void PlaceDatabase::getFrame(int64_t id, frame_common::Frame& frame) const
{
checkErr(sqlite3_bind_int64(select_frame_stmt_, 1, id), "Couldn't bind row id");
checkErr(sqlite3_step(select_frame_stmt_), "SELECT frame didn't return data", SQLITE_ROW);
// Extract camera parameters
frame_common::CamParams cam;
cam.fx = sqlite3_column_double(select_frame_stmt_, 0);
cam.fy = sqlite3_column_double(select_frame_stmt_, 1);
cam.cx = sqlite3_column_double(select_frame_stmt_, 2);
cam.cy = sqlite3_column_double(select_frame_stmt_, 3);
cam.tx = sqlite3_column_double(select_frame_stmt_, 4);
frame.setCamParams(cam);
// Extract disparities and "good points" index
int num_keypoints = sqlite3_column_int(select_frame_stmt_, 7);
extractVector(select_frame_stmt_, 5, frame.disps, num_keypoints);
extractVector(select_frame_stmt_, 6, frame.goodPts, num_keypoints);
// Extract keypoints and descriptors
extractVector(select_frame_stmt_, 8, frame.kpts, num_keypoints);
int descriptor_length = sqlite3_column_int(select_frame_stmt_, 9);
assert(descriptor_length > 0);
const void* desc_data = sqlite3_column_blob(select_frame_stmt_, 10);
int desc_bytes = sqlite3_column_bytes(select_frame_stmt_, 10);
int step = desc_bytes / num_keypoints;
assert(step >= descriptor_length * (int)sizeof(float));
const cv::Mat tmp(num_keypoints, descriptor_length, cv::DataType<float>::type,
const_cast<void*>(desc_data), step);
tmp.copyTo(frame.dtors);
// Finally, reconstruct frame.pts from keypoints and disparities
frame.pts.resize(num_keypoints);
for (int i = 0; i < num_keypoints; ++i) {
if (frame.goodPts[i]) {
Eigen::Vector3d pt(frame.kpts[i].pt.x, frame.kpts[i].pt.y, frame.disps[i]);
frame.pts[i].head<3>() = frame.pix2cam(pt);
frame.pts[i](3) = 1.0;
}
}
checkErr(sqlite3_step(select_frame_stmt_), "SELECT frame returned more than one row", SQLITE_DONE);
checkErr(sqlite3_reset(select_frame_stmt_), "Couldn't reset SELECT frame statement");
}
void KstBindCurve::setYMinusErrorVector(KJS::ExecState *exec, const KJS::Value& value) {
KstVCurvePtr d = makeCurve(_d);
if (d) {
KstVectorPtr vp = extractVector(exec, value);
if (vp) {
KstWriteLocker wl(d);
d->setYMinusError(vp);
}
}
}
void PlaceDatabase::extractImage(cv::Mat& image, int col) const
{
std::vector<uchar> buf;
extractVector(select_images_stmt_, col, buf);
if (buf.size() == 0)
image = cv::Mat();
else {
cv::Mat mat(1, buf.size(), CV_8UC1, &buf[0]);
image = cv::imdecode(mat, CV_LOAD_IMAGE_ANYCOLOR);
}
}
// Extracts vector recursively
Rpn::Vector Parser::extractVector()
{
if (m_lexer->lexeme().type != LexemeOpeningSquareBracket) {
THROW(EExpected(tr("Opening bracket for vector initialization")));
}
m_lexer->nextLexeme();
Rpn::Vector result;
// Multi-dimensional vector. Recursive calls
if (m_lexer->lexeme().type == LexemeOpeningSquareBracket) {
m_lexer->previousLexeme();
QList<Rpn::Vector> elements;
do {
m_lexer->nextLexeme();
elements << extractVector();
} while (m_lexer->lexeme().type == LexemeComma);
result = m_codeGenerator->generateVector(elements);
}
// One-dimensional vector
else {
m_lexer->previousLexeme();
QList<Number> elements;
do {
m_lexer->nextLexeme();
Rpn::CodeThread elementThread = expression();
Rpn::Operand operand = m_calculator->calculate(elementThread);
