api/latest/DBDriver_8h_source.html

/*

Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke

All rights reserved.


Redistribution and use in source and binary forms, with or without

modification, are permitted provided that the following conditions are met:

    * Redistributions of source code must retain the above copyright

      notice, this list of conditions and the following disclaimer.

    * Redistributions in binary form must reproduce the above copyright

      notice, this list of conditions and the following disclaimer in the

      documentation and/or other materials provided with the distribution.

    * Neither the name of the Universite de Sherbrooke nor the

      names of its contributors may be used to endorse or promote products

      derived from this software without specific prior written permission.


THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND

ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED

WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE

DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY

DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES

(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;

LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND

ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT

(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS

SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

*/


#ifndef DBDRIVER_H_

#define DBDRIVER_H_


#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines


#include <string>

#include <list>

#include <map>

#include <set>

#include <opencv2/core/core.hpp>

#include "rtabmap/utilite/UMutex.h"

#include "rtabmap/utilite/UThreadNode.h"

#include "rtabmap/core/Parameters.h"

#include "rtabmap/core/SensorData.h"

#include <rtabmap/core/Statistics.h>


#include <rtabmap/core/Transform.h>

#include <rtabmap/core/Link.h>


namespace rtabmap {


class Signature;

class VWDictionary;

class VisualWord;


class RTABMAP_CORE_EXPORT DBDriver : public UThreadNode

{

public:

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


public:

  virtual ~DBDriver();


  virtual void parseParameters(const ParametersMap & parameters);

  virtual bool isInMemory() const {return _url.empty();}

  const std::string & getUrl() const {return _url;}

  const std::string & getTargetVersion() const {return _targetVersion;}


  void asyncSave(Signature * s);

  void asyncSave(VisualWord * vw);

  void emptyTrashes(bool async = false);

  double getEmptyTrashesTime() const {return _emptyTrashesTime;}

  void setTimestampUpdateEnabled(bool enabled) {_timestampUpdate = enabled;} // used on Update Signature and Word queries


  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 addLink(const Link & link);

  void removeLink(int from, int to);

  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);

  void updateCalibration(

    int nodeId,

    const std::vector<CameraModel> & models,

    const std::vector<StereoCameraModel> & stereoModels);

  void updateDepthImage(int nodeId, const cv::Mat & image, const std::string & format);

  void updateLaserScan(int nodeId, const LaserScan & scan);

public:

  void addInfoAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap & parameters) const;

  void addStatistics(const Statistics & statistics, bool saveWmState) const;

  void savePreviewImage(const cv::Mat & image) const;

  cv::Mat loadPreviewImage() const;

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

  std::map<int, Transform> loadOptimizedPoses(Transform * lastlocalizationPose = 0) const;

  void save2DMap(const cv::Mat & map, float xMin, float yMin, float cellSize) const;

  cv::Mat load2DMap(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> > >(),      // Textures -> polygons -> vertices

#if PCL_VERSION_COMPARE(>=, 1, 8, 0)

      const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords = std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > >(), // Textures -> uv coords for each vertex of the polygons

#else

      const std::vector<std::vector<Eigen::Vector2f> > & texCoords = std::vector<std::vector<Eigen::Vector2f> >(), // Textures -> uv coords for each vertex of the polygons

#endif

      const cv::Mat & textures = cv::Mat()) const; // concatenated textures (assuming square textures with all same size);

  cv::Mat loadOptimizedMesh(

      std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > * polygons = 0,

#if PCL_VERSION_COMPARE(>=, 1, 8, 0)

      std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords = 0,

#else

      std::vector<std::vector<Eigen::Vector2f> > * texCoords = 0,

#endif

      cv::Mat * textures = 0) const;

  void saveFlannIndex(const std::vector<unsigned char> & indexData) const;

public:

  bool openConnection(const std::string & url, bool overwritten = false, bool readOnly = false);

  void closeConnection(bool save = true, const std::string & outputUrl = "");

  bool isConnected() const;

  unsigned long getMemoryUsed() const; // In bytes

  std::string getDatabaseVersion() const;

