersMap rtabmap::DBDriverSqlite3::getLastParametersQuery ( ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 1066 of file DBDriverSqlite3.cpp.

◆ getLinksMemoryUsedQuery()

long rtabmap::DBDriverSqlite3::getLinksMemoryUsedQuery ( ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 586 of file DBDriverSqlite3.cpp.

◆ getMemoryUsedQuery()

unsigned long rtabmap::DBDriverSqlite3::getMemoryUsedQuery ( ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 526 of file DBDriverSqlite3.cpp.

◆ getNodeIdByLabelQuery()

void rtabmap::DBDriverSqlite3::getNodeIdByLabelQuery	(	const std::string &	label,
		int &	id
	)		const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 2790 of file DBDriverSqlite3.cpp.

◆ getNodeInfoQuery()

bool rtabmap::DBDriverSqlite3::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

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 2211 of file DBDriverSqlite3.cpp.

◆ getNodesMemoryUsedQuery()

long rtabmap::DBDriverSqlite3::getNodesMemoryUsedQuery ( ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 538 of file DBDriverSqlite3.cpp.

◆ getNodesObservingLandmarkQuery()

void rtabmap::DBDriverSqlite3::getNodesObservingLandmarkQuery	(	int	landmarkId,
		std::map< int, Link > &	nodes
	)		const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 2710 of file DBDriverSqlite3.cpp.

◆ getStatisticsMemoryUsedQuery()

long rtabmap::DBDriverSqlite3::getStatisticsMemoryUsedQuery ( ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 917 of file DBDriverSqlite3.cpp.

◆ getStatisticsQuery()

std::map< std::string, float > rtabmap::DBDriverSqlite3::getStatisticsQuery	(	int	nodeId,
		double &	stamp,
		std::vector< int > *	wmState
	)		const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 1112 of file DBDriverSqlite3.cpp.

◆ getTotalDictionarySizeQuery()

int rtabmap::DBDriverSqlite3::getTotalDictionarySizeQuery ( ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 1041 of file DBDriverSqlite3.cpp.

◆ getTotalNodesSizeQuery()

int rtabmap::DBDriverSqlite3::getTotalNodesSizeQuery ( ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 1017 of file DBDriverSqlite3.cpp.

◆ getUserDataMemoryUsedQuery()

long rtabmap::DBDriverSqlite3::getUserDataMemoryUsedQuery ( ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 813 of file DBDriverSqlite3.cpp.

◆ getWeightQuery()

void rtabmap::DBDriverSqlite3::getWeightQuery	(	int	signatureId,
		int &	weight
	)		const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 2860 of file DBDriverSqlite3.cpp.

◆ getWordsMemoryUsedQuery()

long rtabmap::DBDriverSqlite3::getWordsMemoryUsedQuery ( ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 849 of file DBDriverSqlite3.cpp.

◆ isConnectedQuery()

bool rtabmap::DBDriverSqlite3::isConnectedQuery ( ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 507 of file DBDriverSqlite3.cpp.

◆ isInMemory()

virtual bool rtabmap::DBDriverSqlite3::isInMemory ( ) const

inlinevirtual

Reimplemented from rtabmap::DBDriver.

Definition at line 46 of file DBDriverSqlite3.h.

◆ load2DMapQuery()

cv::Mat rtabmap::DBDriverSqlite3::load2DMapQuery	(	float &	xMin,
		float &	yMin,
		float &	cellSize
	)		const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 5103 of file DBDriverSqlite3.cpp.

◆ loadLastNodesQuery()

void rtabmap::DBDriverSqlite3::loadLastNodesQuery ( std::list< Signature * > & signatures ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 3534 of file DBDriverSqlite3.cpp.

◆ loadLinksQuery() [1/2]

void rtabmap::DBDriverSqlite3::loadLinksQuery	(	int	signatureId,
		std::multimap< int, Link > &	links,
		Link::Type	type = `Link::kUndef`
	)		const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 3768 of file DBDriverSqlite3.cpp.

◆ loadLinksQuery() [2/2]

void rtabmap::DBDriverSqlite3::loadLinksQuery ( std::list< Signature * > & signatures ) const

private

Definition at line 3925 of file DBDriverSqlite3.cpp.