if (operand.type != Rpn::OperandNumber) {
THROW(EIncorrectVectorInitialization());
}
elements << operand.value.value<Number>();
} while (m_lexer->lexeme().type == LexemeComma);
result = m_codeGenerator->generateVector(elements);
}
if (m_lexer->lexeme().type != LexemeClosingSquareBracket) {
THROW(EExpected(tr("Closing bracket for vector initialization")));
}
m_lexer->nextLexeme();
return result;
}
void PlaceDatabase::loadDocumentDatabase(const std::string& weights_file)
{
document_db_.loadWeights(weights_file);
// Repopulate documents
static const char SELECT_DOC_SQL[] = "SELECT id, document FROM places";
sqlite3_stmt *stmt = NULL;
checkErr(sqlite3_prepare_v2(persistent_db_, SELECT_DOC_SQL, sizeof(SELECT_DOC_SQL), &stmt, NULL),
"Couldn't prepare SELECT documents statement");
vt::Document words;
int err;
int64_t id = 0;
while ((err = sqlite3_step(stmt)) == SQLITE_ROW) {
id = sqlite3_column_int(stmt, 0);
extractVector(stmt, 1, words);
vt::DocId doc_id = document_db_.insert(words);
doc_to_place_id_[doc_id] = id;
}
printf("Last loaded document id = %d\n", (int)id);
checkErr(err, "Error executing spatial query", SQLITE_DONE);
checkErr(sqlite3_finalize(stmt), "Couldn't finalize SELECT documents statement");
}
KJS::Object KstBindCurve::construct(KJS::ExecState *exec, const KJS::List& args) {
KstVectorPtr x, y, ex, ey, exm, eym;
if (args.size() > 0) {
x = extractVector(exec, args[0]);
if (!x) {
KJS::Object eobj = KJS::Error::create(exec, KJS::TypeError);
exec->setException(eobj);
return KJS::Object();
}
}
if (args.size() > 1) {
y = extractVector(exec, args[1]);
if (!y) {
KJS::Object eobj = KJS::Error::create(exec, KJS::TypeError);
exec->setException(eobj);
return KJS::Object();
}
}
if (args.size() > 2) {
ex = extractVector(exec, args[2]);
if (!ex) {
KJS::Object eobj = KJS::Error::create(exec, KJS::TypeError);
exec->setException(eobj);
return KJS::Object();
}
}
if (args.size() > 3) {
ey = extractVector(exec, args[3]);
if (!ey) {
KJS::Object eobj = KJS::Error::create(exec, KJS::TypeError);
exec->setException(eobj);
return KJS::Object();
}
}
if (args.size() > 4) {
exm = extractVector(exec, args[4]);
if (!exm) {
KJS::Object eobj = KJS::Error::create(exec, KJS::TypeError);
exec->setException(eobj);
return KJS::Object();
}
}
if (args.size() > 5) {
eym = extractVector(exec, args[5]);
if (!eym) {
KJS::Object eobj = KJS::Error::create(exec, KJS::TypeError);
exec->setException(eobj);
return KJS::Object();
}
}
if (args.size() > 6) {
KJS::Object eobj = KJS::Error::create(exec, KJS::SyntaxError);
exec->setException(eobj);
return KJS::Object();
}
if (!x || !y) { // force at least X and Y vectors
KJS::Object eobj = KJS::Error::create(exec, KJS::SyntaxError);
exec->setException(eobj);
return KJS::Object();
}
QColor color = KstColorSequence::next();
KstVCurvePtr d = new KstVCurve(QString::null, x, y, ex, ey, exm, eym, color);
KST::dataObjectList.lock().writeLock();
KST::dataObjectList.append(d.data());
KST::dataObjectList.lock().writeUnlock();
return KJS::Object(new KstBindCurve(exec, d));
}
// Vector = '[' Expression, { ',' Expression } ']'
Rpn::CodeThread Parser::vector()
{
return m_codeGenerator->packVector(extractVector());
}
