ReUseX::io::RTABMapDatabase Class Reference

Core database class that wraps RTABMap's database functionality. More...

#include <RTABMapDatabase.hpp>

Public Member Functions
	RTABMapDatabase (std::filesystem::path dbPath, bool readOnly=false)
	Opens an RTABMap database and validates its schema.
	~RTABMapDatabase ()
	Destructor closes database connection.
	RTABMapDatabase (const RTABMapDatabase &)=delete
RTABMapDatabase &	operator= (const RTABMapDatabase &)=delete
	RTABMapDatabase (RTABMapDatabase &&) noexcept
RTABMapDatabase &	operator= (RTABMapDatabase &&) noexcept
bool	isOpen () const noexcept
	Check if database connection is open.
const std::filesystem::path &	getPath () const noexcept
	Get the path to the database file.
void	validateSchema () const
	Validate that required RTABMap tables exist.
std::vector< int >	getNodeIds (bool ignoreChildren=false) const
	Get list of all node IDs in the database.
cv::Mat	getImage (int nodeId) const
	Get image data for a specific node.
void	getGraph (std::map< int, rtabmap::Transform > &poses, std::multimap< int, rtabmap::Link > &links, std::map< int, rtabmap::Signature > *signatures=nullptr, bool optimized=true, bool withImages=false, bool withScan=false) const
	Retrieve the SLAM graph (poses, links, signatures).
bool	hasSegmentation (int nodeId) const
	Check if a node has segmentation labels stored.
cv::Mat	getLabels (int nodeId) const
	Get segmentation labels for a node.
void	saveLabels (int nodeId, const cv::Mat &labels, bool autoRotate=true)
	Save segmentation labels for a single node.
void	saveLabels (const std::vector< int > &nodeIds, const std::vector< cv::Mat > &labels, bool autoRotate=true)
	Save segmentation labels for multiple nodes (batch operation).

Detailed Description

Core database class that wraps RTABMap's database functionality.

This class provides a unified interface for accessing RTABMap databases, including both the core RTABMap tables (Node, Data, Link) and custom extensions (Segmentation table for labels).

The class uses RAII for resource management and the Pimpl idiom to hide RTABMap implementation details. It is not thread-safe; create separate instances for each thread if concurrent access is needed.

Thread Safety: NOT thread-safe. sqlite3 connections should not be shared between threads. Create per-thread instances if needed.

Definition at line 36 of file RTABMapDatabase.hpp.

Constructor & Destructor Documentation

RTABMapDatabase() [1/3]

ReUseX::io::RTABMapDatabase::RTABMapDatabase ( std::filesystem::path dbPath, bool readOnly = false )

explicit

Opens an RTABMap database and validates its schema.

Parameters

dbPath	Path to the database file
readOnly	If true, opens database in read-only mode

Exceptions

std::runtime_error

if database cannot be opened or schema is invalid

Referenced by operator=(), operator=(), RTABMapDatabase(), and RTABMapDatabase().

~RTABMapDatabase()

ReUseX::io::RTABMapDatabase::~RTABMapDatabase

(

)

Destructor closes database connection.

RTABMapDatabase() [2/3]

ReUseX::io::RTABMapDatabase::RTABMapDatabase ( const RTABMapDatabase & )

delete

References RTABMapDatabase().

RTABMapDatabase() [3/3]

ReUseX::io::RTABMapDatabase::RTABMapDatabase ( RTABMapDatabase && )

noexcept

References RTABMapDatabase().

Member Function Documentation

getGraph()

void ReUseX::io::RTABMapDatabase::getGraph	(	std::map< int, rtabmap::Transform > &	poses,
		std::multimap< int, rtabmap::Link > &	links,
		std::map< int, rtabmap::Signature > *	signatures = nullptr,
		bool	optimized = true,
		bool	withImages = false,
		bool	withScan = false ) const

Retrieve the SLAM graph (poses, links, signatures).

This uses RTABMap's high-level Rtabmap class to extract graph data.

Parameters

poses	Output map of node IDs to 3D transforms
links	Output multimap of node IDs to links (edges)
signatures	Optional output map of node IDs to full signatures
optimized	If true, return optimized poses
withImages	If true, include image data in signatures
withScan	If true, include laser scan data in signatures

Exceptions

std::runtime_error

if graph retrieval fails

References getGraph().