◆ loadNodeDataQuery()

void rtabmap::DBDriverSqlite3::loadNodeDataQuery	(	std::list< Signature * > &	signatures,
		bool	images = `true`,
		bool	scan = `true`,
		bool	userData = `true`,
		bool	occupancyGrid = `true`
	)		const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 1295 of file DBDriverSqlite3.cpp.

◆ loadOptimizedMeshQuery()

cv::Mat rtabmap::DBDriverSqlite3::loadOptimizedMeshQuery	(	std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > *	polygons,
		std::vector< std::vector< Eigen::Vector2f > > *	texCoords,
		cv::Mat *	textures
	)		const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 5357 of file DBDriverSqlite3.cpp.

◆ loadOptimizedPosesQuery()

std::map< int, Transform > rtabmap::DBDriverSqlite3::loadOptimizedPosesQuery ( Transform * lastlocalizationPose = 0 ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 4968 of file DBDriverSqlite3.cpp.

◆ loadOrSaveDb()

int rtabmap::DBDriverSqlite3::loadOrSaveDb	(	sqlite3 *	pInMemory,
		const std::string &	fileName,
		int	isSave
	)		const

private

Definition at line 236 of file DBDriverSqlite3.cpp.

◆ loadPreviewImageQuery()

cv::Mat rtabmap::DBDriverSqlite3::loadPreviewImageQuery ( ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 4844 of file DBDriverSqlite3.cpp.

◆ loadQuery()

void rtabmap::DBDriverSqlite3::loadQuery	(	VWDictionary *	dictionary,
		bool	lastStateOnly = `true`
	)		const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 3585 of file DBDriverSqlite3.cpp.

◆ loadSignaturesQuery()

void rtabmap::DBDriverSqlite3::loadSignaturesQuery	(	const std::list< int > &	ids,
		std::list< Signature * > &	signatures
	)		const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 2895 of file DBDriverSqlite3.cpp.

◆ loadWordsQuery()

void rtabmap::DBDriverSqlite3::loadWordsQuery	(	const std::set< int > &	wordIds,
		std::list< VisualWord * > &	vws
	)		const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 3673 of file DBDriverSqlite3.cpp.

◆ parseParameters()

void rtabmap::DBDriverSqlite3::parseParameters ( const ParametersMap & parameters )

virtual

Reimplemented from rtabmap::DBDriver.

Definition at line 71 of file DBDriverSqlite3.cpp.

◆ queryStepCalibrationUpdate()

std::string rtabmap::DBDriverSqlite3::queryStepCalibrationUpdate ( ) const

private

Definition at line 5807 of file DBDriverSqlite3.cpp.

◆ queryStepDepth()

std::string rtabmap::DBDriverSqlite3::queryStepDepth ( ) const

private

Definition at line 5695 of file DBDriverSqlite3.cpp.

◆ queryStepDepthUpdate()

std::string rtabmap::DBDriverSqlite3::queryStepDepthUpdate ( ) const

private

Definition at line 5932 of file DBDriverSqlite3.cpp.

◆ queryStepGlobalDescriptor()

std::string rtabmap::DBDriverSqlite3::queryStepGlobalDescriptor ( ) const

private

Definition at line 6693 of file DBDriverSqlite3.cpp.

◆ queryStepImage()

std::string rtabmap::DBDriverSqlite3::queryStepImage ( ) const

private

Definition at line 5655 of file DBDriverSqlite3.cpp.

◆ queryStepKeypoint()

std::string rtabmap::DBDriverSqlite3::queryStepKeypoint ( ) const

private

Definition at line 6578 of file DBDriverSqlite3.cpp.

◆ queryStepLink()

std::string rtabmap::DBDriverSqlite3::queryStepLink ( ) const

private

Definition at line 6451 of file DBDriverSqlite3.cpp.

◆ queryStepLinkUpdate()

std::string rtabmap::DBDriverSqlite3::queryStepLinkUpdate ( ) const

private

Definition at line 6428 of file DBDriverSqlite3.cpp.

◆ queryStepNode()

std::string rtabmap::DBDriverSqlite3::queryStepNode ( ) const

private

Definition at line 5494 of file DBDriverSqlite3.cpp.

