Public Member Functions | Static Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes
rtabmap::DBDriver Class Reference

#include <DBDriver.h>

Inheritance diagram for rtabmap::DBDriver:
Inheritance graph
[legend]

List of all members.

Public Member Functions

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) 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) const
void getAllNodeIds (std::set< int > &ids, bool ignoreChildren=false, bool ignoreBadSignatures=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, StereoCameraModel &stereoModel) 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 getLastNodeId (int &id) const
int getLastNodesSize () const
ParametersMap getLastParameters () const
void getLastWordId (int &id) const
long getLinksMemoryUsed () const
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) const
long getNodesMemoryUsed () const
std::map< std::string, float > getStatistics (int nodeId, double &stamp, std::vector< int > *wmState=0) const
long getStatisticsMemoryUsed () 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::map< int, Link > &links, Link::Type type=Link::kUndef) 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< unsigned int > > > *polygons=0, std::vector< std::vector< Eigen::Vector2f > > *texCoords=0, cv::Mat *textures=0) const
std::map< int, Transform > loadOptimizedPoses (Transform *lastlocalizationPose) const
cv::Mat loadPreviewImage () 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 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< unsigned int > > > &polygons=std::vector< std::vector< std::vector< unsigned int > > >(), 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 updateDepthImage (int nodeId, const cv::Mat &image)
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 ()

Static Public Member Functions

static DBDriver * create (const ParametersMap &parameters=ParametersMap())

Protected Member Functions

virtual void addLinkQuery (const Link &link) const =0
virtual void addStatisticsQuery (const Statistics &statistics) const =0
virtual bool connectDatabaseQuery (const std::string &url, bool overwritten=false)=0
 DBDriver (const ParametersMap &parameters=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) const =0
virtual void getAllNodeIdsQuery (std::set< int > &ids, bool ignoreChildren, bool ignoreBadSignatures) 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, StereoCameraModel &stereoModel) 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 =0
virtual int getLastNodesSizeQuery () const =0
virtual ParametersMap getLastParametersQuery () const =0
virtual long getLinksMemoryUsedQuery () const =0
virtual 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) const =0
virtual long getNodesMemoryUsedQuery () 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::map< 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< unsigned int > > > *polygons, std::vector< std::vector< Eigen::Vector2f > > *texCoords, cv::Mat *textures) const =0
virtual std::map< int, Transform > loadOptimizedPosesQuery (Transform *lastlocalizationPose) 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< unsigned int > > > &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 updateDepthImageQuery (int nodeId, const cv::Mat &image) 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

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
bool _timestampUpdate
UMutex _transactionMutex
UMutex _trashesMutex
std::map< int, Signature * > _trashSignatures
std::map< int, VisualWord * > _trashVisualWords
std::string _url

Detailed Description

Definition at line 62 of file DBDriver.h.

Constructor & Destructor Documentation

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

Definition at line 54 of file DBDriver.cpp.

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

Definition at line 47 of file DBDriver.cpp.

Member Function Documentation

void rtabmap::DBDriver::addInfoAfterRun ( int  stMemSize,
int  lastSignAdded,
int  processMemUsed,
int  databaseMemUsed,
int  dictionarySize,
const ParametersMap &  parameters 
) const

Definition at line 992 of file DBDriver.cpp.

void rtabmap::DBDriver::addLink ( const Link &  link)

Definition at line 467 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::addLinkQuery ( const Link &  link) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::addStatistics ( const Statistics &  statistics) const

Definition at line 1042 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::addStatisticsQuery ( const Statistics &  statistics) const [protected, pure 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.

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

Implemented in rtabmap::DBDriverSqlite3.

DBDriver * rtabmap::DBDriver::create ( const ParametersMap &  parameters = ParametersMap()) [static]

Definition at line 41 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::disconnectDatabaseQuery ( bool  save = true,
const std::string &  outputUrl = "" 
) [protected, pure 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.

virtual void rtabmap::DBDriver::executeNoResultQuery ( const std::string &  sql) const [protected, pure 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 1123 of file DBDriver.cpp.

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

Definition at line 973 of file DBDriver.cpp.

