Abstract database driver for RTAB-Map maps (signatures, links, words, statistics). More...

#include <DBDriver.h>

Inheritance diagram for rtabmap::DBDriver:

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Collaboration diagram for rtabmap::DBDriver:

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Public Member Functions
virtual void	parseParameters (const ParametersMap &parameters)
	Parse driver parameters from the map (e.g. target schema version).

virtual bool	isInMemory () const
	True when no database file URL was set at open time.

const std::string &	getUrl () const

const std::string &	getTargetVersion () const

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

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

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

double	getEmptyTrashesTime () const

void	setTimestampUpdateEnabled (bool enabled)

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.

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

Direct database updates
Write node or link data immediately (not via the async trash).
void	addLink (const Link &link)
	Insert or replace a link in the database.

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

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

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.

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

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

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

Session exports and map artifacts
Statistics, preview image, optimized poses, 2D map, mesh and FLANN index.
void	addInfoAfterRun (int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap &parameters) const

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

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

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

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

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

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

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

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.

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

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

Connection and database introspection
Mutex-protected wrappers around protected `*Query`() methods.
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).

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

bool	isConnected () const

unsigned long	getMemoryUsed () const

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

int	getLastDictionarySize () const

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

Load and query
Load signatures, words, links and node metadata from the database.
void	load (VWDictionary &dictionary, bool lastStateOnly=true, bool idsOnly=false) const

void	loadLastNodes (std::list< Signature * > &signatures, bool loadWordIdsOnly=false) const

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

void	loadSignatures (const std::list< int > &ids, std::list< Signature * > &signatures, std::set< int > *loadedFromTrash=0, bool loadWordIdsOnly=false)

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

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
	Load outgoing links from `signatureId`, optionally filtered by `type`.

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) 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

Public Member Functions inherited from UThread
	UThread (Priority priority=kPNormal)

virtual	~UThread ()

void	start ()

void	kill ()

void	join (bool killFirst=false)

void	setPriority (Priority priority)

void	setAffinity (int cpu=0)

bool	isCreating () const

bool	isRunning () const

bool	isIdle () const

bool	isKilled () const

Handle	getThreadHandle () const

unsigned long	getThreadId () const

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 (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 (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

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

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	Join (Handle H)

static int	Kill (Handle H)

static int	Detach (Handle H)

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	Join (const Handle &H)

static int	Kill (const Handle &H)

static int	Detach (const Handle &H)

Protected Member Functions
	DBDriver (const ParametersMap &parameters=ParametersMap())
	Protected constructor for subclasses.

Backend implementation (subclass responsibility)
Pure virtual SQL/backend hooks invoked by public wrappers above.
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

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, const std::vector< std::vector< Eigen::Vector2f > > &texCoords, const cv::Mat &textures) const =0

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 =0

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

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) 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

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 void(*	Handler) ()

typedef THREAD_HANDLE	Handle

typedef void(*	Handler) ()

Static Protected Member Functions inherited from UThreadC< void >
static void	Exit ()

static void	TestCancel ()

static Handle	Self ()

static void	Exit ()

static void	TestCancel ()

static int	Self ()

Detailed Description

Abstract database driver for RTAB-Map maps (signatures, links, words, statistics).

DBDriver is the persistence layer used by Memory, DBReader and tools that read or write .db files. The default implementation is DBDriverSqlite3, created by create().

The driver extends UThreadNode. Pending Signature and VisualWord objects are queued with asyncSave() and flushed to the database by emptyTrashes() (also called from the background thread on closeConnection()).

Public methods are thread-safe where noted (mutex-protected wrappers). Subclasses implement SQL-specific logic in protected *Query() virtual methods.

See also: DBDriverSqlite3; Memory

Definition at line 71 of file DBDriver.h.

Member Function Documentation

◆ create()

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

static

Factory: returns a SQLite database driver (DBDriverSqlite3).

Parameters

parameters Optional driver parameters (e.g. Parameters::kDbTargetVersion()).

Returns: New driver instance; caller owns the pointer.

◆ parseParameters()

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

virtual

Parse driver parameters from the map (e.g. target schema version).

Reimplemented in rtabmap::DBDriverSqlite3.

◆ isInMemory()

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

inlinevirtual

True when no database file URL was set at open time.

Note: DBDriverSqlite3 overrides this when Parameters::kDbSqlite3InMemory() is enabled.

Reimplemented in rtabmap::DBDriverSqlite3.

Definition at line 90 of file DBDriver.h.

◆ getUrl()

const std::string & rtabmap::DBDriver::getUrl ( ) const

inline

Returns: Database file path last passed to openConnection().

Definition at line 92 of file DBDriver.h.

◆ getTargetVersion()

const std::string & rtabmap::DBDriver::getTargetVersion ( ) const

inline

Returns: Target schema version for new databases (from parameters).

Definition at line 94 of file DBDriver.h.

◆ asyncSave()

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

Queue a signature for deferred save; ownership is transferred.