◆ queryStepOccupancyGridUpdate()

std::string rtabmap::DBDriverSqlite3::queryStepOccupancyGridUpdate ( ) const

private

Definition at line 6748 of file DBDriverSqlite3.cpp.

◆ queryStepScanUpdate()

std::string rtabmap::DBDriverSqlite3::queryStepScanUpdate ( ) const

private

Definition at line 5985 of file DBDriverSqlite3.cpp.

◆ queryStepSensorData()

std::string rtabmap::DBDriverSqlite3::queryStepSensorData ( ) const

private

Definition at line 6111 of file DBDriverSqlite3.cpp.

◆ queryStepWordsChanged()

std::string rtabmap::DBDriverSqlite3::queryStepWordsChanged ( ) const

private

Definition at line 6545 of file DBDriverSqlite3.cpp.

◆ save2DMapQuery()

void rtabmap::DBDriverSqlite3::save2DMapQuery	(	const cv::Mat &	map,
		float	xMin,
		float	yMin,
		float	cellSize
	)		const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 5051 of file DBDriverSqlite3.cpp.

◆ saveOptimizedMeshQuery()

void rtabmap::DBDriverSqlite3::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

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 5161 of file DBDriverSqlite3.cpp.

◆ saveOptimizedPosesQuery()

void rtabmap::DBDriverSqlite3::saveOptimizedPosesQuery	(	const std::map< int, Transform > &	optimizedPoses,
		const Transform &	lastlocalizationPose
	)		const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 4895 of file DBDriverSqlite3.cpp.

◆ savePreviewImageQuery()

void rtabmap::DBDriverSqlite3::savePreviewImageQuery ( const cv::Mat & image ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 4794 of file DBDriverSqlite3.cpp.

◆ saveQuery() [1/2]

void rtabmap::DBDriverSqlite3::saveQuery ( const std::list< Signature * > & signatures )

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 4281 of file DBDriverSqlite3.cpp.

◆ saveQuery() [2/2]

void rtabmap::DBDriverSqlite3::saveQuery ( const std::list< VisualWord * > & words ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 4466 of file DBDriverSqlite3.cpp.

◆ setCacheSize()

void rtabmap::DBDriverSqlite3::setCacheSize ( unsigned int cacheSize )

Definition at line 97 of file DBDriverSqlite3.cpp.

◆ setDbInMemory()

void rtabmap::DBDriverSqlite3::setDbInMemory ( bool dbInMemory )

Definition at line 198 of file DBDriverSqlite3.cpp.

◆ setJournalMode()

void rtabmap::DBDriverSqlite3::setJournalMode ( int journalMode )

Definition at line 108 of file DBDriverSqlite3.cpp.

◆ setSynchronous()

void rtabmap::DBDriverSqlite3::setSynchronous ( int synchronous )

Definition at line 142 of file DBDriverSqlite3.cpp.

◆ setTempStore()

void rtabmap::DBDriverSqlite3::setTempStore ( int tempStore )

Definition at line 170 of file DBDriverSqlite3.cpp.

◆ stepCalibrationUpdate()

void rtabmap::DBDriverSqlite3::stepCalibrationUpdate	(	sqlite3_stmt *	ppStmt,
		int	nodeId,
		const std::vector< CameraModel > &	models,
		const std::vector< StereoCameraModel > &	stereoModels
	)		const

private

Definition at line 5812 of file DBDriverSqlite3.cpp.

◆ stepDepth()

void rtabmap::DBDriverSqlite3::stepDepth	(	sqlite3_stmt *	ppStmt,
		const SensorData &	sensorData
	)		const

private

Definition at line 5711 of file DBDriverSqlite3.cpp.

◆ stepDepthUpdate()

void rtabmap::DBDriverSqlite3::stepDepthUpdate	(	sqlite3_stmt *	ppStmt,
		int	nodeId,
		const cv::Mat &	imageCompressed
	)		const

private

Definition at line 5943 of file DBDriverSqlite3.cpp.

◆ stepGlobalDescriptor()

void rtabmap::DBDriverSqlite3::stepGlobalDescriptor	(	sqlite3_stmt *	ppStmt,
		int	nodeId,
		const GlobalDescriptor &	descriptor
	)		const

private

Definition at line 6698 of file DBDriverSqlite3.cpp.