KJS::Object KstBindPowerSpectrum::construct(KJS::ExecState *exec, const KJS::List& args) {
if (args.size() < 2) {
KJS::Object eobj = KJS::Error::create(exec, KJS::SyntaxError);
exec->setException(eobj);
return KJS::Object();
}
if (args[1].type() != KJS::NumberType) {
KJS::Object eobj = KJS::Error::create(exec, KJS::TypeError);
exec->setException(eobj);
return KJS::Object();
}
double gaussianSigma = 0.0;
double freq = args[1].toNumber(exec);
bool average = true;
unsigned len = 16;
bool apodize = true;
bool removeMean = true;
int apodizeFxn = WindowOriginal;
int output = PSDAmplitudeSpectralDensity;
QString vunits = "V";
QString runits = "Hz";
KstVectorPtr v = extractVector(exec, args[0]);
if (!v) {
KJS::Object eobj = KJS::Error::create(exec, KJS::TypeError);
exec->setException(eobj);
return KJS::Object();
}
if (args.size() > 2) {
if (args[2].type() != KJS::BooleanType) {
KJS::Object eobj = KJS::Error::create(exec, KJS::TypeError);
exec->setException(eobj);
return KJS::Object();
}
average = args[2].toBoolean(exec);
}
if (args.size() > 3) {
if (args[3].type() != KJS::NumberType || !args[3].toUInt32(len)) {
KJS::Object eobj = KJS::Error::create(exec, KJS::TypeError);
exec->setException(eobj);
return KJS::Object();
}
}
if (args.size() > 4) {
if (args[4].type() != KJS::BooleanType) {
KJS::Object eobj = KJS::Error::create(exec, KJS::TypeError);
exec->setException(eobj);
return KJS::Object();
}
apodize = args[4].toBoolean(exec);
}
if (args.size() > 5) {
if (args[5].type() != KJS::BooleanType) {
KJS::Object eobj = KJS::Error::create(exec, KJS::TypeError);
exec->setException(eobj);
return KJS::Object();
}
removeMean = args[5].toBoolean(exec);
}
if (args.size() > 6) {
if (args[6].type() != KJS::StringType) {
KJS::Object eobj = KJS::Error::create(exec, KJS::TypeError);
exec->setException(eobj);
return KJS::Object();
}
vunits = args[6].toString(exec).qstring();
}
if (args.size() > 7) {
if (args[7].type() != KJS::StringType) {
KJS::Object eobj = KJS::Error::create(exec, KJS::TypeError);
exec->setException(eobj);
return KJS::Object();
}
runits = args[7].toString(exec).qstring();
}
if (args.size() > 8) {
if (args[8].type() != KJS::NumberType) {
KJS::Object eobj = KJS::Error::create(exec, KJS::TypeError);
exec->setException(eobj);
return KJS::Object();
}
apodizeFxn = args[8].toInt32(exec);
}
if (args.size() > 9) {
if (args[9].type() != KJS::NumberType) {
KJS::Object eobj = KJS::Error::create(exec, KJS::TypeError);
exec->setException(eobj);
return KJS::Object();
}
gaussianSigma = args[9].toNumber(exec);
}
if (args.size() > 10) {
if (args[10].type() != KJS::NumberType) {
KJS::Object eobj = KJS::Error::create(exec, KJS::TypeError);
exec->setException(eobj);
return KJS::Object();
}
output = args[10].toInt32(exec);
}
if (args.size() > 11) {
KJS::Object eobj = KJS::Error::create(exec, KJS::SyntaxError);
exec->setException(eobj);
return KJS::Object();
}
KstPSDPtr d = new KstPSD(QString::null, v, freq, average, len, apodize, removeMean,
vunits, runits, (ApodizeFunction)apodizeFxn, gaussianSigma,
(PSDType)output);
KST::dataObjectList.lock().writeLock();
KST::dataObjectList.append(d.data());
KST::dataObjectList.lock().unlock();
return KJS::Object(new KstBindPowerSpectrum(exec, d));
}
