Public Member Functions | Protected Member Functions | Protected Attributes | Private Member Functions | Private Attributes | List of all members
rtabmap::DBDriverSqlite3 Class Reference

#include <DBDriverSqlite3.h>

Inheritance diagram for rtabmap::DBDriverSqlite3:
Inheritance graph
[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) 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 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 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) 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, StereoCameraModel &stereoModel) 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 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 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 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 (Handle H)
 
static int Detach (const Handle &H)
 
static int Join (const Handle &H)
 
static int Join (Handle H)
 
static int Kill (Handle H)
 
static int Kill (const 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

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

Definition at line 51 of file DBDriverSqlite3.cpp.

rtabmap::DBDriverSqlite3::~DBDriverSqlite3 ( )
virtual

Definition at line 66 of file DBDriverSqlite3.cpp.

Member Function Documentation

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

Implements rtabmap::DBDriver.

Definition at line 4490 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 4646 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 321 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 447 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 512 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 2794 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 2460 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 2399 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 1187 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 1244 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 1850 of file DBDriverSqlite3.cpp.

long rtabmap::DBDriverSqlite3::getCalibrationsMemoryUsedQuery ( ) const
protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 693 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 283 of file DBDriverSqlite3.cpp.

long rtabmap::DBDriverSqlite3::getDepthImagesMemoryUsedQuery ( ) const
protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 661 of file DBDriverSqlite3.cpp.

long rtabmap::DBDriverSqlite3::getFeaturesMemoryUsedQuery ( ) const
protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 872 of file DBDriverSqlite3.cpp.

long rtabmap::DBDriverSqlite3::getGridsMemoryUsedQuery ( ) const
protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 730 of file DBDriverSqlite3.cpp.

long rtabmap::DBDriverSqlite3::getImagesMemoryUsedQuery ( ) const
protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 629 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 2635 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 2086 of file DBDriverSqlite3.cpp.

long rtabmap::DBDriverSqlite3::getLaserScansMemoryUsedQuery ( ) const
protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 767 of file DBDriverSqlite3.cpp.

int rtabmap::DBDriverSqlite3::getLastDictionarySizeQuery ( ) const
protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 984 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 2596 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 2355 of file DBDriverSqlite3.cpp.

int rtabmap::DBDriverSqlite3::getLastNodesSizeQuery ( ) const
protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 952 of file DBDriverSqlite3.cpp.

ParametersMap rtabmap::DBDriverSqlite3::getLastParametersQuery ( ) const
protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 1065 of file DBDriverSqlite3.cpp.

long rtabmap::DBDriverSqlite3::getLinksMemoryUsedQuery ( ) const
protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 585 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 525 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 2764 of file DBDriverSqlite3.cpp.

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 2194 of file DBDriverSqlite3.cpp.

long rtabmap::DBDriverSqlite3::getNodesMemoryUsedQuery ( ) const
protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 537 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 2684 of file DBDriverSqlite3.cpp.

long rtabmap::DBDriverSqlite3::getStatisticsMemoryUsedQuery ( ) const
protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 916 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 1111 of file DBDriverSqlite3.cpp.

int rtabmap::DBDriverSqlite3::getTotalDictionarySizeQuery ( ) const
protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 1040 of file DBDriverSqlite3.cpp.

int rtabmap::DBDriverSqlite3::getTotalNodesSizeQuery ( ) const
protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 1016 of file DBDriverSqlite3.cpp.

long rtabmap::DBDriverSqlite3::getUserDataMemoryUsedQuery ( ) const
protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 812 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 2834 of file DBDriverSqlite3.cpp.

long rtabmap::DBDriverSqlite3::getWordsMemoryUsedQuery ( ) const
protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 848 of file DBDriverSqlite3.cpp.

bool rtabmap::DBDriverSqlite3::isConnectedQuery ( ) const
protectedvirtual

Implements rtabmap::DBDriver.

Definition at line 506 of file DBDriverSqlite3.cpp.

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

Reimplemented from rtabmap::DBDriver.