◆ stepImage()

void rtabmap::DBDriverSqlite3::stepImage	(	sqlite3_stmt *	ppStmt,
		int	id,
		const cv::Mat &	imageBytes
	)		const

private

Definition at line 5660 of file DBDriverSqlite3.cpp.

◆ stepKeypoint()

void rtabmap::DBDriverSqlite3::stepKeypoint	(	sqlite3_stmt *	ppStmt,
		int	nodeID,
		int	wordId,
		const cv::KeyPoint &	kp,
		const cv::Point3f &	pt,
		const cv::Mat &	descriptor
	)		const

private

Definition at line 6594 of file DBDriverSqlite3.cpp.

◆ stepLink()

void rtabmap::DBDriverSqlite3::stepLink	(	sqlite3_stmt *	ppStmt,
		const Link &	link
	)		const

private

Definition at line 6475 of file DBDriverSqlite3.cpp.

◆ stepNode()

void rtabmap::DBDriverSqlite3::stepNode	(	sqlite3_stmt *	ppStmt,
		const Signature *	s
	)		const

private

Definition at line 5526 of file DBDriverSqlite3.cpp.

◆ stepOccupancyGridUpdate()

void rtabmap::DBDriverSqlite3::stepOccupancyGridUpdate	(	sqlite3_stmt *	ppStmt,
		int	nodeId,
		const cv::Mat &	ground,
		const cv::Mat &	obstacles,
		const cv::Mat &	empty,
		float	cellSize,
		const cv::Point3f &	viewpoint
	)		const

private

Definition at line 6757 of file DBDriverSqlite3.cpp.

◆ stepScanUpdate()

void rtabmap::DBDriverSqlite3::stepScanUpdate	(	sqlite3_stmt *	ppStmt,
		int	nodeId,
		const LaserScan &	image
	)		const

private

Definition at line 6001 of file DBDriverSqlite3.cpp.

◆ stepSensorData()

void rtabmap::DBDriverSqlite3::stepSensorData	(	sqlite3_stmt *	ppStmt,
		const SensorData &	sensorData
	)		const

private

Definition at line 6135 of file DBDriverSqlite3.cpp.

◆ stepWordsChanged()

void rtabmap::DBDriverSqlite3::stepWordsChanged	(	sqlite3_stmt *	ppStmt,
		int	signatureId,
		int	oldWordId,
		int	newWordId
	)		const

private

Definition at line 6556 of file DBDriverSqlite3.cpp.

◆ updateCalibrationQuery()

void rtabmap::DBDriverSqlite3::updateCalibrationQuery	(	int	nodeId,
		const std::vector< CameraModel > &	models,
		const std::vector< StereoCameraModel > &	stereoModels
	)		const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 4618 of file DBDriverSqlite3.cpp.

◆ updateDepthImageQuery()

void rtabmap::DBDriverSqlite3::updateDepthImageQuery	(	int	nodeId,
		const cv::Mat &	image
	)		const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 4651 of file DBDriverSqlite3.cpp.

◆ updateLaserScanQuery()

void rtabmap::DBDriverSqlite3::updateLaserScanQuery	(	int	nodeId,
		const LaserScan &	scan
	)		const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 4682 of file DBDriverSqlite3.cpp.

◆ updateLinkQuery()

void rtabmap::DBDriverSqlite3::updateLinkQuery ( const Link & link ) const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 4552 of file DBDriverSqlite3.cpp.

◆ updateOccupancyGridQuery()

void rtabmap::DBDriverSqlite3::updateOccupancyGridQuery	(	int	nodeId,
		const cv::Mat &	ground,
		const cv::Mat &	obstacles,
		const cv::Mat &	empty,
		float	cellSize,
		const cv::Point3f &	viewpoint
	)		const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 4579 of file DBDriverSqlite3.cpp.

◆ updateQuery() [1/2]

void rtabmap::DBDriverSqlite3::updateQuery	(	const std::list< Signature * > &	signatures,
		bool	updateTimestamp
	)		const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 4091 of file DBDriverSqlite3.cpp.

◆ updateQuery() [2/2]

void rtabmap::DBDriverSqlite3::updateQuery	(	const std::list< VisualWord * > &	words,
		bool	updateTimestamp
	)		const

protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 4241 of file DBDriverSqlite3.cpp.

