SQLite3 implementation of DBDriver for RTAB-Map map databases. More...

#include <DBDriverSqlite3.h>

Inheritance diagram for rtabmap::DBDriverSqlite3:

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Collaboration diagram for rtabmap::DBDriverSqlite3:

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Public Member Functions
	DBDriverSqlite3 (const ParametersMap &parameters=ParametersMap())
	Construct driver with optional SQLite-specific parameters.

virtual void	parseParameters (const ParametersMap &parameters)
	Apply SQLite parameters from the map; forwards to DBDriver::parseParameters().

virtual bool	isInMemory () const
	True when the database runs in RAM instead of on disk.

void	setDbInMemory (bool dbInMemory)
	Enable or disable in-memory mode. If connected, the connection is closed and reopened with the new mode.

void	setJournalMode (int journalMode)
	Set SQLite rollback journal mode (`PRAGMA journal_mode`).

void	setCacheSize (unsigned int cacheSize)
	Set the number of database pages kept in SQLite's page cache (`PRAGMA cache_size`).

void	setSynchronous (int synchronous)
	Set how aggressively SQLite syncs the database file to disk (`PRAGMA synchronous`).

void	setTempStore (int tempStore)
	Set where SQLite stores temporary tables and indices (`PRAGMA temp_store`).

Public Member Functions inherited from rtabmap::DBDriver
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.

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.

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).

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

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

Protected Member Functions
virtual bool	connectDatabaseQuery (const std::string &url, bool overwritten=false, bool readOnly=false)

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

virtual bool	isConnectedQuery () const

virtual unsigned long	getMemoryUsedQuery () const

virtual bool	getDatabaseVersionQuery (std::string &version) const

virtual long	getNodesMemoryUsedQuery () const

virtual long	getLinksMemoryUsedQuery () const

virtual long	getImagesMemoryUsedQuery () const

virtual long	getDepthImagesMemoryUsedQuery () const

virtual long	getCalibrationsMemoryUsedQuery () const

virtual long	getGridsMemoryUsedQuery () const

virtual long	getLaserScansMemoryUsedQuery () const

virtual long	getUserDataMemoryUsedQuery () const

virtual long	getWordsMemoryUsedQuery () const

virtual long	getFeaturesMemoryUsedQuery () const

virtual long	getStatisticsMemoryUsedQuery () const

virtual int	getLastNodesSizeQuery () const

virtual int	getLastDictionarySizeQuery () const

virtual int	getTotalNodesSizeQuery () const

virtual int	getTotalDictionarySizeQuery () const

virtual ParametersMap	getLastParametersQuery () const

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

virtual void	getWeightQuery (int signatureId, int &weight) const

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

virtual void	saveQuery (const std::list< VisualWord * > &words) const

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

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

virtual void	addLinkQuery (const Link &link) 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	updateCalibrationQuery (int nodeId, const std::vector< CameraModel > &models, const std::vector< StereoCameraModel > &stereoModels) const

virtual void	updateDepthImageQuery (int nodeId, const cv::Mat &image, const std::string &format) const

void	updateLaserScanQuery (int nodeId, const LaserScan &scan) const

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

virtual void	savePreviewImageQuery (const cv::Mat &image) const

virtual cv::Mat	loadPreviewImageQuery () const

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

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

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

virtual cv::Mat	load2DMapQuery (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 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 void	saveFlannIndexQuery (const std::vector< unsigned char > &indexData) const

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

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

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

virtual void	loadWordsQuery (const std::set< int > &wordIds, std::list< VisualWord * > &vws) 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 bool	getCalibrationQuery (int signatureId, std::vector< CameraModel > &models, std::vector< StereoCameraModel > &stereoModels) const

virtual bool	getLaserScanInfoQuery (int signatureId, LaserScan &info) 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 void	getLocalFeaturesQuery (int signatureId, std::multimap< int, int > &words, std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &points, cv::Mat &descriptors) const

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

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

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

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

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

virtual void	getInvertedIndexNiQuery (int signatureId, int &ni) const

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

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

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

Protected Member Functions inherited from rtabmap::DBDriver
	DBDriver (const ParametersMap &parameters=ParametersMap())
	Protected constructor for subclasses.

