| 1648 | } |
| 1649 | |
| 1650 | void PrepareSQLStatements() { |
| 1651 | sql_stmts_.clear(); |
| 1652 | |
| 1653 | auto prepare_sql_stmt = [this](const std::string& sql, |
| 1654 | sqlite3_stmt** sql_stmt) { |
| 1655 | THROW_CHECK_NOTNULL(database_); |
| 1656 | VLOG(3) << "Preparing SQL statement: " << sql; |
| 1657 | SQLITE3_CALL(sqlite3_prepare_v2(database_, sql.c_str(), -1, sql_stmt, 0)); |
| 1658 | sql_stmts_.push_back(sql_stmt); |
| 1659 | }; |
| 1660 | |
| 1661 | ////////////////////////////////////////////////////////////////////////////// |
| 1662 | // num_* |
| 1663 | ////////////////////////////////////////////////////////////////////////////// |
| 1664 | prepare_sql_stmt("SELECT rows FROM keypoints WHERE image_id = ?;", |
| 1665 | &sql_stmt_num_keypoints_); |
| 1666 | prepare_sql_stmt("SELECT rows FROM descriptors WHERE image_id = ?;", |
| 1667 | &sql_stmt_num_descriptors_); |
| 1668 | |
| 1669 | ////////////////////////////////////////////////////////////////////////////// |
| 1670 | // exists_* |
| 1671 | ////////////////////////////////////////////////////////////////////////////// |
| 1672 | prepare_sql_stmt("SELECT 1 FROM rigs WHERE rig_id = ?;", |
| 1673 | &sql_stmt_exists_rig_); |
| 1674 | prepare_sql_stmt("SELECT 1 FROM cameras WHERE camera_id = ?;", |
| 1675 | &sql_stmt_exists_camera_); |
| 1676 | prepare_sql_stmt("SELECT 1 FROM frames WHERE frame_id = ?;", |
| 1677 | &sql_stmt_exists_frame_); |
| 1678 | prepare_sql_stmt("SELECT 1 FROM images WHERE image_id = ?;", |
| 1679 | &sql_stmt_exists_image_id_); |
| 1680 | prepare_sql_stmt("SELECT 1 FROM images WHERE name = ?;", |
| 1681 | &sql_stmt_exists_image_name_); |
| 1682 | prepare_sql_stmt("SELECT 1 FROM pose_priors WHERE pose_prior_id = ?;", |
| 1683 | &sql_stmt_exists_pose_prior_); |
| 1684 | prepare_sql_stmt("SELECT 1 FROM keypoints WHERE image_id = ?;", |
| 1685 | &sql_stmt_exists_keypoints_); |
| 1686 | prepare_sql_stmt("SELECT 1 FROM descriptors WHERE image_id = ?;", |
| 1687 | &sql_stmt_exists_descriptors_); |
| 1688 | prepare_sql_stmt("SELECT 1 FROM matches WHERE pair_id = ?;", |
| 1689 | &sql_stmt_exists_matches_); |
| 1690 | prepare_sql_stmt("SELECT 1 FROM two_view_geometries WHERE pair_id = ?;", |
| 1691 | &sql_stmt_exists_two_view_geometry_); |
| 1692 | |
| 1693 | ////////////////////////////////////////////////////////////////////////////// |
| 1694 | // update_* |
| 1695 | ////////////////////////////////////////////////////////////////////////////// |
| 1696 | prepare_sql_stmt( |
| 1697 | "UPDATE rigs SET ref_sensor_id=?, ref_sensor_type=? WHERE rig_id=?;", |
| 1698 | &sql_stmt_update_rig_); |
| 1699 | prepare_sql_stmt( |
| 1700 | "UPDATE cameras SET model=?, width=?, height=?, params=?, " |
| 1701 | "prior_focal_length=? WHERE camera_id=?;", |
| 1702 | &sql_stmt_update_camera_); |
| 1703 | prepare_sql_stmt("UPDATE frames SET rig_id=? WHERE frame_id=?;", |
| 1704 | &sql_stmt_update_frame_); |
| 1705 | prepare_sql_stmt("UPDATE images SET name=?, camera_id=? WHERE image_id=?;", |
| 1706 | &sql_stmt_update_image_); |
| 1707 | prepare_sql_stmt( |