Reprocess: added -track_changes option. Added rtabmap-dpupdate.

tools/CMakeLists.txt

@@ -10,6 +10,7 @@ ADD_SUBDIRECTORY( EurocDataset )
 ADD_SUBDIRECTORY( CidSimsDataset )
 ADD_SUBDIRECTORY( Recovery )
 ADD_SUBDIRECTORY( Reprocess )
+ADD_SUBDIRECTORY( DatabaseUpdate )
 ADD_SUBDIRECTORY( DetectMoreLoopClosures )
 ADD_SUBDIRECTORY( Export )
 ADD_SUBDIRECTORY( Report )

tools/DatabaseUpdate/CMakeLists.txt

@@ -0,0 +1,11 @@
+
+ADD_EXECUTABLE(dbupdate main.cpp)
+
+TARGET_LINK_LIBRARIES(dbupdate rtabmap_core)
+
+SET_TARGET_PROPERTIES( dbupdate
+	PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-dbupdate)
+
+INSTALL(TARGETS dbupdate
+		RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
+		BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)

tools/DatabaseUpdate/main.cpp

@@ -0,0 +1,87 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include <rtabmap/core/DBDriverSqlite3.h>
+#include <rtabmap/utilite/ULogger.h>
+#include <rtabmap/utilite/UFile.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string>
+
+using namespace rtabmap;
+
+void showUsage()
+{
+	printf("\nUpdate a database with a set of changes recorded while another database was opened with\n"
+		   "change tracking enabled (i.e. DBDriverSqlite3::setTrackChangesOutput()). This applies the\n"
+		   "data changes only; it does NOT upgrade the database schema/version.\n"
+		   "\n"
+		   "Usage:\n"
+		   "   rtabmap-dbupdate \"database.db\" \"changes.update\"\n"
+		   "\n"
+		   "The changes must be applied to the exact database state they were recorded from; otherwise\n"
+		   "the operation is aborted and the database is left unchanged.\n"
+		   "\n");
+	exit(1);
+}
+
+int main(int argc, char * argv[])
+{
+	ULogger::setType(ULogger::kTypeConsole);
+	ULogger::setLevel(ULogger::kWarning);
+
+	if(argc < 3)
+	{
+		showUsage();
+	}
+
+	std::string databasePath = argv[argc-2];
+	std::string updatePath = argv[argc-1];
+
+	if(!UFile::exists(databasePath))
+	{
+		printf("Database \"%s\" does not exist.\n", databasePath.c_str());
+		return 1;
+	}
+	if(!UFile::exists(updatePath))
+	{
+		printf("Update file \"%s\" does not exist.\n", updatePath.c_str());
+		return 1;
+	}
+
+	printf("Updating database \"%s\" with changes from \"%s\"...\n", databasePath.c_str(), updatePath.c_str());
+
+	std::string error;
+	if(DBDriverSqlite3::applyChangesFromFile(databasePath, updatePath, &error))
+	{
+		printf("Done! Database \"%s\" was updated successfully.\n", databasePath.c_str());
+		return 0;
+	}
+
+	printf("Error: %s\n", error.c_str());
+	return 1;
+}

tools/Reprocess/main.cpp

@@ -85,6 +85,11 @@ void showUsage()
 			"     -stop_loop  Stop after the first loop closure is detected.\n"
 			"     -a          Append mode: if Mem/IncrementalMemory is true, RTAB-Map is initialized with the first input database,\n"
 			"                 then next databases are reprocessed on top of the first one.\n"
+			"     --track-changes \"changes.update\"\n"
+			"                 Only with append mode (-a): record the changes made on top of the first (copied) database and\n"
+			"                 write a compact delta to the given file. Apply it later on the original database with\n"
+			"                 rtabmap-dbupdate. Requires the database to be version 0.24 or newer. Note: the recorded\n"
+			"                 changes are held in memory until closing, so use this only when appending a small amount.\n"
 			"     -cam #      Camera index to stream. Ignored if a database doesn't contain multi-camera data. Can also be multiple \n"
 			"                 indices split by spaces in a string like \"0 2\" to stream cameras 0 and 2 only.\n"
 			"     -cam_tf \"x y z roll pitch yaw\" Camera local transform override(s) without optical rotation. For multi-cameras, \n"
@@ -274,6 +279,7 @@ int main(int argc, char * argv[])
 	int stopMapId = -1;
 	bool stopOnLoopClosure = false;
 	bool appendMode = false;
+	std::string trackChangesOutput;
 	std::vector<unsigned int> cameraIndices;
 	std::vector<Transform> cameraLocalTransformOverrides;
 	std::vector<float> cameraLocalTransformOffsetOverrides;
@@ -430,6 +436,20 @@ int main(int argc, char * argv[])
 			appendMode = true;
 			printf("Append mode enabled (initialize with first database then reprocess next ones)\n");
 		}
+		else if (strcmp(argv[i], "--track-changes") == 0)
+		{
+			++i;
+			if(i < argc - 2)
+			{
+				trackChangesOutput = argv[i];
+				printf("Change tracking enabled, delta will be written to \"%s\" (apply later with rtabmap-dbupdate).\n", trackChangesOutput.c_str());
+			}
+			else
+			{
+				printf("Missing value for --track-changes option!\n");
+				showUsage();
+			}
+		}
 		else if (strcmp(argv[i], "-cam") == 0 || strcmp(argv[i], "--cam") == 0)
 		{
 			++i;
@@ -886,6 +906,22 @@ int main(int argc, char * argv[])
 	Rtabmap rtabmap;
 	rtabmap.init(parameters, outputDatabasePath);
 
+	// Start change tracking now, after init loaded the copied baseline database, so the
+	// delta captures only what reprocessing appends. Only meaningful in append mode, where
+	// the output starts as a copy of the first input database.
+	if(!trackChangesOutput.empty())
+	{
+		if(appendMode)
+		{
+			rtabmap.trackDatabaseChanges(trackChangesOutput);
+		}
+		else
+		{
+			printf("Warning: --track-changes requires append mode (-a); it is ignored because "
+				   "append mode is not enabled.\n");
+		}
+	}
+
 	if(!incrementalMemory && locNull)
 	{
 		rtabmap.setInitialPose(Transform());