Referenced by getGraph().

getImage()

cv::Mat ReUseX::io::RTABMapDatabase::getImage

(

int

nodeId

)

const

Get image data for a specific node.

Retrieves the image from the Data table and applies 90° clockwise rotation to match RTABMap's coordinate convention.

Parameters

nodeId

The node ID to retrieve image for

Returns

OpenCV Mat containing the image (empty if not found)

Exceptions

std::runtime_error

if database access fails

References getImage().

Referenced by getImage().

getLabels()

cv::Mat ReUseX::io::RTABMapDatabase::getLabels

(

int

nodeId

)

const

Get segmentation labels for a node.

Returns labels as CV_32S with -1 for unlabeled/background pixels and 0+ for class labels. Applies 90° clockwise rotation to match the image coordinate system.

Parameters

nodeId

Node ID to retrieve labels for

Returns

OpenCV Mat with labels (CV_32S), empty if not found

Exceptions

std::runtime_error

if database access fails

References getLabels().

Referenced by getLabels().

getNodeIds()

std::vector< int > ReUseX::io::RTABMapDatabase::getNodeIds

(

bool

ignoreChildren = false

)

const

Get list of all node IDs in the database.

Parameters

ignoreChildren

If true, only return parent nodes (not children)

Returns

Vector of node IDs

References getNodeIds().

Referenced by getNodeIds().

getPath()

const std::filesystem::path & ReUseX::io::RTABMapDatabase::getPath ( ) const

noexcept

Get the path to the database file.

Returns

filesystem path to the database

References getPath().

Referenced by getPath().

hasSegmentation()

bool ReUseX::io::RTABMapDatabase::hasSegmentation

(

int

nodeId

)

const

Check if a node has segmentation labels stored.

Parameters

nodeId

Node ID to check

Returns

true if labels exist for this node

References hasSegmentation().

Referenced by hasSegmentation().

isOpen()

bool ReUseX::io::RTABMapDatabase::isOpen ( ) const

noexcept

Check if database connection is open.

Returns

true if database is open and valid

References isOpen().

Referenced by isOpen().

operator=() [1/2]

RTABMapDatabase & ReUseX::io::RTABMapDatabase::operator= ( const RTABMapDatabase & )

delete

References RTABMapDatabase().

operator=() [2/2]

RTABMapDatabase & ReUseX::io::RTABMapDatabase::operator= ( RTABMapDatabase && )

noexcept

References RTABMapDatabase().

saveLabels() [1/2]

void ReUseX::io::RTABMapDatabase::saveLabels	(	const std::vector< int > &	nodeIds,
		const std::vector< cv::Mat > &	labels,
		bool	autoRotate = true )

Save segmentation labels for multiple nodes (batch operation).

Uses a database transaction for efficiency. All nodes must exist in the Node table or the entire operation fails.

Parameters

nodeIds	Vector of node IDs
labels	Vector of label Mats (must match nodeIds length)
autoRotate	If true, applies 90° counterclockwise rotation before saving

Exceptions

std::runtime_error

if sizes don't match, nodes don't exist, or save fails

References saveLabels().

saveLabels() [2/2]

void ReUseX::io::RTABMapDatabase::saveLabels	(	int	nodeId,
		const cv::Mat &	labels,
		bool	autoRotate = true )

Save segmentation labels for a single node.

Labels should be CV_32S with -1 for unlabeled/background and 0+ for class labels. Internally converts to CV_16U with +1 offset for storage (0 = background).

Parameters

nodeId	Node ID to save labels for
labels	OpenCV Mat with labels (CV_32S)
autoRotate	If true, applies 90° counterclockwise rotation before saving

Exceptions

std::runtime_error

if node doesn't exist or save fails

References saveLabels().

Referenced by saveLabels(), and saveLabels().

validateSchema()

void ReUseX::io::RTABMapDatabase::validateSchema

(

)

const

Validate that required RTABMap tables exist.

Exceptions

std::runtime_error

if required tables are missing

References validateSchema().

Referenced by validateSchema().

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

• libs/reusex/include/ReUseX/io/RTABMapDatabase.hpp