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

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::getAllLinks ( std::multimap< int, Link > &  links,
bool  ignoreNullLinks = true 
) const

Definition at line 852 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::getAllLinksQuery ( std::multimap< int, Link > &  links,
bool  ignoreNullLinks 
) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

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

Definition at line 813 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::getAllNodeIdsQuery ( std::set< int > &  ids,
bool  ignoreChildren,
bool  ignoreBadSignatures 
) const [protected, pure 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.

virtual std::map<int, std::pair<std::map<std::string, float>, double> > rtabmap::DBDriver::getAllStatisticsQuery ( ) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

std::map< int, std::vector< int > > rtabmap::DBDriver::getAllStatisticsWmStates ( ) const

Definition at line 266 of file DBDriver.cpp.

virtual std::map<int, std::vector<int> > rtabmap::DBDriver::getAllStatisticsWmStatesQuery ( ) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

bool rtabmap::DBDriver::getCalibration ( int  signatureId,
std::vector< CameraModel > &  models,
StereoCameraModel &  stereoModel 
) const

Definition at line 677 of file DBDriver.cpp.

virtual bool rtabmap::DBDriver::getCalibrationQuery ( int  signatureId,
std::vector< CameraModel > &  models,
StereoCameraModel &  stereoModel 
) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

long rtabmap::DBDriver::getCalibrationsMemoryUsed ( ) const

Definition at line 151 of file DBDriver.cpp.

virtual long rtabmap::DBDriver::getCalibrationsMemoryUsedQuery ( ) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

std::string rtabmap::DBDriver::getDatabaseVersion ( ) const

Definition at line 275 of file DBDriver.cpp.

virtual bool rtabmap::DBDriver::getDatabaseVersionQuery ( std::string &  version) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

long rtabmap::DBDriver::getDepthImagesMemoryUsed ( ) const

Definition at line 143 of file DBDriver.cpp.

virtual long rtabmap::DBDriver::getDepthImagesMemoryUsedQuery ( ) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

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

Definition at line 80 of file DBDriver.h.

long rtabmap::DBDriver::getFeaturesMemoryUsed ( ) const

Definition at line 191 of file DBDriver.cpp.

virtual long rtabmap::DBDriver::getFeaturesMemoryUsedQuery ( ) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

long rtabmap::DBDriver::getGridsMemoryUsed ( ) const

Definition at line 159 of file DBDriver.cpp.

virtual long rtabmap::DBDriver::getGridsMemoryUsedQuery ( ) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

long rtabmap::DBDriver::getImagesMemoryUsed ( ) const

Definition at line 135 of file DBDriver.cpp.

virtual long rtabmap::DBDriver::getImagesMemoryUsedQuery ( ) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

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

Definition at line 918 of file DBDriver.cpp.

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

Implemented in rtabmap::DBDriverSqlite3.

bool rtabmap::DBDriver::getLaserScanInfo ( int  signatureId,
LaserScan &  info 
) const

Definition at line 703 of file DBDriver.cpp.

virtual bool rtabmap::DBDriver::getLaserScanInfoQuery ( int  signatureId,
LaserScan &  info 
) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

long rtabmap::DBDriver::getLaserScansMemoryUsed ( ) const

Definition at line 167 of file DBDriver.cpp.

virtual long rtabmap::DBDriver::getLaserScansMemoryUsedQuery ( ) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

int rtabmap::DBDriver::getLastDictionarySize ( ) const

Definition at line 215 of file DBDriver.cpp.

virtual int rtabmap::DBDriver::getLastDictionarySizeQuery ( ) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

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

Implemented in rtabmap::DBDriverSqlite3.

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

Definition at line 879 of file DBDriver.cpp.

int rtabmap::DBDriver::getLastNodesSize ( ) const

Definition at line 207 of file DBDriver.cpp.

virtual int rtabmap::DBDriver::getLastNodesSizeQuery ( ) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

ParametersMap rtabmap::DBDriver::getLastParameters ( ) const

Definition at line 239 of file DBDriver.cpp.

virtual ParametersMap rtabmap::DBDriver::getLastParametersQuery ( ) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

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

Definition at line 903 of file DBDriver.cpp.

long rtabmap::DBDriver::getLinksMemoryUsed ( ) const

Definition at line 127 of file DBDriver.cpp.

virtual long rtabmap::DBDriver::getLinksMemoryUsedQuery ( ) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

long rtabmap::DBDriver::getMemoryUsed ( ) const

Definition at line 110 of file DBDriver.cpp.

virtual long rtabmap::DBDriver::getMemoryUsedQuery ( ) const [protected, pure 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 642 of file DBDriver.cpp.