Protected Attributes
sqlite3 *	_ppDb
	Open SQLite connection (null when disconnected)

std::string	_version
	Schema version read from the database.

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 Public Member Functions inherited from rtabmap::DBDriver
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)

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

SQLite3 implementation of DBDriver for RTAB-Map map databases.

This is the default driver returned by DBDriver::create(). It stores signatures, links, visual words, statistics and sensor payloads in a single .db file using the SQLite C API.

Storage modes

File-backed (default): the database is read/written directly on disk at getUrl().
In-memory: when isInMemory() is true, SQLite uses :memory: and the file at getUrl() (if any) is loaded at open and optionally saved on closeConnection().

SQLite PRAGMA tuning (applied on connect and when setters are called while connected):

setCacheSize() — page cache size in pages
setJournalMode() — rollback journal mode (DELETE … OFF)
setSynchronous() — fsync policy (OFF / NORMAL / FULL)
setTempStore() — storage for temporary tables and indices

Configure via Parameters::kDbSqlite3InMemory(), Parameters::kDbSqlite3CacheSize(), Parameters::kDbSqlite3JournalMode(), Parameters::kDbSqlite3Synchronous() and Parameters::kDbSqlite3TempStore(), or call the setters directly.

See also: DBDriver; DBDriver::create()

Definition at line 70 of file DBDriverSqlite3.h.

Constructor & Destructor Documentation

◆ DBDriverSqlite3()

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

Construct driver with optional SQLite-specific parameters.

Parameters

parameters Map of parameters (see class description).

Member Function Documentation

◆ parseParameters()

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

virtual

Apply SQLite parameters from the map; forwards to DBDriver::parseParameters().

Reimplemented from rtabmap::DBDriver.

◆ isInMemory()

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

inlinevirtual

True when the database runs in RAM instead of on disk.

Returns: True if getUrl() is empty or setDbInMemory() was used.

Reimplemented from rtabmap::DBDriver.

Definition at line 85 of file DBDriverSqlite3.h.

◆ setJournalMode()

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

Set SQLite rollback journal mode (PRAGMA journal_mode).

Controls how SQLite stores the transaction journal used for atomic commit and rollback. See https://www.sqlite.org/pragma.html#pragma_journal_mode

Parameters

journalMode

Accepted values (invalid values are ignored). RTAB-Map default: Parameters::defaultDbSqlite3JournalMode() = 3 (MEMORY) (Parameters::kDbSqlite3JournalMode()).

0 — DELETE (SQLite default): the journal file is deleted at the end of each transaction. Good general-purpose balance of safety and speed.
1 — TRUNCATE: the journal is truncated to zero length instead of being unlinked; can be faster on some filesystems than DELETE.
2 — PERSIST: the journal file is not deleted; only its header is zeroed after commit, reducing create/delete overhead at the cost of always keeping a journal file on disk.
3 — MEMORY (RTAB-Map default): the journal is held in RAM only (not written to disk). Faster, but the database cannot be rolled back after a crash and may corrupt if the process dies mid-write.
4 — OFF: no rollback journal. Fastest, but a crash or power loss during a write can leave the database inconsistent; transactions cannot be rolled back atomically.

◆ setCacheSize()

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

Set the number of database pages kept in SQLite's page cache (PRAGMA cache_size).

A larger cache reduces disk I/O when the working set fits in memory. The effective memory is approximately cacheSize * page_size bytes (page size is usually 4096 bytes unless changed with PRAGMA page_size). Only positive values are used (page count); see https://www.sqlite.org/pragma.html#pragma_cache_size

Parameters

cacheSize Number of pages to cache. RTAB-Map default: Parameters::defaultDbSqlite3CacheSize() = 10000 (Parameters::kDbSqlite3CacheSize()).

◆ setSynchronous()

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

Set how aggressively SQLite syncs the database file to disk (PRAGMA synchronous).

Trade-off between durability after a crash or power loss and write performance. See https://www.sqlite.org/pragma.html#pragma_synchronous

Parameters

synchronous

Accepted values (invalid values are ignored). RTAB-Map default: Parameters::defaultDbSqlite3Synchronous() = 0 (OFF) (Parameters::kDbSqlite3Synchronous()).