  long getNodesMemoryUsed() const;

  long getLinksMemoryUsed() const;

  long getImagesMemoryUsed() const;

  long getDepthImagesMemoryUsed() const;

  long getCalibrationsMemoryUsed() const;

  long getGridsMemoryUsed() const;

  long getLaserScansMemoryUsed() const;

  long getUserDataMemoryUsed() const;

  long getWordsMemoryUsed() const;

  long getFeaturesMemoryUsed() const;

  long getStatisticsMemoryUsed() const;

  int getLastNodesSize() const; // working memory

  int getLastDictionarySize() const; // working memory

  int getTotalNodesSize() const;

  int getTotalDictionarySize() const;

  ParametersMap getLastParameters() const;

  std::map<std::string, float> getStatistics(int nodeId, double & stamp, std::vector<int> * wmState=0) const;

  std::map<int, std::pair<std::map<std::string, float>, double> > getAllStatistics() const;

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


  void executeNoResult(const std::string & sql) const;


  // Load objects

  void load(VWDictionary & dictionary, bool lastStateOnly = true, bool idsOnly = false) const;

  void loadLastNodes(std::list<Signature *> & signatures, bool loadWordIdsOnly = false) const; // returned signatures must be freed after usage

  Signature * loadSignature(int id, bool * loadedFromTrash = 0); // returned signature must be freed after usage, call loadSignatures() instead if more than one signature should be loaded

  void loadSignatures(const std::list<int> & ids, std::list<Signature *> & signatures, std::set<int> * loadedFromTrash = 0, bool loadWordIdsOnly = false); // returned signatures must be freed after usage

  void loadWords(const std::set<int> & wordIds, std::list<VisualWord *> & vws, bool missingWordsExpected = false);


  // Specific queries...

  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;

  void getNodeData(int signatureId, SensorData & data, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;

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

  bool getLaserScanInfo(int signatureId, LaserScan & info) 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;

  void getLocalFeatures(int signatureId, std::multimap<int, int> & words, std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & points, cv::Mat & descriptors) const;

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

  void getWeight(int signatureId, int & weight) const;

  void getLastNodeIds(std::set<int> & ids) const;

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

  void getAllOdomPoses(std::map<int, Transform> & poses, bool ignoreChildren = false, bool ignoreIntermediateNodes = false) const;

  void getAllLinks(std::multimap<int, Link> & links, bool ignoreNullLinks = true, bool withLandmarks = false) const;

  void getLastNodeId(int & id) const;

  void getLastMapId(int & mapId) const;

  void getLastWordId(int & id, bool lookInFeatures = false) const;

  void getInvertedIndexNi(int signatureId, int & ni) const;

  void getNodesObservingLandmark(int landmarkId, std::map<int, Link> & nodes) const;

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

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

protected:

  DBDriver(const ParametersMap & parameters = ParametersMap());


  virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false, bool readOnly = false) = 0;

  virtual void disconnectDatabaseQuery(bool save = true, const std::string & outputUrl = "") = 0;

  virtual bool isConnectedQuery() const = 0;

  virtual unsigned long getMemoryUsedQuery() const = 0; // In bytes

  virtual bool getDatabaseVersionQuery(std::string & version) const = 0;

  virtual long getNodesMemoryUsedQuery() const = 0;

  virtual long getLinksMemoryUsedQuery() const = 0;

  virtual long getImagesMemoryUsedQuery() const = 0;

  virtual long getDepthImagesMemoryUsedQuery() const = 0;

  virtual long getCalibrationsMemoryUsedQuery() const = 0;

  virtual long getGridsMemoryUsedQuery() const = 0;

  virtual long getLaserScansMemoryUsedQuery() const = 0;

  virtual long getUserDataMemoryUsedQuery() const = 0;

  virtual long getWordsMemoryUsedQuery() const = 0;

  virtual long getFeaturesMemoryUsedQuery() const = 0;

  virtual long getStatisticsMemoryUsedQuery() const = 0;

  virtual int getLastNodesSizeQuery() const = 0;

  virtual int getLastDictionarySizeQuery() const = 0;

  virtual int getTotalNodesSizeQuery() const = 0;

  virtual int getTotalDictionarySizeQuery() const = 0;

  virtual ParametersMap getLastParametersQuery() const = 0;

  virtual std::map<std::string, float> getStatisticsQuery(int nodeId, double & stamp, std::vector<int> * wmState) 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 void executeNoResultQuery(const std::string & sql) const = 0;


  virtual void getWeightQuery(int signatureId, int & weight) const = 0;


