#include <DBDriver.h>

Inheritance diagram for rtabmap::DBDriver:

Public Member Functions
void	addStatisticsAfterRun (int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize) const
void	asyncSave (Signature *s)
void	asyncSave (VisualWord *vw)
void	beginTransaction () const
void	closeConnection ()
void	commit () const
void	emptyTrashes (bool async=false)
void	executeNoResult (const std::string &sql) const
void	getAllLabels (std::map< int, std::string > &labels) const
void	getAllNodeIds (std::set< int > &ids, bool ignoreChildren=false) const
double	getEmptyTrashesTime () const
void	getInvertedIndexNi (int signatureId, int &ni) const
void	getLastNodeId (int &id) const
void	getLastWordId (int &id) const
long	getMemoryUsed () const
void	getNodeData (int signatureId, cv::Mat &imageCompressed, cv::Mat &depthCompressed, cv::Mat &laserScanCompressed, float &fx, float &fy, float &cx, float &cy, Transform &localTransform, int &laserScanMaxPts) const
void	getNodeData (int signatureId, cv::Mat &imageCompressed) 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, std::vector< unsigned char > &userData) const
const std::string &	getUrl () const
void	getWeight (int signatureId, int &weight) const
bool	isConnected () const
void	load (VWDictionary *dictionary) const
void	loadLastNodes (std::list< Signature * > &signatures) const
void	loadLinks (int signatureId, std::map< int, Link > &links, Link::Type type=Link::kUndef) const
void	loadNodeData (std::list< Signature * > &signatures, bool loadMetricData) const
void	loadSignatures (const std::list< int > &ids, std::list< Signature * > &signatures, std::set< int > *loadedFromTrash=0)
void	loadWords (const std::set< int > &wordIds, std::list< VisualWord * > &vws)
bool	openConnection (const std::string &url, bool overwritten=false)
virtual void	parseParameters (const ParametersMap &parameters)
void	setTimestampUpdateEnabled (bool enabled)
virtual	~DBDriver ()
Protected Member Functions
	DBDriver (const ParametersMap &parameters=ParametersMap())
Private Member Functions
virtual bool	connectDatabaseQuery (const std::string &url, bool overwritten=false)=0
virtual void	disconnectDatabaseQuery ()=0
virtual void	executeNoResultQuery (const std::string &sql) const =0
virtual void	getAllLabelsQuery (std::map< int, std::string > &labels) const =0
virtual void	getAllNodeIdsQuery (std::set< int > &ids, bool ignoreChildren) const =0
virtual void	getInvertedIndexNiQuery (int signatureId, int &ni) const =0
virtual void	getLastIdQuery (const std::string &tableName, int &id) const =0
virtual long	getMemoryUsedQuery () const =0
virtual void	getNodeDataQuery (int signatureId, cv::Mat &imageCompressed, cv::Mat &depthCompressed, cv::Mat &laserScanCompressed, float &fx, float &fy, float &cx, float &cy, Transform &localTransform, int &laserScanMaxPts) const =0
virtual void	getNodeDataQuery (int signatureId, cv::Mat &imageCompressed) 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, std::vector< unsigned char > &userData) const =0
virtual void	getWeightQuery (int signatureId, int &weight) const =0
virtual bool	isConnectedQuery () const =0
virtual void	loadLastNodesQuery (std::list< Signature * > &signatures) const =0
virtual void	loadLinksQuery (int signatureId, std::map< int, Link > &links, Link::Type type=Link::kUndef) const =0
virtual void	loadNodeDataQuery (std::list< Signature * > &signatures, bool loadMetricData) const =0
virtual void	loadQuery (VWDictionary *dictionary) 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	mainLoop ()
void	saveOrUpdate (const std::vector< Signature * > &signatures) const
void	saveOrUpdate (const std::vector< VisualWord * > &words) const
virtual void	saveQuery (const std::list< Signature * > &signatures) const =0
virtual void	saveQuery (const std::list< VisualWord * > &words) 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
Private Attributes
USemaphore	_addSem
UMutex	_dbSafeAccessMutex
double	_emptyTrashesTime
bool	_timestampUpdate
UMutex	_transactionMutex
UMutex	_trashesMutex
std::map< int, Signature * >	_trashSignatures
std::map< int, VisualWord * >	_trashVisualWords
std::string	_url

Detailed Description

Definition at line 60 of file DBDriver.h.