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

Definition at line 938 of file DBDriver.cpp.

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

Definition at line 727 of file DBDriver.cpp.

virtual bool rtabmap::DBDriver::getNodeInfoQuery ( int  signatureId,
Transform &  pose,
int &  mapId,
int &  weight,
std::string &  label,
double &  stamp,
Transform &  groundTruthPose,
std::vector< float > &  velocity,
GPS &  gps 
) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

long rtabmap::DBDriver::getNodesMemoryUsed ( ) const

Definition at line 119 of file DBDriver.cpp.

virtual long rtabmap::DBDriver::getNodesMemoryUsedQuery ( ) const [protected, pure 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.

virtual long rtabmap::DBDriver::getStatisticsMemoryUsedQuery ( ) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

virtual std::map<std::string, float> rtabmap::DBDriver::getStatisticsQuery ( int  nodeId,
double &  stamp,
std::vector< int > *  wmState 
) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

int rtabmap::DBDriver::getTotalDictionarySize ( ) const

Definition at line 231 of file DBDriver.cpp.

virtual int rtabmap::DBDriver::getTotalDictionarySizeQuery ( ) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

int rtabmap::DBDriver::getTotalNodesSize ( ) const

Definition at line 223 of file DBDriver.cpp.

virtual int rtabmap::DBDriver::getTotalNodesSizeQuery ( ) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

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

Definition at line 72 of file DBDriver.h.

long rtabmap::DBDriver::getUserDataMemoryUsed ( ) const

Definition at line 175 of file DBDriver.cpp.

virtual long rtabmap::DBDriver::getUserDataMemoryUsedQuery ( ) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

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

Definition at line 793 of file DBDriver.cpp.

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

Implemented in rtabmap::DBDriverSqlite3.

long rtabmap::DBDriver::getWordsMemoryUsed ( ) const

Definition at line 183 of file DBDriver.cpp.

virtual long rtabmap::DBDriver::getWordsMemoryUsedQuery ( ) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

bool rtabmap::DBDriver::isConnected ( ) const

Definition at line 100 of file DBDriver.cpp.

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

Implemented in rtabmap::DBDriverSqlite3.

virtual bool rtabmap::DBDriver::isInMemory ( ) const [inline, virtual]

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 514 of file DBDriver.cpp.

cv::Mat rtabmap::DBDriver::load2DMap ( float &  xMin,
float &  yMin,
float &  cellSize 
) const

Definition at line 1085 of file DBDriver.cpp.

virtual cv::Mat rtabmap::DBDriver::load2DMapQuery ( float &  xMin,
float &  yMin,
float &  cellSize 
) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

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

Definition at line 521 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::loadLastNodesQuery ( std::list< Signature * > &  signatures) const [protected, 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 763 of file DBDriver.cpp.

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

Implemented in rtabmap::DBDriverSqlite3.

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

Definition at line 622 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::loadNodeDataQuery ( std::list< Signature * > &  signatures,
bool  images = true,
bool  scan = true,
bool  userData = true,
bool  occupancyGrid = true 
) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

cv::Mat rtabmap::DBDriver::loadOptimizedMesh ( std::vector< std::vector< std::vector< unsigned int > > > *  polygons = 0,
std::vector< std::vector< Eigen::Vector2f > > *  texCoords = 0,
cv::Mat *  textures = 0 
) const

Definition at line 1108 of file DBDriver.cpp.

virtual cv::Mat rtabmap::DBDriver::loadOptimizedMeshQuery ( std::vector< std::vector< std::vector< unsigned int > > > *  polygons,
std::vector< std::vector< Eigen::Vector2f > > *  texCoords,
cv::Mat *  textures 
) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

std::map< int, Transform > rtabmap::DBDriver::loadOptimizedPoses ( Transform *  lastlocalizationPose) const

Definition at line 1070 of file DBDriver.cpp.

virtual std::map<int, Transform> rtabmap::DBDriver::loadOptimizedPosesQuery ( Transform *  lastlocalizationPose) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

cv::Mat rtabmap::DBDriver::loadPreviewImage ( ) const

Definition at line 1056 of file DBDriver.cpp.

virtual cv::Mat rtabmap::DBDriver::loadPreviewImageQuery ( ) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

virtual void rtabmap::DBDriver::loadQuery ( VWDictionary *  dictionary,
bool  lastStateOnly = true 
) const [protected, 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 528 of file DBDriver.cpp.