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


  virtual void addLinkQuery(const Link & link) 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 updateCalibrationQuery(

      int nodeId,

      const std::vector<CameraModel> & models,

      const std::vector<StereoCameraModel> & stereoModels) const = 0;


  virtual void updateDepthImageQuery(

      int nodeId,

      const cv::Mat & image,

      const std::string & format) const = 0;


  virtual void updateLaserScanQuery(

      int nodeId,

      const LaserScan & scan) const = 0;


  virtual void addStatisticsQuery(const Statistics & statistics, bool saveWmState) const = 0;

  virtual void savePreviewImageQuery(const cv::Mat & image) const = 0;

  virtual cv::Mat loadPreviewImageQuery() const = 0;

  virtual void saveOptimizedPosesQuery(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const = 0;

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

  virtual void save2DMapQuery(const cv::Mat & map, float xMin, float yMin, float cellSize) const = 0;

  virtual cv::Mat load2DMapQuery(float & xMin, float & yMin, float & cellSize) const = 0;

  virtual void saveOptimizedMeshQuery(

        const cv::Mat & cloud,

        const std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons,

#if PCL_VERSION_COMPARE(>=, 1, 8, 0)

        const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,

#else

        const std::vector<std::vector<Eigen::Vector2f> > & texCoords,

#endif

        const cv::Mat & textures) const = 0;

  virtual cv::Mat loadOptimizedMeshQuery(

        std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > * polygons,

#if PCL_VERSION_COMPARE(>=, 1, 8, 0)

        std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords,

#else

        std::vector<std::vector<Eigen::Vector2f> > * texCoords,

#endif

        cv::Mat * textures) const = 0;

  virtual void saveFlannIndexQuery(const std::vector<unsigned char> & indexData) const = 0;


  // Load objects

  virtual void loadQuery(VWDictionary & dictionary, bool lastStateOnly = true, bool idsOnly = false) const = 0;

  virtual void loadLastNodesQuery(std::list<Signature *> & signatures, bool loadWordIdsOnly) const = 0;

  virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures, bool loadWordIdsOnly) const = 0;

  virtual void loadWordsQuery(const std::set<int> & wordIds, std::list<VisualWord *> & vws, bool missingWordsExpected) const = 0;

  virtual void loadLinksQuery(int signatureId, std::multimap<int, Link> & links, Link::Type type = Link::kUndef) const = 0;


  virtual void loadNodeDataQuery(std::list<Signature *> & signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const = 0;

  virtual bool getCalibrationQuery(int signatureId, std::vector<CameraModel> & models, std::vector<StereoCameraModel> & stereoModels) const = 0;

  virtual bool getLaserScanInfoQuery(int signatureId, LaserScan & info) const = 0;

  virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps, EnvSensors & sensors) const = 0;

  virtual void getLocalFeaturesQuery(int signatureId, std::multimap<int, int> & words, std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & points, cv::Mat & descriptors) const = 0;

  virtual void getLastNodeIdsQuery(std::set<int> & ids) const = 0;

  virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures, bool ignoreIntermediateNodes) const = 0;

  virtual void getAllOdomPosesQuery(std::map<int, Transform> & poses, bool ignoreChildren, bool ignoreIntermediateNodes) const = 0;

  virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks, bool withLandmarks) const = 0;

  virtual void getLastIdQuery(const std::string & tableName, int & id, const std::string & fieldName="id") const = 0;

  virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const = 0;

  virtual void getNodesObservingLandmarkQuery(int landmarkId, std::map<int, Link> & nodes) const = 0;

  virtual void getNodeIdByLabelQuery(const std::string & label, int & id) const = 0;

  virtual void getAllLabelsQuery(std::map<int, std::string> & labels) const = 0;

private:

  void beginTransaction() const;

  void commit() const;