0 — OFF (RTAB-Map default): SQLite does not wait for data to reach persistent storage. Fastest; a system crash or power loss during a transaction may corrupt the database.
1 — NORMAL: syncs at the most critical moments (SQLite default in many builds). A crash may lose the last transaction but the database file structure usually stays valid.
2 — FULL: syncs after every transaction commit. Slowest; strongest guarantee that a committed transaction survives a power loss (when the OS honors fsync).

◆ setTempStore()

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

Set where SQLite stores temporary tables and indices (PRAGMA temp_store).

Affects internal temp storage used for some queries and operations, not RTAB-Map map data. See https://www.sqlite.org/pragma.html#pragma_temp_store

Parameters

tempStore

Accepted values (invalid values are ignored). RTAB-Map default: Parameters::defaultDbSqlite3TempStore() = 2 (MEMORY) (Parameters::kDbSqlite3TempStore()).

0 — DEFAULT: use SQLite's compile-time default (often FILE, i.e. on-disk temp files).
1 — FILE: store temporary tables and indices in temporary files in the directory given by PRAGMA temp_store_directory or the system temp folder.
2 — MEMORY (RTAB-Map default): store temporary tables and indices in RAM. Can speed up heavy queries but increases memory use; large temp structures may still spill to disk depending on build.

◆ connectDatabaseQuery()

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

protectedvirtual

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DBDriverSqlite3()

Member Function Documentation

◆ parseParameters()

◆ isInMemory()

◆ setJournalMode()

◆ setCacheSize()

◆ setSynchronous()

◆ setTempStore()

◆ connectDatabaseQuery()

◆ disconnectDatabaseQuery()

◆ isConnectedQuery()

◆ getMemoryUsedQuery()

◆ getDatabaseVersionQuery()

◆ getNodesMemoryUsedQuery()

◆ getLinksMemoryUsedQuery()

◆ getImagesMemoryUsedQuery()

◆ getDepthImagesMemoryUsedQuery()

◆ getCalibrationsMemoryUsedQuery()

◆ getGridsMemoryUsedQuery()

◆ getLaserScansMemoryUsedQuery()

◆ getUserDataMemoryUsedQuery()

◆ getWordsMemoryUsedQuery()

◆ getFeaturesMemoryUsedQuery()

◆ getStatisticsMemoryUsedQuery()

◆ getLastNodesSizeQuery()

◆ getLastDictionarySizeQuery()

◆ getTotalNodesSizeQuery()

◆ getTotalDictionarySizeQuery()

◆ getLastParametersQuery()

◆ getStatisticsQuery()

◆ getAllStatisticsQuery()

◆ getAllStatisticsWmStatesQuery()

◆ executeNoResultQuery()

◆ getWeightQuery()

◆ saveQuery() [1/2]

◆ saveQuery() [2/2]

◆ updateQuery() [1/2]

◆ updateQuery() [2/2]

◆ addLinkQuery()

◆ updateLinkQuery()

◆ updateOccupancyGridQuery()

◆ updateCalibrationQuery()

◆ updateDepthImageQuery()

◆ updateLaserScanQuery()

◆ addStatisticsQuery()

◆ savePreviewImageQuery()

◆ loadPreviewImageQuery()

◆ saveOptimizedPosesQuery()

◆ loadOptimizedPosesQuery()

◆ save2DMapQuery()

◆ load2DMapQuery()

◆ saveOptimizedMeshQuery()

◆ loadOptimizedMeshQuery()

◆ saveFlannIndexQuery()

◆ loadQuery()

◆ loadLastNodesQuery()

◆ loadSignaturesQuery()

◆ loadWordsQuery()

◆ loadLinksQuery()

◆ loadNodeDataQuery()

◆ getCalibrationQuery()

◆ getLaserScanInfoQuery()

◆ getNodeInfoQuery()

◆ getLocalFeaturesQuery()

◆ getLastNodeIdsQuery()

◆ getAllNodeIdsQuery()

◆ getAllOdomPosesQuery()

◆ getAllLinksQuery()

◆ getLastIdQuery()

◆ getInvertedIndexNiQuery()

◆ getNodesObservingLandmarkQuery()

◆ getNodeIdByLabelQuery()

◆ getAllLabelsQuery()

Member Data Documentation