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

Implemented in rtabmap::DBDriverSqlite3.

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

Definition at line 580 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::loadWordsQuery ( const std::set< int > &  wordIds,
std::list< VisualWord * > &  vws 
) const [protected, 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 284 of file DBDriver.cpp.

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

Definition at line 86 of file DBDriver.cpp.

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

Reimplemented in rtabmap::DBDriverSqlite3.

Definition at line 60 of file DBDriver.cpp.

void rtabmap::DBDriver::removeLink ( int  from,
int  to 
)

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 1078 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::save2DMapQuery ( const cv::Mat &  map,
float  xMin,
float  yMin,
float  cellSize 
) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::saveOptimizedMesh ( const cv::Mat &  cloud,
const std::vector< std::vector< std::vector< unsigned int > > > &  polygons = std::vector<std::vector<std::vector<unsigned int> > >(),
const std::vector< std::vector< Eigen::Vector2f > > &  texCoords = std::vector<std::vector<Eigen::Vector2f> >(),
const cv::Mat &  textures = cv::Mat() 
) const

Definition at line 1093 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::saveOptimizedMeshQuery ( const cv::Mat &  cloud,
const std::vector< std::vector< std::vector< unsigned int > > > &  polygons,
const std::vector< std::vector< Eigen::Vector2f > > &  texCoords,
const cv::Mat &  textures 
) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

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

Definition at line 1064 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::saveOptimizedPosesQuery ( const std::map< int, Transform > &  optimizedPoses,
const Transform &  lastlocalizationPose 
) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

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

Definition at line 407 of file DBDriver.cpp.

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

Definition at line 437 of file DBDriver.cpp.

void rtabmap::DBDriver::savePreviewImage ( const cv::Mat &  image) const

Definition at line 1049 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::savePreviewImageQuery ( const cv::Mat &  image) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

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

Implemented in rtabmap::DBDriverSqlite3.

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

Implemented in rtabmap::DBDriverSqlite3.

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

Definition at line 81 of file DBDriver.h.

void rtabmap::DBDriver::updateDepthImage ( int  nodeId,
const cv::Mat &  image 
)

Definition at line 505 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::updateDepthImageQuery ( int  nodeId,
const cv::Mat &  image 
) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

void rtabmap::DBDriver::updateLink ( const Link &  link)

Definition at line 477 of file DBDriver.cpp.

virtual void rtabmap::DBDriver::updateLinkQuery ( const Link &  link) const [protected, pure 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.

virtual void rtabmap::DBDriver::updateOccupancyGridQuery ( int  nodeId,
const cv::Mat &  ground,
const cv::Mat &  obstacles,
const cv::Mat &  empty,
float  cellSize,
const cv::Point3f &  viewpoint 
) const [protected, pure virtual]

Implemented in rtabmap::DBDriverSqlite3.

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

Implemented in rtabmap::DBDriverSqlite3.

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

Implemented in rtabmap::DBDriverSqlite3.

Member Data Documentation

USemaphore rtabmap::DBDriver::_addSem [private]

Definition at line 288 of file DBDriver.h.

UMutex rtabmap::DBDriver::_dbSafeAccessMutex [private]

Definition at line 287 of file DBDriver.h.

double rtabmap::DBDriver::_emptyTrashesTime [private]

Definition at line 289 of file DBDriver.h.

bool rtabmap::DBDriver::_timestampUpdate [private]

Definition at line 291 of file DBDriver.h.

UMutex rtabmap::DBDriver::_transactionMutex [private]

Definition at line 283 of file DBDriver.h.

UMutex rtabmap::DBDriver::_trashesMutex [private]

Definition at line 286 of file DBDriver.h.

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

Definition at line 284 of file DBDriver.h.

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

Definition at line 285 of file DBDriver.h.

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

Definition at line 290 of file DBDriver.h.

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

rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jun 6 2019 21:59:41