  //non-abstract methods

  void saveOrUpdate(const std::vector<Signature *> & signatures);

  void saveOrUpdate(const std::vector<VisualWord *> & words) const;


  //thread stuff

  virtual void mainLoop();


private:

  UMutex _transactionMutex;

  std::map<int, Signature *> _trashSignatures;//<id, Signature*>

  std::map<int, VisualWord *> _trashVisualWords; //<id, VisualWord*>

  // Lock order: _trashesMutex -> _dbSafeAccessMutex -> _transactionMutex.

  // emptyTrashes() locks _dbSafeAccessMutex before releasing _trashesMutex, so that

  // an item not found in the trash is guaranteed to be readable from the database.

  UMutex _trashesMutex;

  UMutex _dbSafeAccessMutex;

  USemaphore _addSem;

  double _emptyTrashesTime;

  std::string _url;

  std::string _targetVersion;

  bool _timestampUpdate;

};


}


#endif /* DBDRIVER_H_ */

UThreadNode.h
Backward-compatible alias header for UThread.

UMutex
Definition UMutex.h:55

USemaphore
Definition USemaphore.h:56

UThread
Definition UThread.h:87

rtabmap::DBDriver
Abstract database driver for RTAB-Map maps (signatures, links, words, statistics).
Definition DBDriver.h:72

rtabmap::DBDriver::loadSignature
Signature * loadSignature(int id, bool *loadedFromTrash=0)
Load one signature by id; caller must delete the returned pointer.

rtabmap::DBDriver::isInMemory
virtual bool isInMemory() const
True when no database file URL was set at open time.
Definition DBDriver.h:90

rtabmap::DBDriver::create
static DBDriver * create(const ParametersMap &parameters=ParametersMap())
Factory: returns a SQLite database driver (DBDriverSqlite3).

rtabmap::DBDriver::saveOptimizedMesh
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
Persist the global optimized 3D mesh to the database.

rtabmap::DBDriver::loadWords
void loadWords(const std::set< int > &wordIds, std::list< VisualWord * > &vws, bool missingWordsExpected=false)
Load words by id (trash first, then the database); returned words must be freed after usage.

rtabmap::DBDriver::updateOccupancyGrid
void updateOccupancyGrid(int nodeId, const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewpoint)
Update occupancy grid cells for a node.

rtabmap::DBDriver::saveFlannIndex
void saveFlannIndex(const std::vector< unsigned char > &indexData) const
Persist the visual word dictionary FLANN index (serialized blob).

rtabmap::DBDriver::updateDepthImage
void updateDepthImage(int nodeId, const cv::Mat &image, const std::string &format)
Update the depth image stored for a node.

rtabmap::DBDriver::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Parse driver parameters from the map (e.g. target schema version).

rtabmap::DBDriver::getTargetVersion
const std::string & getTargetVersion() const
Definition DBDriver.h:94

rtabmap::DBDriver::addStatistics
void addStatistics(const Statistics &statistics, bool saveWmState) const
Append a Statistics record for a processed node.

rtabmap::DBDriver::save2DMap
void save2DMap(const cv::Mat &map, float xMin, float yMin, float cellSize) const
Save the assembled 2D occupancy grid and its origin metadata.

rtabmap::DBDriver::DBDriver
DBDriver(const ParametersMap &parameters=ParametersMap())
Protected constructor for subclasses.

rtabmap::DBDriver::updateCalibration
void updateCalibration(int nodeId, const std::vector< CameraModel > &models, const std::vector< StereoCameraModel > &stereoModels)
Update camera calibration stored for a node.

rtabmap::DBDriver::loadOptimizedPoses
std::map< int, Transform > loadOptimizedPoses(Transform *lastlocalizationPose=0) const
Load optimized poses; optional last localization pose output.