Definition at line 46 of file DBDriverSqlite3.h.

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

Implements rtabmap::DBDriver.

Definition at line 5036 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 3500 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 3734 of file DBDriverSqlite3.cpp.

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

Definition at line 3891 of file DBDriverSqlite3.cpp.

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 1294 of file DBDriverSqlite3.cpp.

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 5290 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 4901 of file DBDriverSqlite3.cpp.

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

Definition at line 236 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 4777 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 3551 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 2869 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 3639 of file DBDriverSqlite3.cpp.

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

Reimplemented from rtabmap::DBDriver.

Definition at line 71 of file DBDriverSqlite3.cpp.

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

Definition at line 5628 of file DBDriverSqlite3.cpp.

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

Definition at line 5738 of file DBDriverSqlite3.cpp.

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

Definition at line 6491 of file DBDriverSqlite3.cpp.

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

Definition at line 5588 of file DBDriverSqlite3.cpp.

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

Definition at line 6376 of file DBDriverSqlite3.cpp.

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

Definition at line 6249 of file DBDriverSqlite3.cpp.

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

Definition at line 6226 of file DBDriverSqlite3.cpp.

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

Definition at line 5427 of file DBDriverSqlite3.cpp.

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

Definition at line 6546 of file DBDriverSqlite3.cpp.

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

Definition at line 5791 of file DBDriverSqlite3.cpp.

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

Definition at line 5917 of file DBDriverSqlite3.cpp.

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

Definition at line 6343 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 4984 of file DBDriverSqlite3.cpp.

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 5094 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 4828 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 4727 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 4247 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 4432 of file DBDriverSqlite3.cpp.

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

Definition at line 97 of file DBDriverSqlite3.cpp.

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

Definition at line 198 of file DBDriverSqlite3.cpp.

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

Definition at line 108 of file DBDriverSqlite3.cpp.

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

Definition at line 142 of file DBDriverSqlite3.cpp.

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

Definition at line 170 of file DBDriverSqlite3.cpp.

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

Definition at line 5644 of file DBDriverSqlite3.cpp.

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

Definition at line 5749 of file DBDriverSqlite3.cpp.

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

Definition at line 6496 of file DBDriverSqlite3.cpp.

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

Definition at line 5593 of file DBDriverSqlite3.cpp.

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 6392 of file DBDriverSqlite3.cpp.

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

Definition at line 6273 of file DBDriverSqlite3.cpp.

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

Definition at line 5459 of file DBDriverSqlite3.cpp.

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 6555 of file DBDriverSqlite3.cpp.

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

Definition at line 5807 of file DBDriverSqlite3.cpp.

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

Definition at line 5941 of file DBDriverSqlite3.cpp.

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

Definition at line 6354 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 4584 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 4615 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 4518 of file DBDriverSqlite3.cpp.

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 4545 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 4057 of file DBDriverSqlite3.cpp.

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

Implements rtabmap::DBDriver.

Definition at line 4207 of file DBDriverSqlite3.cpp.

Member Data Documentation

unsigned int rtabmap::DBDriverSqlite3::_cacheSize
private

Definition at line 194 of file DBDriverSqlite3.h.

bool rtabmap::DBDriverSqlite3::_dbInMemory
private

Definition at line 193 of file DBDriverSqlite3.h.

int rtabmap::DBDriverSqlite3::_journalMode
private

Definition at line 195 of file DBDriverSqlite3.h.

unsigned long rtabmap::DBDriverSqlite3::_memoryUsedEstimate
private

Definition at line 192 of file DBDriverSqlite3.h.

sqlite3* rtabmap::DBDriverSqlite3::_ppDb
protected

Definition at line 188 of file DBDriverSqlite3.h.

int rtabmap::DBDriverSqlite3::_synchronous
private

Definition at line 196 of file DBDriverSqlite3.h.

int rtabmap::DBDriverSqlite3::_tempStore
private

Definition at line 197 of file DBDriverSqlite3.h.

std::string rtabmap::DBDriverSqlite3::_version
protected

Definition at line 189 of file DBDriverSqlite3.h.

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

rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:37:08