Constructor & Destructor Documentation

rtabmap::DBDriver::~DBDriver ( ) [virtual]

Definition at line 47 of file DBDriver.cpp.

rtabmap::DBDriver::DBDriver ( const ParametersMap & parameters = ParametersMap() ) [protected]

Definition at line 40 of file DBDriver.cpp.

Member Function Documentation

void rtabmap::DBDriver::addStatisticsAfterRun	(	int	stMemSize,
		int	lastSignAdded,
		int	processMemUsed,
		int	databaseMemUsed,
		int	dictionarySize
	)		const

Definition at line 703 of file DBDriver.cpp.

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

Definition at line 200 of file DBDriver.cpp.

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

Definition at line 213 of file DBDriver.cpp.

void rtabmap::DBDriver::beginTransaction ( ) const

Definition at line 108 of file DBDriver.cpp.

void rtabmap::DBDriver::closeConnection ( )

Definition at line 57 of file DBDriver.cpp.

void rtabmap::DBDriver::commit ( ) const

Definition at line 115 of file DBDriver.cpp.

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

Implemented in rtabmap::DBDriverSqlite3.

virtual void rtabmap::DBDriver::disconnectDatabaseQuery ( ) [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

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

Definition at line 129 of file DBDriver.cpp.

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

Definition at line 122 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::executeNoResultQuery ( const std::string & sql ) const [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

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

Definition at line 684 of file DBDriver.cpp.

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

Implemented in rtabmap::DBDriverSqlite3.

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

Definition at line 561 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::getAllNodeIdsQuery	(	std::set< int > &	ids,
		bool	ignoreChildren
	)		const `[private, pure virtual]`

Implemented in rtabmap::DBDriverSqlite3.

double rtabmap::DBDriver::getEmptyTrashesTime ( ) const [inline]

Definition at line 74 of file DBDriver.h.

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

Definition at line 629 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::getInvertedIndexNiQuery	(	int	signatureId,
		int &	ni
	)		const `[private, pure virtual]`

Implemented in rtabmap::DBDriverSqlite3.

virtual void rtabmap::DBDriver::getLastIdQuery	(	const std::string &	tableName,
		int &	id
	)		const `[private, pure virtual]`

Implemented in rtabmap::DBDriverSqlite3.

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

Definition at line 599 of file DBDriver.cpp.

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

Definition at line 614 of file DBDriver.cpp.

long rtabmap::DBDriver::getMemoryUsed ( ) const

Definition at line 93 of file DBDriver.cpp.

virtual long rtabmap::DBDriver::getMemoryUsedQuery ( ) const [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::getNodeData	(	int	signatureId,
		cv::Mat &	imageCompressed,
		cv::Mat &	depthCompressed,
		cv::Mat &	laserScanCompressed,
		float &	fx,
		float &	fy,
		float &	cx,
		float &	cy,
		Transform &	localTransform,
		int &	laserScanMaxPts
	)		const

Definition at line 413 of file DBDriver.cpp.

void rtabmap::DBDriver::getNodeData	(	int	signatureId,
		cv::Mat &	imageCompressed
	)		const

Definition at line 455 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::getNodeDataQuery	(	int	signatureId,
		cv::Mat &	imageCompressed,
		cv::Mat &	depthCompressed,
		cv::Mat &	laserScanCompressed,
		float &	fx,
		float &	fy,
		float &	cx,
		float &	cy,
		Transform &	localTransform,
		int &	laserScanMaxPts
	)		const `[private, pure virtual]`

Implemented in rtabmap::DBDriverSqlite3.

virtual void rtabmap::DBDriver::getNodeDataQuery	(	int	signatureId,
		cv::Mat &	imageCompressed
	)		const `[private, pure virtual]`

Implemented in rtabmap::DBDriverSqlite3.