rtabmap::DBDriver::getUrl
const std::string & getUrl() const
Definition DBDriver.h:92

rtabmap::DBDriver::isConnected
bool isConnected() const

rtabmap::DBDriver::removeLink
void removeLink(int from, int to)
Remove a link between two nodes.

rtabmap::DBDriver::updateLaserScan
void updateLaserScan(int nodeId, const LaserScan &scan)
Update the laser scan stored for a node.

rtabmap::DBDriver::savePreviewImage
void savePreviewImage(const cv::Mat &image) const
Save the map preview thumbnail in the Admin table.

rtabmap::DBDriver::executeNoResult
void executeNoResult(const std::string &sql) const
Run a SQL statement that does not return result rows.

rtabmap::DBDriver::asyncSave
void asyncSave(VisualWord *vw)
Queue a visual word for deferred save; ownership is transferred.

rtabmap::DBDriver::updateLink
void updateLink(const Link &link)
Update an existing link in the database.

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

rtabmap::DBDriver::loadPreviewImage
cv::Mat loadPreviewImage() const
Load and uncompress the map preview thumbnail from the Admin table.

rtabmap::DBDriver::load2DMap
cv::Mat load2DMap(float &xMin, float &yMin, float &cellSize) const
Load the 2D map and fill origin/cell size outputs.

rtabmap::DBDriver::loadLinks
void loadLinks(int signatureId, std::multimap< int, Link > &links, Link::Type type=Link::kUndef) const
Load outgoing links from signatureId, optionally filtered by type.

rtabmap::DBDriver::emptyTrashes
void emptyTrashes(bool async=false)
Flush queued signatures and visual words to the database.

rtabmap::DBDriver::saveOptimizedPoses
void saveOptimizedPoses(const std::map< int, Transform > &optimizedPoses, const Transform &lastlocalizationPose) const
Persist graph-optimized poses and last localization pose.

rtabmap::DBDriver::closeConnection
void closeConnection(bool save=true, const std::string &outputUrl="")
Close the connection; optionally flush trashes and save in-memory DB to outputUrl.

rtabmap::DBDriver::generateGraph
void generateGraph(const std::string &fileName, const std::set< int > &ids=std::set< int >(), const std::map< int, Signature * > &otherSignatures=std::map< int, Signature * >())
Export the pose graph to a Graphviz DOT file for visualization.

rtabmap::DBDriver::openConnection
bool openConnection(const std::string &url, bool overwritten=false, bool readOnly=false)
Open or create the database at url (empty url uses an in-memory database).

rtabmap::DBDriver::addLink
void addLink(const Link &link)
Insert or replace a link in the database.

rtabmap::DBDriver::asyncSave
void asyncSave(Signature *s)
Queue a signature for deferred save; ownership is transferred.

rtabmap::DBDriver::getLastWordId
void getLastWordId(int &id, bool lookInFeatures=false) const
Get the largest word id of the dictionary (trash and Word table).

rtabmap::GPS
WGS84 GPS fix attached to a sensor sample or graph node.
Definition GPS.h:47

rtabmap::LaserScan
Represents 2D or 3D laser scan data with support for multiple point data formats.
Definition LaserScan.h:46

rtabmap::Link
Directed constraint between two nodes in RTAB-Map's pose graph.
Definition Link.h:55

rtabmap::Link::Type
Type
Link category and filter sentinels.
Definition Link.h:64

rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97

rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84

rtabmap::Statistics
Collects and manages runtime statistics for RTAB-Map.
Definition Statistics.h:108

rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53

rtabmap::VWDictionary
Manages a dictionary of visual words for visual place recognition and loop closure detection.
Definition VWDictionary.h:67

rtabmap::VisualWord
Represents a visual word (feature descriptor) used in the bag-of-words (BoW) model.
Definition VisualWord.h:50

rtabmap
Definition BayesFilter.h:42

rtabmap::EnvSensors
std::map< EnvSensor::Type, EnvSensor > EnvSensors
Map of environmental readings keyed by EnvSensor::Type (at most one per type).
Definition EnvSensor.h:114

rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44