Member Data Documentation

◆ _cacheSize

unsigned int rtabmap::DBDriverSqlite3::_cacheSize

private

Definition at line 201 of file DBDriverSqlite3.h.

◆ _dbInMemory

bool rtabmap::DBDriverSqlite3::_dbInMemory

private

Definition at line 200 of file DBDriverSqlite3.h.

◆ _journalMode

int rtabmap::DBDriverSqlite3::_journalMode

private

Definition at line 202 of file DBDriverSqlite3.h.

◆ _memoryUsedEstimate

unsigned long rtabmap::DBDriverSqlite3::_memoryUsedEstimate

private

Definition at line 199 of file DBDriverSqlite3.h.

◆ _ppDb

sqlite3* rtabmap::DBDriverSqlite3::_ppDb

protected

Definition at line 195 of file DBDriverSqlite3.h.

◆ _synchronous

int rtabmap::DBDriverSqlite3::_synchronous

private

Definition at line 203 of file DBDriverSqlite3.h.

◆ _tempStore

int rtabmap::DBDriverSqlite3::_tempStore

private

Definition at line 204 of file DBDriverSqlite3.h.

◆ _version

std::string rtabmap::DBDriverSqlite3::_version

protected

Definition at line 196 of file DBDriverSqlite3.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DBDriverSqlite3()

◆ ~DBDriverSqlite3()

Member Function Documentation

◆ addLinkQuery()

◆ addStatisticsQuery()

◆ connectDatabaseQuery()

◆ disconnectDatabaseQuery()

◆ executeNoResultQuery()

◆ getAllLabelsQuery()

◆ getAllLinksQuery()

◆ getAllNodeIdsQuery()

◆ getAllStatisticsQuery()

◆ getAllStatisticsWmStatesQuery()

◆ getCalibrationQuery()

◆ getCalibrationsMemoryUsedQuery()

◆ getDatabaseVersionQuery()

◆ getDepthImagesMemoryUsedQuery()

◆ getFeaturesMemoryUsedQuery()

◆ getGridsMemoryUsedQuery()

◆ getImagesMemoryUsedQuery()

◆ getInvertedIndexNiQuery()

◆ getLaserScanInfoQuery()

◆ getLaserScansMemoryUsedQuery()

◆ getLastDictionarySizeQuery()

◆ getLastIdQuery()

◆ getLastNodeIdsQuery()

◆ getLastNodesSizeQuery()

◆ getLastParametersQuery()

◆ getLinksMemoryUsedQuery()

◆ getMemoryUsedQuery()

◆ getNodeIdByLabelQuery()

◆ getNodeInfoQuery()

◆ getNodesMemoryUsedQuery()

◆ getNodesObservingLandmarkQuery()

◆ getStatisticsMemoryUsedQuery()

◆ getStatisticsQuery()

◆ getTotalDictionarySizeQuery()

◆ getTotalNodesSizeQuery()

◆ getUserDataMemoryUsedQuery()

◆ getWeightQuery()

◆ getWordsMemoryUsedQuery()

◆ isConnectedQuery()

◆ isInMemory()

◆ load2DMapQuery()

◆ loadLastNodesQuery()

◆ loadLinksQuery() [1/2]

◆ loadLinksQuery() [2/2]

◆ loadNodeDataQuery()

◆ loadOptimizedMeshQuery()

◆ loadOptimizedPosesQuery()

◆ loadOrSaveDb()

◆ loadPreviewImageQuery()

◆ loadQuery()

◆ loadSignaturesQuery()

◆ loadWordsQuery()

◆ parseParameters()

◆ queryStepCalibrationUpdate()

◆ queryStepDepth()

◆ queryStepDepthUpdate()

◆ queryStepGlobalDescriptor()

◆ queryStepImage()

◆ queryStepKeypoint()

◆ queryStepLink()

◆ queryStepLinkUpdate()

◆ queryStepNode()

◆ queryStepOccupancyGridUpdate()

◆ queryStepScanUpdate()

◆ queryStepSensorData()

◆ queryStepWordsChanged()

◆ save2DMapQuery()

◆ saveOptimizedMeshQuery()

◆ saveOptimizedPosesQuery()