Note: Only the compressed sensor buffers are written (SensorData::imageCompressed(), depthOrRightCompressed(), laserScanCompressed(), ...). Raw matrices are ignored, so a signature carrying only raw data is stored with empty payloads. Memory compresses before saving; a caller driving the driver directly should compress first with compressImage2() / compressData2(), or pass the compressed buffers to SensorData::setRGBDImage() / setLaserScan(), which treat a 1-row CV_8UC1 matrix as already compressed.

◆ emptyTrashes()

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

Flush queued signatures and visual words to the database.

Parameters

async If true, signal the background thread instead of flushing synchronously.

◆ getEmptyTrashesTime()

double rtabmap::DBDriver::getEmptyTrashesTime ( ) const

inline

Definition at line 116 of file DBDriver.h.

◆ setTimestampUpdateEnabled()

void rtabmap::DBDriver::setTimestampUpdateEnabled ( bool enabled )

inline

Definition at line 117 of file DBDriver.h.

◆ generateGraph()

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 * >()`
	)

Export the pose graph to a Graphviz DOT file for visualization.

Reads nodes and links from the database (and optionally from otherSignatures not yet persisted) and writes fileName. Does not modify the database. If ids is empty, all node ids are included.

◆ updateOccupancyGrid()

void rtabmap::DBDriver::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.

Parameters

ground	Ground cells (raw `CV_32FC2/CV_32FC3,` or compressed `CV_8UC1` 1×N).
obstacles	Obstacle cells (same formats as `ground`).
empty	Empty cells (same formats as `ground`; ignored on DB schema < 0.16.0). Raw mats are compressed internally via SensorData::setOccupancyGrid() before writing.

◆ updateDepthImage()

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

Update the depth image stored for a node.

Parameters

image	Raw depth image, or pre-compressed blob (`CV_8UC1`, single row).
format	Compression format when `image` is raw (e.g. `".png"`); ignored if already compressed. Uncompressed images are compressed with compressImage2() before writing.

◆ updateLaserScan()

void rtabmap::DBDriver::updateLaserScan	(	int	nodeId,
		const LaserScan &	scan
	)

Update the laser scan stored for a node.

Parameters

scan	Uncompressed scan, or already compressed (LaserScan::isCompressed()). Uncompressed data is compressed with compressData2() before writing.

◆ addStatistics()

void rtabmap::DBDriver::addStatistics	(	const Statistics &	statistics,
		bool	saveWmState
	)		const

Append a Statistics record for a processed node.

Parameters

statistics	Metrics for Statistics::refImageId() (insert skipped if id ≤ 0 or data empty).
saveWmState	If true and schema ≥ 0.16.2, also store compressed working-memory state.

◆ savePreviewImage()

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

Save the map preview thumbnail in the Admin table.

Parameters

image Raw image or JPEG-compressed blob (CV_8UC1, single row); empty clears it.

Note: Requires database schema ≥ 0.12.0.

◆ saveOptimizedMesh()

void rtabmap::DBDriver::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.

Parameters

cloud	Point cloud (`CV_32FC1` or `CV_32FC3`).
polygons	Optional per-texture polygon index lists (texture → polygon → vertex indices).
texCoords	Optional UV coordinates per texture (one per polygon vertex).
textures	Optional concatenated square texture images (same size per texture).

◆ saveFlannIndex()

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

Persist the visual word dictionary FLANN index (serialized blob).

Parameters

indexData Serialized index from VWDictionary::serializeIndex(); pass empty to clear.

Note: Requires database schema ≥ 0.23.0. Used when Parameters::kKpFlannIndexSaved() is enabled.

◆ isConnected()

bool rtabmap::DBDriver::isConnected ( ) const

Returns: True if a database connection is active.

◆ getDatabaseVersion()

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

Returns: Schema version string stored in the database (e.g. "0.21.0").

◆ executeNoResult()

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

Run a SQL statement that does not return result rows.

Executes sql on the open database (e.g. INSERT, UPDATE, DELETE, CREATE, PRAGMA). Thread-safe wrapper around the backend's SQL execution.

For reads, use the dedicated loadSignature(), loadLinks() and related query methods instead of raw SQL.

Parameters

sql	Complete SQL statement (SQLite syntax for DBDriverSqlite3).

Note: The connection must be open (isConnected()). On failure the driver aborts with an assertion (SQLite backend).

Warning: sql is passed verbatim; sanitize any user-controlled values before calling.

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

corelib/include/rtabmap/core/DBDriver.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ create()

◆ parseParameters()

◆ isInMemory()

◆ getUrl()

◆ getTargetVersion()

◆ asyncSave()

◆ emptyTrashes()

◆ getEmptyTrashesTime()

◆ setTimestampUpdateEnabled()

◆ generateGraph()

◆ updateOccupancyGrid()

◆ updateDepthImage()

◆ updateLaserScan()

◆ addStatistics()

◆ savePreviewImage()

◆ saveOptimizedMesh()

◆ saveFlannIndex()

◆ isConnected()

◆ getDatabaseVersion()

◆ executeNoResult()