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

Definition at line 649 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::getNodeIdByLabelQuery	(	const std::string &	label,
		int &	id
	)		const `[private, pure virtual]`

Implemented in rtabmap::DBDriverSqlite3.

bool rtabmap::DBDriver::getNodeInfo	(	int	signatureId,
		Transform &	pose,
		int &	mapId,
		int &	weight,
		std::string &	label,
		double &	stamp,
		std::vector< unsigned char > &	userData
	)		const

Definition at line 479 of file DBDriver.cpp.

virtual bool rtabmap::DBDriver::getNodeInfoQuery	(	int	signatureId,
		Transform &	pose,
		int &	mapId,
		int &	weight,
		std::string &	label,
		double &	stamp,
		std::vector< unsigned char > &	userData
	)		const `[private, pure virtual]`

Implemented in rtabmap::DBDriverSqlite3.

const std::string& rtabmap::DBDriver::getUrl ( ) const [inline]

Definition at line 66 of file DBDriver.h.

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

Definition at line 541 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::getWeightQuery	(	int	signatureId,
		int &	weight
	)		const `[private, pure virtual]`

Implemented in rtabmap::DBDriverSqlite3.

bool rtabmap::DBDriver::isConnected ( ) const

Definition at line 83 of file DBDriver.cpp.

virtual bool rtabmap::DBDriver::isConnectedQuery ( ) const [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::load ( VWDictionary * dictionary ) const

Definition at line 285 of file DBDriver.cpp.

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

Definition at line 292 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::loadLastNodesQuery ( std::list< Signature * > & signatures ) const [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

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

Definition at line 511 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::loadLinksQuery	(	int	signatureId,
		std::map< int, Link > &	links,
		Link::Type	type = `Link::kUndef`
	)		const `[private, pure virtual]`

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::loadNodeData	(	std::list< Signature * > &	signatures,
		bool	loadMetricData
	)		const

Definition at line 393 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::loadNodeDataQuery	(	std::list< Signature * > &	signatures,
		bool	loadMetricData
	)		const `[private, pure virtual]`

Implemented in rtabmap::DBDriverSqlite3.

virtual void rtabmap::DBDriver::loadQuery ( VWDictionary * dictionary ) const [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

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

Definition at line 299 of file DBDriver.cpp.

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

Implemented in rtabmap::DBDriverSqlite3.

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

Definition at line 352 of file DBDriver.cpp.

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

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::mainLoop ( ) [private, virtual]

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

See also:: mainLoop(); kill()

Implements UThread.

Definition at line 102 of file DBDriver.cpp.

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

Definition at line 69 of file DBDriver.cpp.

void rtabmap::DBDriver::parseParameters ( const ParametersMap & parameters ) [virtual]

Reimplemented in rtabmap::DBDriverSqlite3.

Definition at line 53 of file DBDriver.cpp.

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

Definition at line 225 of file DBDriver.cpp.

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

Definition at line 255 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::saveQuery ( const std::list< Signature * > & signatures ) const [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

virtual void rtabmap::DBDriver::saveQuery ( const std::list< VisualWord * > & words ) const [private, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::setTimestampUpdateEnabled ( bool enabled ) [inline]

Definition at line 75 of file DBDriver.h.

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

Implemented in rtabmap::DBDriverSqlite3.

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

Implemented in rtabmap::DBDriverSqlite3.

Member Data Documentation

USemaphore rtabmap::DBDriver::_addSem [private]

Definition at line 160 of file DBDriver.h.

UMutex rtabmap::DBDriver::_dbSafeAccessMutex [private]

Definition at line 159 of file DBDriver.h.

double rtabmap::DBDriver::_emptyTrashesTime [private]

Definition at line 161 of file DBDriver.h.

bool rtabmap::DBDriver::_timestampUpdate [private]

Definition at line 163 of file DBDriver.h.

UMutex rtabmap::DBDriver::_transactionMutex [private]

Definition at line 155 of file DBDriver.h.

UMutex rtabmap::DBDriver::_trashesMutex [private]

Definition at line 158 of file DBDriver.h.

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

Definition at line 156 of file DBDriver.h.

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

Definition at line 157 of file DBDriver.h.

std::string rtabmap::DBDriver::_url [private]

Definition at line 162 of file DBDriver.h.

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation