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

2026-09-01 17:10:26 +08:00 · 2026-07-10 19:39:22 -07:00
parent e321999b15
commit 15109dfa9e
19 changed files with 179202 additions and 47017 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -21,8 +21,8 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
 # VERSION
 #######################
 SET(RTABMAP_MAJOR_VERSION 0)
-SET(RTABMAP_MINOR_VERSION 23)
-SET(RTABMAP_PATCH_VERSION 8)
+SET(RTABMAP_MINOR_VERSION 24)
+SET(RTABMAP_PATCH_VERSION 0)
 SET(RTABMAP_VERSION
  ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})

--- a/corelib/include/rtabmap/core/DBDriver.h
+++ b/corelib/include/rtabmap/core/DBDriver.h
@@ -72,6 +72,14 @@ public:
 	const std::string & getUrl() const {return _url;}
 	const std::string & getTargetVersion() const {return _targetVersion;}

+	// Start recording changes made to the database until it is closed, then write a compact
+	// delta of those changes to outputUrl (empty disables). Returns true if recording is
+	// active. Only the SQLite backend supports it (session extension + database version
+	// >= 0.24); other backends return false.
+	// NOTE: recorded changes are held in RAM until the database is closed, so only enable
+	// this when the expected set of changes is small.
+	virtual bool trackDatabaseChanges(const std::string & outputUrl) {(void)outputUrl; return false;}
+
 	void beginTransaction() const;
 	void commit() const;

--- a/corelib/include/rtabmap/core/DBDriverSqlite3.h
+++ b/corelib/include/rtabmap/core/DBDriverSqlite3.h
@@ -34,6 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

 typedef struct sqlite3_stmt sqlite3_stmt;
 typedef struct sqlite3 sqlite3;
+typedef struct sqlite3_session sqlite3_session;

 namespace rtabmap {

@@ -49,6 +50,26 @@ public:
 	void setCacheSize(unsigned int cacheSize);
 	void setSynchronous(int synchronous);
 	void setTempStore(int tempStore);
+	// Start recording changes made to the database from now until it is closed, then write
+	// a compact patchset delta to outputUrl (empty disables). Can be called before the
+	// connection is opened or on an already-open connection (e.g. after init(), so the
+	// baseline is the current content). Returns true if recording is active. Only effective
+	// if the build/runtime SQLite has the session extension and the database is version >= 0.24.
+	// NOTE: the SQLite session extension holds ALL recorded changes in RAM until the database
+	// is closed (there is no incremental spill to disk), so only enable this when the expected
+	// set of changes is small (e.g. appending a few sessions), not for rewriting a whole map.
+	virtual bool trackDatabaseChanges(const std::string & outputUrl);
+
+	// Apply a change delta previously written by setTrackChangesOutput() onto the database
+	// at databasePath (which must be the same database, at the same state, the delta was
+	// generated from). The file is decompressed (same codec as the other rtabmap blobs) then
+	// applied with the SQLite session extension. Returns true on success; on failure returns
+	// false and, if errorMsg is not null, sets a human-readable message. Requires a SQLite
+	// library built with the session extension (both at build and runtime).
+	static bool applyChangesFromFile(
+			const std::string & databasePath,
+			const std::string & patchsetPath,
+			std::string * errorMsg = 0);

 protected:
 	virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false, bool readOnly = false);
@@ -197,6 +218,7 @@ private:
 	void loadWordIdsQuery(std::list<Signature *> & signatures) const;
 	void loadLinksQuery(std::list<Signature *> & signatures) const;
 	int loadOrSaveDb(sqlite3 *pInMemory, const std::string & fileName, int isSave) const;
+	void startChangeTracking(); // attach the change-tracking session on the open connection

 protected:
 	sqlite3 * _ppDb;
@@ -209,6 +231,12 @@ private:
 	int _journalMode;
 	int _synchronous;
 	int _tempStore;
+
+	// DB change tracking (SQLite session extension). Members are always present to keep
+	// the class layout stable regardless of RTABMAP_WITH_SQLITE3_SESSION; the session is
+	// only created/used when the feature is compiled in and enabled.
+	sqlite3_session * _session;
+	std::string _trackChangesOutput;
 };

 }
--- a/corelib/include/rtabmap/core/Memory.h
+++ b/corelib/include/rtabmap/core/Memory.h
@@ -182,6 +182,9 @@ public:
 	int getDatabaseMemoryUsed() const; // in bytes
 	std::string getDatabaseVersion() const;
 	std::string getDatabaseUrl() const;
+	// Record changes made to the database until it is closed, then write a compact delta
+	// to outputUrl (empty disables). Returns true if recording started. See DBDriver.
+	bool trackDatabaseChanges(const std::string & outputUrl);
 	double getDbSavingTime() const;
 	int getMapId(int id, bool lookInDatabase = false) const;
 	Transform getOdomPose(int signatureId, bool lookInDatabase = false) const;
--- a/corelib/include/rtabmap/core/Rtabmap.h
+++ b/corelib/include/rtabmap/core/Rtabmap.h
@@ -146,6 +146,13 @@ public:
 	Transform getPose(int locationId) const;
 	Transform getMapCorrection() const {return _mapCorrection;}
 	const Memory * getMemory() const {return _memory;}
+	// Record changes made to the working database from now until it is closed, then write a
+	// compact delta to outputUrl (empty disables). Call after init(), so the delta reflects
+	// only what is added/modified afterwards. Returns true if recording started (requires the
+	// SQLite session extension and a database version >= 0.24). See DBDriver.
+	// NOTE: recorded changes are held in RAM until the database is closed, so only enable this
+	// when the expected set of changes is small (e.g. appending a few sessions).
+	bool trackDatabaseChanges(const std::string & outputUrl);
 	float getGoalReachedRadius() const {return _goalReachedRadius;}
 	float getLocalRadius() const {return _localRadius;}
 	const Transform & getLastLocalizationPose() const {return _lastLocalizationPose;}
--- a/corelib/src/CMakeLists.txt
+++ b/corelib/src/CMakeLists.txt
@@ -196,6 +196,16 @@ IF(SQLite3_FOUND)
 		${LIBRARIES}
 		${SQLite3_LIBRARIES}
 	)
+	# The SQLite session extension (used to track DB diffs) needs SQLite >= 3.13.0.
+	# Defining SQLITE_ENABLE_SESSION here only exposes the session declarations in the
+	# system sqlite3.h; whether the linked library was actually built with the extension
+	# is verified at runtime with sqlite3_compileoption_used("ENABLE_SESSION").
+	IF(SQLite3_VERSION VERSION_GREATER_EQUAL "3.13.0")
+		SET(SQLITE3_SESSION_DEFINITIONS SQLITE_ENABLE_SESSION SQLITE_ENABLE_PREUPDATE_HOOK RTABMAP_WITH_SQLITE3_SESSION)
+		MESSAGE(STATUS "  With SQLite3 session ext  = YES (system SQLite3 ${SQLite3_VERSION}, verified at runtime)")
+	ELSE()
+		MESSAGE(STATUS "  With SQLite3 session ext  = NO (system SQLite3 ${SQLite3_VERSION} < 3.13.0)")
+	ENDIF()
 ELSE()
 	SET(SRC_FILES
 		${SRC_FILES}
@@ -205,6 +215,9 @@ ELSE()
 	    ${CMAKE_CURRENT_SOURCE_DIR}/sqlite3
 		${INCLUDE_DIRS}
 	)
+	# We compile the bundled amalgamation ourselves, so enable the session extension in it.
+	SET(SQLITE3_SESSION_DEFINITIONS SQLITE_ENABLE_SESSION SQLITE_ENABLE_PREUPDATE_HOOK RTABMAP_WITH_SQLITE3_SESSION)
+	MESSAGE(STATUS "  With SQLite3 session ext  = YES (bundled SQLite3)")
 ENDIF()

 IF(TORCH_FOUND)
@@ -830,6 +843,7 @@ CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/resources/DatabaseSchema.sql.in ${CMA

 SET(RESOURCES
 	${CMAKE_CURRENT_SOURCE_DIR}/resources/DatabaseSchema.sql
+	${CMAKE_CURRENT_SOURCE_DIR}/resources/backward_compatibility/DatabaseSchema_0_23_0.sql
 	${CMAKE_CURRENT_SOURCE_DIR}/resources/backward_compatibility/DatabaseSchema_0_22_0.sql
 	${CMAKE_CURRENT_SOURCE_DIR}/resources/backward_compatibility/DatabaseSchema_0_20_0.sql
 	${CMAKE_CURRENT_SOURCE_DIR}/resources/backward_compatibility/DatabaseSchema_0_18_3.sql
@@ -893,6 +907,13 @@ TARGET_LINK_LIBRARIES(rtabmap_core
  PRIVATE
    ${LIBRARIES})

+# Enable the SQLite session extension for the core sources (bundled sqlite3.c and
+# DBDriverSqlite3.cpp). Kept PRIVATE so it only affects rtabmap_core's own TUs and
+# never changes the public header layout for downstream consumers.
+IF(SQLITE3_SESSION_DEFINITIONS)
+	target_compile_definitions(rtabmap_core PRIVATE ${SQLITE3_SESSION_DEFINITIONS})
+ENDIF()
+
 SET_TARGET_PROPERTIES(
     rtabmap_core
   PROPERTIES
--- a/corelib/src/DBDriverSqlite3.cpp
+++ b/corelib/src/DBDriverSqlite3.cpp
@@ -34,6 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/util3d.h"
 #include "rtabmap/core/Compression.h"
 #include "DatabaseSchema_sql.h"
+#include "DatabaseSchema_0_23_0_sql.h"
 #include "DatabaseSchema_0_22_0_sql.h"
 #include "DatabaseSchema_0_20_0_sql.h"
 #include "DatabaseSchema_0_18_3_sql.h"
@@ -45,6 +46,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.


 #include <set>
+#include <cstdio>

 #include "rtabmap/utilite/UtiLite.h"

@@ -59,7 +61,8 @@ DBDriverSqlite3::DBDriverSqlite3(const ParametersMap & parameters) :
 	_cacheSize(Parameters::defaultDbSqlite3CacheSize()),
 	_journalMode(Parameters::defaultDbSqlite3JournalMode()),
 	_synchronous(Parameters::defaultDbSqlite3Synchronous()),
-	_tempStore(Parameters::defaultDbSqlite3TempStore())
+	_tempStore(Parameters::defaultDbSqlite3TempStore()),
+	_session(0)
 {
 	ULOGGER_DEBUG("treadSafe=%d", sqlite3_threadsafe());
 	this->parseParameters(parameters);
@@ -218,6 +221,149 @@ void DBDriverSqlite3::setDbInMemory(bool dbInMemory)
 	}
 }

+void DBDriverSqlite3::startChangeTracking()
+{
+#ifdef RTABMAP_WITH_SQLITE3_SESSION
+	if(_session != 0 || _trackChangesOutput.empty() || _ppDb == 0)
+	{
+		// Already tracking, nothing requested, or not connected yet.
+		return;
+	}
+	if(uStrNumCmp(_version, "0.24.0") < 0)
+	{
+		UWARN("Database change tracking to \"%s\" was requested but the database "
+			  "version is %s (< 0.24.0). Older schemas lack the primary keys required "
+			  "by the SQLite session extension, so change tracking is disabled.",
+			  _trackChangesOutput.c_str(), _version.c_str());
+	}
+	else if(!sqlite3_compileoption_used("ENABLE_SESSION"))
+	{
+		UWARN("Database change tracking to \"%s\" was requested but the linked SQLite "
+			  "library was not built with the session extension (ENABLE_SESSION); "
+			  "change tracking is disabled.", _trackChangesOutput.c_str());
+	}
+	else if(sqlite3session_create(_ppDb, "main", &_session) == SQLITE_OK)
+	{
+		sqlite3session_attach(_session, 0); // 0 = track all tables
+		UINFO("Tracking database changes; a patchset will be written to \"%s\" on close.",
+			  _trackChangesOutput.c_str());
+	}
+	else
+	{
+		UWARN("Could not create a SQLite session to track database changes to \"%s\".",
+			  _trackChangesOutput.c_str());
+		_session = 0;
+	}
+#endif
+}
+
+bool DBDriverSqlite3::trackDatabaseChanges(const std::string & outputUrl)
+{
+	UDEBUG("outputUrl=%s", outputUrl.c_str());
+	_trackChangesOutput = outputUrl;
+#ifdef RTABMAP_WITH_SQLITE3_SESSION
+	// If the connection is already open (e.g. set after connect(), as rtabmap-reprocess
+	// does after init()), start tracking now on the current baseline state. Otherwise it
+	// will start automatically when the connection is opened.
+	if(!outputUrl.empty() && _ppDb != 0)
+	{
+		this->startChangeTracking();
+	}
+	return _session != 0;
+#else
+	if(!outputUrl.empty())
+	{
+		UWARN("Database change tracking to \"%s\" was requested but rtabmap was built "
+			  "against a SQLite library without the session extension; it is disabled.",
+			  outputUrl.c_str());
+	}
+	return false;
+#endif
+}
+
+#ifdef RTABMAP_WITH_SQLITE3_SESSION
+static int rtabmapChangesetConflict(void * pCtx, int eConflict, sqlite3_changeset_iter * pIter)
+{
+	// A patchset upgrade must apply cleanly onto the exact database it was generated from.
+	// Any conflict means the wrong base database (or an already-applied delta), so abort
+	// rather than silently produce an inconsistent result.
+	return SQLITE_CHANGESET_ABORT;
+}
+#endif
+
+bool DBDriverSqlite3::applyChangesFromFile(
+		const std::string & databasePath,
+		const std::string & patchsetPath,
+		std::string * errorMsg)
+{
+#ifdef RTABMAP_WITH_SQLITE3_SESSION
+	if(!sqlite3_compileoption_used("ENABLE_SESSION"))
+	{
+		if(errorMsg) *errorMsg = "The linked SQLite library was not built with the session extension.";
+		return false;
+	}
+
+	// Read the compressed patchset file.
+	FILE * fp = fopen(patchsetPath.c_str(), "rb");
+	if(!fp)
+	{
+		if(errorMsg) *errorMsg = uFormat("Could not open patchset file \"%s\".", patchsetPath.c_str());
+		return false;
+	}
+	fseek(fp, 0, SEEK_END);
+	long fileSize = ftell(fp);
+	fseek(fp, 0, SEEK_SET);
+	if(fileSize <= 0)
+	{
+		fclose(fp);
+		if(errorMsg) *errorMsg = uFormat("Patchset file \"%s\" is empty or unreadable.", patchsetPath.c_str());
+		return false;
+	}
+	std::vector<unsigned char> fileBytes((size_t)fileSize);
+	size_t bytesRead = fread(fileBytes.data(), 1, (size_t)fileSize, fp);
+	fclose(fp);
+	if((long)bytesRead != fileSize)
+	{
+		if(errorMsg) *errorMsg = uFormat("Could not read patchset file \"%s\".", patchsetPath.c_str());
+		return false;
+	}
+
+	// Decompress to the raw patchset (same codec used to write it).
+	cv::Mat patch = uncompressData(fileBytes.data(), (unsigned long)fileSize);
+	if(patch.empty())
+	{
+		if(errorMsg) *errorMsg = uFormat("Could not decompress patchset file \"%s\".", patchsetPath.c_str());
+		return false;
+	}
+
+	// Apply onto the target database.
+	sqlite3 * db = 0;
+	int rc = sqlite3_open_v2(databasePath.c_str(), &db, SQLITE_OPEN_READWRITE, 0);
+	if(rc != SQLITE_OK)
+	{
+		if(errorMsg) *errorMsg = uFormat("Could not open database \"%s\": %s", databasePath.c_str(), sqlite3_errmsg(db));
+		sqlite3_close(db);
+		return false;
+	}
+
+	int nPatch = (int)(patch.total()*patch.elemSize());
+	rc = sqlite3changeset_apply(db, nPatch, patch.data, 0, rtabmapChangesetConflict, 0);
+	if(rc != SQLITE_OK)
+	{
+		if(errorMsg) *errorMsg = uFormat("Failed to apply patchset to \"%s\" (SQLite error %d: %s). Make "
+				"sure it is applied to the exact database state the delta was generated from.",
+				databasePath.c_str(), rc, sqlite3_errstr(rc));
+		sqlite3_close(db);
+		return false;
+	}
+	sqlite3_close(db);
+	return true;
+#else
+	if(errorMsg) *errorMsg = "rtabmap was built without SQLite session support.";
+	return false;
+#endif
+}
+
 /*
 ** This function is used to load the contents of a database file on disk
 ** into the "main" database of open database connection pInMemory, or
@@ -406,6 +552,7 @@ bool DBDriverSqlite3::connectDatabaseQuery(const std::string & url, bool overwri
 			schemas.push_back(std::make_pair("0.18.3", DATABASESCHEMA_0_18_3_SQL));
 			schemas.push_back(std::make_pair("0.20.0", DATABASESCHEMA_0_20_0_SQL));
 			schemas.push_back(std::make_pair("0.22.0", DATABASESCHEMA_0_22_0_SQL));
+			schemas.push_back(std::make_pair("0.23.0", DATABASESCHEMA_0_23_0_SQL));
 			schemas.push_back(std::make_pair(uNumber2Str(RTABMAP_VERSION_MAJOR)+"."+uNumber2Str(RTABMAP_VERSION_MINOR), DATABASESCHEMA_SQL));
 			for(size_t i=0; i<schemas.size(); ++i)
 			{
@@ -446,6 +593,14 @@ bool DBDriverSqlite3::connectDatabaseQuery(const std::string & url, bool overwri
 	this->setSynchronous(_synchronous); // this will call the SQL
 	this->setTempStore(_tempStore); // this will call the SQL

+	// Start tracking database changes if a recording path was already set (before the
+	// connection was opened). Done here, after any initial load and once the version is
+	// known, so the delta reflects only the changes made between open and close.
+	if(!readOnly)
+	{
+		this->startChangeTracking();
+	}
+
 	return true;
 }
 void DBDriverSqlite3::disconnectDatabaseQuery(bool save, const std::string & outputUrl)
@@ -489,6 +644,56 @@ void DBDriverSqlite3::disconnectDatabaseQuery(bool save, const std::string & out
 			}
 		}

+#ifdef RTABMAP_WITH_SQLITE3_SESSION
+		// If change tracking is active, emit the accumulated patchset before closing.
+		if(_session)
+		{
+			int nBuf = 0;
+			void * pBuf = 0;
+			int rcp = sqlite3session_patchset(_session, &nBuf, &pBuf);
+			if(rcp == SQLITE_OK && pBuf && nBuf > 0)
+			{
+				// Compress the patchset with the same zlib-based codec used for every other
+				// rtabmap blob, so the delta is compact for transfer. To apply it later,
+				// uncompressData() the file and pass the bytes to sqlite3changeset_apply().
+				cv::Mat compressed = compressData2(cv::Mat(1, nBuf, CV_8UC1, pBuf));
+				FILE * fp = fopen(_trackChangesOutput.c_str(), "wb");
+				if(fp)
+				{
+					size_t toWrite = compressed.total()*compressed.elemSize();
+					size_t written = fwrite(compressed.data, 1, toWrite, fp);
+					fclose(fp);
+					if(written == toWrite)
+					{
+						UINFO("Wrote compressed database patchset (%d -> %d bytes) to \"%s\".",
+							  nBuf, (int)toWrite, _trackChangesOutput.c_str());
+					}
+					else
+					{
+						UERROR("Could only write %d/%d bytes of the database patchset to \"%s\".",
+							   (int)written, (int)toWrite, _trackChangesOutput.c_str());
+					}
+				}
+				else
+				{
+					UERROR("Could not open \"%s\" to write the database patchset.", _trackChangesOutput.c_str());
+				}
+			}
+			else if(rcp != SQLITE_OK)
+			{
+				UERROR("Could not generate the database patchset for \"%s\" (SQLite error %d).",
+					   _trackChangesOutput.c_str(), rcp);
+			}
+			else
+			{
+				UINFO("No database changes to write; \"%s\" was not created.", _trackChangesOutput.c_str());
+			}
+			sqlite3_free(pBuf);
+			sqlite3session_delete(_session);
+			_session = 0;
+		}
+#endif
+
 		// Then close (delete) the database connection
 		UINFO("Disconnecting database %s...", this->getUrl().c_str());
 		sqlite3_close(_ppDb);
--- a/corelib/src/Memory.cpp
+++ b/corelib/src/Memory.cpp
@@ -1994,6 +1994,11 @@ double Memory::getDbSavingTime() const
 	return _dbDriver?_dbDriver->getEmptyTrashesTime():0;
 }

+bool Memory::trackDatabaseChanges(const std::string & outputUrl)
+{
+	return _dbDriver?_dbDriver->trackDatabaseChanges(outputUrl):false;
+}
+
 std::set<int> Memory::getAllSignatureIds(bool ignoreChildren) const
 {
 	std::set<int> ids;
--- a/corelib/src/Rtabmap.cpp
+++ b/corelib/src/Rtabmap.cpp
@@ -885,6 +885,11 @@ Transform Rtabmap::getPose(int locationId) const
 	return uValue(_optimizedPoses, locationId, Transform());
 }

+bool Rtabmap::trackDatabaseChanges(const std::string & outputUrl)
+{
+	return _memory?_memory->trackDatabaseChanges(outputUrl):false;
+}
+
 void Rtabmap::setInitialPose(const Transform & initialPose)
 {
 	if(_memory)
--- a/corelib/src/resources/DatabaseSchema.sql.in
+++ b/corelib/src/resources/DatabaseSchema.sql.in
@@ -52,6 +52,7 @@ CREATE TABLE Data (
 );

 CREATE TABLE Link (
+	id INTEGER PRIMARY KEY,   -- required by the SQLite session extension (DB diff tracking); (from_id,to_id) is not unique (a node pair can have several links)
 	from_id INTEGER NOT NULL,
 	to_id INTEGER NOT NULL,
 	type INTEGER NOT NULL,    -- kNeighbor=0, kGlobalClosure=1, kLocalSpaceClosure=2, kLocalTimeClosure=3, kUserClosure=4, kVirtualClosure=5, kNeighborMerged=6, kPosePrior=7, kLandmark=8
@@ -72,6 +73,7 @@ CREATE TABLE Word (
 );

 CREATE TABLE Feature (
+	id INTEGER PRIMARY KEY,   -- required by the SQLite session extension (DB diff tracking)
 	node_id INTEGER NOT NULL,
 	word_id INTEGER NOT NULL,
 	pos_x FLOAT NOT NULL,
@@ -89,6 +91,7 @@ CREATE TABLE Feature (
 );

 CREATE TABLE GlobalDescriptor (
+	id INTEGER PRIMARY KEY,   -- required by the SQLite session extension (DB diff tracking)
 	node_id INTEGER NOT NULL,
 	type INTEGER NOT NULL,
 	info BLOB,
@@ -99,6 +102,7 @@ CREATE TABLE GlobalDescriptor (
 --

 CREATE TABLE Info (
+	id INTEGER PRIMARY KEY,   -- required by the SQLite session extension (DB diff tracking)
 	STM_size INTEGER,
 	last_sign_added INTEGER,
 	process_mem_used INTEGER,
@@ -113,11 +117,12 @@ CREATE TABLE Statistics (
 	stamp FLOAT,
 	data BLOB,              -- compressed string
 	wm_state BLOB,	        -- compressed data
+	PRIMARY KEY (id),
 	FOREIGN KEY (id) REFERENCES Node(id)
 );

 CREATE TABLE Admin (
-	version TEXT,
+	version TEXT PRIMARY KEY,
 	preview_image BLOB,      -- compressed image
 	
 	opt_cloud BLOB,          -- compressed data
@@ -176,7 +181,6 @@ CREATE INDEX IDX_Feature_node_id on Feature (node_id);
 CREATE INDEX IDX_GlobalDescriptor_node_id on GlobalDescriptor (node_id);
 CREATE INDEX IDX_Link_from_id on Link (from_id);
 CREATE UNIQUE INDEX IDX_node_label on Node (label);
-CREATE UNIQUE INDEX IDX_Statistics_id on Statistics (id);

 -- *******************************************************************
 -- VERSION
--- a/corelib/src/resources/backward_compatibility/DatabaseSchema_0_23_0.sql
+++ b/corelib/src/resources/backward_compatibility/DatabaseSchema_0_23_0.sql
@@ -0,0 +1,184 @@
+-- *******************************************************************
+--  DatabaseSchema: Script for creating the database
+--   Usage:
+--       $ sqlite3 LTM.db < DatabaseSchema.sql
+--
+-- *******************************************************************
+
+-- *******************************************************************
+-- CLEAN
+-- *******************************************************************
+/*DROP TABLE Node;*/
+
+-- *******************************************************************
+-- CREATE
+-- *******************************************************************
+CREATE TABLE Node (
+	id INTEGER NOT NULL,
+	map_id INTEGER NOT NULL,
+	weight INTEGER,
+	stamp FLOAT,
+	pose BLOB,                -- 3x4 float
+	ground_truth_pose BLOB,   -- 3x4 float
+	velocity BLOB,            -- 6 float (vx,vy,vz,vroll,vpitch,vyaw) m/s and rad/s
+	label TEXT,
+	gps BLOB,                 -- 1x6 double: stamp, longitude (DD), latitude (DD), altitude (m), accuracy (m), bearing (North 0->360 deg clockwise)
+	env_sensors BLOB,         -- Variable 3xdouble: (sensorId1, value, stamp, sensorId2, value, stamp, ...)
+	time_enter DATE,
+	PRIMARY KEY (id)
+);
+
+CREATE TABLE Data (
+	id INTEGER NOT NULL,
+	image BLOB,               -- compressed image (Grayscale or RGB)
+	depth BLOB,               -- compressed image (Depth or Right image)
+	depth_confidence BLOB,    -- compressed data (low=0 high=100)
+	calibration BLOB,         -- fx, fy, cx, cy, [baseline,] width, height, local_transform
+
+	scan BLOB,                -- compressed data (Laser scan)
+	scan_info BLOB,           -- scan_max_pts, scan_max_range, scan_format, local_transform
+
+	ground_cells BLOB,        -- compressed data (occupancy grid)
+	obstacle_cells BLOB,      -- compressed data (occupancy grid)
+	empty_cells BLOB,         -- compressed data (occupancy grid)
+	cell_size FLOAT,
+	view_point_x FLOAT,
+	view_point_y FLOAT,
+	view_point_z FLOAT,
+
+	user_data BLOB,           -- compressed data (User data)
+	time_enter DATE,
+	PRIMARY KEY (id)
+);
+
+CREATE TABLE Link (
+	from_id INTEGER NOT NULL,
+	to_id INTEGER NOT NULL,
+	type INTEGER NOT NULL,    -- kNeighbor=0, kGlobalClosure=1, kLocalSpaceClosure=2, kLocalTimeClosure=3, kUserClosure=4, kVirtualClosure=5, kNeighborMerged=6, kPosePrior=7, kLandmark=8
+	information_matrix BLOB NOT NULL, -- 6x6 double (inverse covariance)
+	transform BLOB,           -- 3x4 float
+	user_data BLOB,           -- compressed data (User data)
+	FOREIGN KEY (from_id) REFERENCES Node(id),
+	FOREIGN KEY (to_id) REFERENCES Node(id)
+);
+
+--
+CREATE TABLE Word (
+	id INTEGER NOT NULL,
+	descriptor_size INTEGER NOT NULL,
+	descriptor BLOB NOT NULL,
+	time_enter DATE,
+	PRIMARY KEY (id)
+);
+
+CREATE TABLE Feature (
+	node_id INTEGER NOT NULL,
+	word_id INTEGER NOT NULL,
+	pos_x FLOAT NOT NULL,
+	pos_y FLOAT NOT NULL,
+	size INTEGER NOT NULL,
+	dir FLOAT NOT NULL,
+	response FLOAT NOT NULL,
+	octave INTEGER NOT NULL,
+	depth_x FLOAT,
+	depth_y FLOAT,
+	depth_z FLOAT,
+	descriptor_size INTEGER,
+	descriptor BLOB,
+	FOREIGN KEY (node_id) REFERENCES Node(id)
+);
+
+CREATE TABLE GlobalDescriptor (
+	node_id INTEGER NOT NULL,
+	type INTEGER NOT NULL,
+	info BLOB,
+	data BLOB NOT NULL,
+	FOREIGN KEY (node_id) REFERENCES Node(id)
+);
+
+--
+
+CREATE TABLE Info (
+	STM_size INTEGER,
+	last_sign_added INTEGER,
+	process_mem_used INTEGER,
+	database_mem_used INTEGER,
+	dictionary_size INTEGER,
+	parameters TEXT,
+	time_enter DATE
+);
+
+CREATE TABLE Statistics (
+	id INTEGER NOT NULL,
+	stamp FLOAT,
+	data BLOB,              -- compressed string
+	wm_state BLOB,	        -- compressed data
+	FOREIGN KEY (id) REFERENCES Node(id)
+);
+
+CREATE TABLE Admin (
+	version TEXT,
+	preview_image BLOB,      -- compressed image
+
+	opt_cloud BLOB,          -- compressed data
+	opt_ids BLOB,            -- Node ids used to generate the optimized cloud/mesh
+	opt_poses BLOB,          -- compressed N*3x4 float
+	opt_last_localization BLOB, -- 3x4 float
+	opt_polygons_size INTEGER, -- e.g., 3
+	opt_polygons BLOB,       -- compressed data [length_v0, i0,i1,i3, length_v1, i0,i1,i3]
+	opt_tex_coords BLOB,     -- compressed data [length_v0, u0,v0,u1,v1,u2,v2, length_v1, u0,v0,u1,v1,u2,v2]
+	opt_tex_materials BLOB,  -- compressed image
+	opt_map BLOB,            -- compressed CV_8SC1 occupancy grid
+	opt_map_x_min FLOAT,
+	opt_map_y_min FLOAT,
+	opt_map_resolution FLOAT,
+
+	dictionary_index BLOB,   -- serialized dictionary index
+
+	time_enter DATE
+);
+
+-- *******************************************************************
+-- TRIGGERS
+-- *******************************************************************
+CREATE TRIGGER insert_Feature BEFORE INSERT ON Feature
+WHEN NOT EXISTS (SELECT Node.id FROM Node WHERE Node.id = NEW.node_id)
+BEGIN
+ SELECT RAISE(ABORT, 'Foreign key constraint failed in Feature table');
+END;
+
+ --   Creating a trigger for time_enter
+CREATE TRIGGER insert_Node_timeEnter AFTER INSERT ON Node
+BEGIN
+ UPDATE Node SET time_enter = DATETIME('NOW')  WHERE rowid = new.rowid;
+END;
+
+CREATE TRIGGER insert_Data_timeEnter AFTER INSERT ON Data
+BEGIN
+ UPDATE Node SET time_enter = DATETIME('NOW')  WHERE rowid = new.rowid;
+END;
+
+CREATE TRIGGER insert_Word_timeEnter AFTER INSERT ON Word
+BEGIN
+ UPDATE Word SET time_enter = DATETIME('NOW')  WHERE rowid = new.rowid;
+END;
+
+CREATE TRIGGER insert_Info_timeEnter AFTER INSERT ON Info
+BEGIN
+ UPDATE Info SET time_enter = DATETIME('NOW')  WHERE rowid = new.rowid;
+END;
+
+-- *******************************************************************
+-- INDEXES
+-- *******************************************************************
+CREATE UNIQUE INDEX IDX_Node_id on Node (id);
+CREATE INDEX IDX_Feature_node_id on Feature (node_id);
+CREATE INDEX IDX_GlobalDescriptor_node_id on GlobalDescriptor (node_id);
+CREATE INDEX IDX_Link_from_id on Link (from_id);
+CREATE UNIQUE INDEX IDX_node_label on Node (label);
+CREATE UNIQUE INDEX IDX_Statistics_id on Statistics (id);
+
+-- *******************************************************************
+-- VERSION
+-- *******************************************************************
+INSERT INTO Admin(version) VALUES('0.23.0');
--- a/corelib/src/sqlite3/readme.txt
+++ b/corelib/src/sqlite3/readme.txt
@@ -1,3 +1,3 @@
-
+Version 3.53.3
 Info: https://www.sqlite.org/
 License: Public domain (https://www.sqlite.org/copyright.html)
--- a/corelib/src/sqlite3/sqlite3.c
+++ b/corelib/src/sqlite3/sqlite3.c
--- a/corelib/src/sqlite3/sqlite3.h
+++ b/corelib/src/sqlite3/sqlite3.h
--- a/corelib/src/sqlite3/sqlite3ext.h
+++ b/corelib/src/sqlite3/sqlite3ext.h
@@ -15,12 +15,10 @@
 ** as extensions by SQLite should #include this file instead of 
 ** sqlite3.h.
 */
-#ifndef _SQLITE3EXT_H_
-#define _SQLITE3EXT_H_
+#ifndef SQLITE3EXT_H
+#define SQLITE3EXT_H
 #include "sqlite3.h"

-typedef struct sqlite3_api_routines sqlite3_api_routines;
-
 /*
 ** The following structure holds pointers to all of the SQLite API
 ** routines.
@@ -28,7 +26,7 @@ typedef struct sqlite3_api_routines sqlite3_api_routines;
 ** WARNING:  In order to maintain backwards compatibility, add new
 ** interfaces to the end of this structure only.  If you insert new
 ** interfaces in the middle of this structure, then older different
-** versions of SQLite will not be able to load each others' shared
+** versions of SQLite will not be able to load each other's shared
 ** libraries!
 */
 struct sqlite3_api_routines {
@@ -136,7 +134,7 @@ struct sqlite3_api_routines {
  int  (*set_authorizer)(sqlite3*,int(*)(void*,int,const char*,const char*,
                         const char*,const char*),void*);
  void  (*set_auxdata)(sqlite3_context*,int,void*,void (*)(void*));
-  char * (*snprintf)(int,char*,const char*,...);
+  char * (*xsnprintf)(int,char*,const char*,...);
  int  (*step)(sqlite3_stmt*);
  int  (*table_column_metadata)(sqlite3*,const char*,const char*,const char*,
                                char const**,char const**,int*,int*,int*);
@@ -248,13 +246,151 @@ struct sqlite3_api_routines {
  int (*uri_boolean)(const char*,const char*,int);
  sqlite3_int64 (*uri_int64)(const char*,const char*,sqlite3_int64);
  const char *(*uri_parameter)(const char*,const char*);
-  char *(*vsnprintf)(int,char*,const char*,va_list);
+  char *(*xvsnprintf)(int,char*,const char*,va_list);
  int (*wal_checkpoint_v2)(sqlite3*,const char*,int,int*,int*);
+  /* Version 3.8.7 and later */
+  int (*auto_extension)(void(*)(void));
+  int (*bind_blob64)(sqlite3_stmt*,int,const void*,sqlite3_uint64,
+                     void(*)(void*));
+  int (*bind_text64)(sqlite3_stmt*,int,const char*,sqlite3_uint64,
+                      void(*)(void*),unsigned char);
+  int (*cancel_auto_extension)(void(*)(void));
+  int (*load_extension)(sqlite3*,const char*,const char*,char**);
+  void *(*malloc64)(sqlite3_uint64);
+  sqlite3_uint64 (*msize)(void*);
+  void *(*realloc64)(void*,sqlite3_uint64);
+  void (*reset_auto_extension)(void);
+  void (*result_blob64)(sqlite3_context*,const void*,sqlite3_uint64,
+                        void(*)(void*));
+  void (*result_text64)(sqlite3_context*,const char*,sqlite3_uint64,
+                         void(*)(void*), unsigned char);
+  int (*strglob)(const char*,const char*);
+  /* Version 3.8.11 and later */
+  sqlite3_value *(*value_dup)(const sqlite3_value*);
+  void (*value_free)(sqlite3_value*);
+  int (*result_zeroblob64)(sqlite3_context*,sqlite3_uint64);
+  int (*bind_zeroblob64)(sqlite3_stmt*, int, sqlite3_uint64);
+  /* Version 3.9.0 and later */
+  unsigned int (*value_subtype)(sqlite3_value*);
+  void (*result_subtype)(sqlite3_context*,unsigned int);
+  /* Version 3.10.0 and later */
+  int (*status64)(int,sqlite3_int64*,sqlite3_int64*,int);
+  int (*strlike)(const char*,const char*,unsigned int);
+  int (*db_cacheflush)(sqlite3*);
+  /* Version 3.12.0 and later */
+  int (*system_errno)(sqlite3*);
+  /* Version 3.14.0 and later */
+  int (*trace_v2)(sqlite3*,unsigned,int(*)(unsigned,void*,void*,void*),void*);
+  char *(*expanded_sql)(sqlite3_stmt*);
+  /* Version 3.18.0 and later */
+  void (*set_last_insert_rowid)(sqlite3*,sqlite3_int64);
+  /* Version 3.20.0 and later */
+  int (*prepare_v3)(sqlite3*,const char*,int,unsigned int,
+                    sqlite3_stmt**,const char**);
+  int (*prepare16_v3)(sqlite3*,const void*,int,unsigned int,
+                      sqlite3_stmt**,const void**);
+  int (*bind_pointer)(sqlite3_stmt*,int,void*,const char*,void(*)(void*));
+  void (*result_pointer)(sqlite3_context*,void*,const char*,void(*)(void*));
+  void *(*value_pointer)(sqlite3_value*,const char*);
+  int (*vtab_nochange)(sqlite3_context*);
+  int (*value_nochange)(sqlite3_value*);
+  const char *(*vtab_collation)(sqlite3_index_info*,int);
+  /* Version 3.24.0 and later */
+  int (*keyword_count)(void);
+  int (*keyword_name)(int,const char**,int*);
+  int (*keyword_check)(const char*,int);
+  sqlite3_str *(*str_new)(sqlite3*);
+  char *(*str_finish)(sqlite3_str*);
+  void (*str_appendf)(sqlite3_str*, const char *zFormat, ...);
+  void (*str_vappendf)(sqlite3_str*, const char *zFormat, va_list);
+  void (*str_append)(sqlite3_str*, const char *zIn, int N);
+  void (*str_appendall)(sqlite3_str*, const char *zIn);
+  void (*str_appendchar)(sqlite3_str*, int N, char C);
+  void (*str_reset)(sqlite3_str*);
+  int (*str_errcode)(sqlite3_str*);
+  int (*str_length)(sqlite3_str*);
+  char *(*str_value)(sqlite3_str*);
+  /* Version 3.25.0 and later */
+  int (*create_window_function)(sqlite3*,const char*,int,int,void*,
+                            void (*xStep)(sqlite3_context*,int,sqlite3_value**),
+                            void (*xFinal)(sqlite3_context*),
+                            void (*xValue)(sqlite3_context*),
+                            void (*xInv)(sqlite3_context*,int,sqlite3_value**),
+                            void(*xDestroy)(void*));
+  /* Version 3.26.0 and later */
+  const char *(*normalized_sql)(sqlite3_stmt*);
+  /* Version 3.28.0 and later */
+  int (*stmt_isexplain)(sqlite3_stmt*);
+  int (*value_frombind)(sqlite3_value*);
+  /* Version 3.30.0 and later */
+  int (*drop_modules)(sqlite3*,const char**);
+  /* Version 3.31.0 and later */
+  sqlite3_int64 (*hard_heap_limit64)(sqlite3_int64);
+  const char *(*uri_key)(const char*,int);
+  const char *(*filename_database)(const char*);
+  const char *(*filename_journal)(const char*);
+  const char *(*filename_wal)(const char*);
+  /* Version 3.32.0 and later */
+  const char *(*create_filename)(const char*,const char*,const char*,
+                           int,const char**);
+  void (*free_filename)(const char*);
+  sqlite3_file *(*database_file_object)(const char*);
+  /* Version 3.34.0 and later */
+  int (*txn_state)(sqlite3*,const char*);
+  /* Version 3.36.1 and later */
+  sqlite3_int64 (*changes64)(sqlite3*);
+  sqlite3_int64 (*total_changes64)(sqlite3*);
+  /* Version 3.37.0 and later */
+  int (*autovacuum_pages)(sqlite3*,
+     unsigned int(*)(void*,const char*,unsigned int,unsigned int,unsigned int),
+     void*, void(*)(void*));
+  /* Version 3.38.0 and later */
+  int (*error_offset)(sqlite3*);
+  int (*vtab_rhs_value)(sqlite3_index_info*,int,sqlite3_value**);
+  int (*vtab_distinct)(sqlite3_index_info*);
+  int (*vtab_in)(sqlite3_index_info*,int,int);
+  int (*vtab_in_first)(sqlite3_value*,sqlite3_value**);
+  int (*vtab_in_next)(sqlite3_value*,sqlite3_value**);
+  /* Version 3.39.0 and later */
+  int (*deserialize)(sqlite3*,const char*,unsigned char*,
+                     sqlite3_int64,sqlite3_int64,unsigned);
+  unsigned char *(*serialize)(sqlite3*,const char *,sqlite3_int64*,
+                              unsigned int);
+  const char *(*db_name)(sqlite3*,int);
+  /* Version 3.40.0 and later */
+  int (*value_encoding)(sqlite3_value*);
+  /* Version 3.41.0 and later */
+  int (*is_interrupted)(sqlite3*);
+  /* Version 3.43.0 and later */
+  int (*stmt_explain)(sqlite3_stmt*,int);
+  /* Version 3.44.0 and later */
+  void *(*get_clientdata)(sqlite3*,const char*);
+  int (*set_clientdata)(sqlite3*, const char*, void*, void(*)(void*));
+  /* Version 3.50.0 and later */
+  int (*setlk_timeout)(sqlite3*,int,int);
+  /* Version 3.51.0 and later */
+  int (*set_errmsg)(sqlite3*,int,const char*);
+  int (*db_status64)(sqlite3*,int,sqlite3_int64*,sqlite3_int64*,int);
+  /* Version 3.52.0 and later */
+  void (*str_truncate)(sqlite3_str*,int);
+  void (*str_free)(sqlite3_str*);
+  int (*carray_bind)(sqlite3_stmt*,int,void*,int,int,void(*)(void*));
+  int (*carray_bind_v2)(sqlite3_stmt*,int,void*,int,int,void(*)(void*),void*);
 };

+/*
+** This is the function signature used for all extension entry points.  It
+** is also defined in the file "loadext.c".
+*/
+typedef int (*sqlite3_loadext_entry)(
+  sqlite3 *db,                       /* Handle to the database. */
+  char **pzErrMsg,                   /* Used to set error string on failure. */
+  const sqlite3_api_routines *pThunk /* Extension API function pointers. */
+);
+
 /*
 ** The following macros redefine the API routines so that they are
-** redirected throught the global sqlite3_api structure.
+** redirected through the global sqlite3_api structure.
 **
 ** This header file is also used by the loadext.c source file
 ** (part of the main SQLite library - not an extension) so that
@@ -263,7 +399,7 @@ struct sqlite3_api_routines {
 ** the API.  So the redefinition macros are only valid if the
 ** SQLITE_CORE macros is undefined.
 */
-#ifndef SQLITE_CORE
+#if !defined(SQLITE_CORE) && !defined(SQLITE_OMIT_LOAD_EXTENSION)
 #define sqlite3_aggregate_context      sqlite3_api->aggregate_context
 #ifndef SQLITE_OMIT_DEPRECATED
 #define sqlite3_aggregate_count        sqlite3_api->aggregate_count
@@ -366,7 +502,7 @@ struct sqlite3_api_routines {
 #define sqlite3_rollback_hook          sqlite3_api->rollback_hook
 #define sqlite3_set_authorizer         sqlite3_api->set_authorizer
 #define sqlite3_set_auxdata            sqlite3_api->set_auxdata
-#define sqlite3_snprintf               sqlite3_api->snprintf
+#define sqlite3_snprintf               sqlite3_api->xsnprintf
 #define sqlite3_step                   sqlite3_api->step
 #define sqlite3_table_column_metadata  sqlite3_api->table_column_metadata
 #define sqlite3_thread_cleanup         sqlite3_api->thread_cleanup
@@ -390,6 +526,7 @@ struct sqlite3_api_routines {
 #define sqlite3_value_text16le         sqlite3_api->value_text16le
 #define sqlite3_value_type             sqlite3_api->value_type
 #define sqlite3_vmprintf               sqlite3_api->vmprintf
+#define sqlite3_vsnprintf              sqlite3_api->xvsnprintf
 #define sqlite3_overload_function      sqlite3_api->overload_function
 #define sqlite3_prepare_v2             sqlite3_api->prepare_v2
 #define sqlite3_prepare16_v2           sqlite3_api->prepare16_v2
@@ -465,11 +602,126 @@ struct sqlite3_api_routines {
 #define sqlite3_uri_boolean            sqlite3_api->uri_boolean
 #define sqlite3_uri_int64              sqlite3_api->uri_int64
 #define sqlite3_uri_parameter          sqlite3_api->uri_parameter
-#define sqlite3_uri_vsnprintf          sqlite3_api->vsnprintf
+#define sqlite3_uri_vsnprintf          sqlite3_api->xvsnprintf
 #define sqlite3_wal_checkpoint_v2      sqlite3_api->wal_checkpoint_v2
-#endif /* SQLITE_CORE */
+/* Version 3.8.7 and later */
+#define sqlite3_auto_extension         sqlite3_api->auto_extension
+#define sqlite3_bind_blob64            sqlite3_api->bind_blob64
+#define sqlite3_bind_text64            sqlite3_api->bind_text64
+#define sqlite3_cancel_auto_extension  sqlite3_api->cancel_auto_extension
+#define sqlite3_load_extension         sqlite3_api->load_extension
+#define sqlite3_malloc64               sqlite3_api->malloc64
+#define sqlite3_msize                  sqlite3_api->msize
+#define sqlite3_realloc64              sqlite3_api->realloc64
+#define sqlite3_reset_auto_extension   sqlite3_api->reset_auto_extension
+#define sqlite3_result_blob64          sqlite3_api->result_blob64
+#define sqlite3_result_text64          sqlite3_api->result_text64
+#define sqlite3_strglob                sqlite3_api->strglob
+/* Version 3.8.11 and later */
+#define sqlite3_value_dup              sqlite3_api->value_dup
+#define sqlite3_value_free             sqlite3_api->value_free
+#define sqlite3_result_zeroblob64      sqlite3_api->result_zeroblob64
+#define sqlite3_bind_zeroblob64        sqlite3_api->bind_zeroblob64
+/* Version 3.9.0 and later */
+#define sqlite3_value_subtype          sqlite3_api->value_subtype
+#define sqlite3_result_subtype         sqlite3_api->result_subtype
+/* Version 3.10.0 and later */
+#define sqlite3_status64               sqlite3_api->status64
+#define sqlite3_strlike                sqlite3_api->strlike
+#define sqlite3_db_cacheflush          sqlite3_api->db_cacheflush
+/* Version 3.12.0 and later */
+#define sqlite3_system_errno           sqlite3_api->system_errno
+/* Version 3.14.0 and later */
+#define sqlite3_trace_v2               sqlite3_api->trace_v2
+#define sqlite3_expanded_sql           sqlite3_api->expanded_sql
+/* Version 3.18.0 and later */
+#define sqlite3_set_last_insert_rowid  sqlite3_api->set_last_insert_rowid
+/* Version 3.20.0 and later */
+#define sqlite3_prepare_v3             sqlite3_api->prepare_v3
+#define sqlite3_prepare16_v3           sqlite3_api->prepare16_v3
+#define sqlite3_bind_pointer           sqlite3_api->bind_pointer
+#define sqlite3_result_pointer         sqlite3_api->result_pointer
+#define sqlite3_value_pointer          sqlite3_api->value_pointer
+/* Version 3.22.0 and later */
+#define sqlite3_vtab_nochange          sqlite3_api->vtab_nochange
+#define sqlite3_value_nochange         sqlite3_api->value_nochange
+#define sqlite3_vtab_collation         sqlite3_api->vtab_collation
+/* Version 3.24.0 and later */
+#define sqlite3_keyword_count          sqlite3_api->keyword_count
+#define sqlite3_keyword_name           sqlite3_api->keyword_name
+#define sqlite3_keyword_check          sqlite3_api->keyword_check
+#define sqlite3_str_new                sqlite3_api->str_new
+#define sqlite3_str_finish             sqlite3_api->str_finish
+#define sqlite3_str_appendf            sqlite3_api->str_appendf
+#define sqlite3_str_vappendf           sqlite3_api->str_vappendf
+#define sqlite3_str_append             sqlite3_api->str_append
+#define sqlite3_str_appendall          sqlite3_api->str_appendall
+#define sqlite3_str_appendchar         sqlite3_api->str_appendchar
+#define sqlite3_str_reset              sqlite3_api->str_reset
+#define sqlite3_str_errcode            sqlite3_api->str_errcode
+#define sqlite3_str_length             sqlite3_api->str_length
+#define sqlite3_str_value              sqlite3_api->str_value
+/* Version 3.25.0 and later */
+#define sqlite3_create_window_function sqlite3_api->create_window_function
+/* Version 3.26.0 and later */
+#define sqlite3_normalized_sql         sqlite3_api->normalized_sql
+/* Version 3.28.0 and later */
+#define sqlite3_stmt_isexplain         sqlite3_api->stmt_isexplain
+#define sqlite3_value_frombind         sqlite3_api->value_frombind
+/* Version 3.30.0 and later */
+#define sqlite3_drop_modules           sqlite3_api->drop_modules
+/* Version 3.31.0 and later */
+#define sqlite3_hard_heap_limit64      sqlite3_api->hard_heap_limit64
+#define sqlite3_uri_key                sqlite3_api->uri_key
+#define sqlite3_filename_database      sqlite3_api->filename_database
+#define sqlite3_filename_journal       sqlite3_api->filename_journal
+#define sqlite3_filename_wal           sqlite3_api->filename_wal
+/* Version 3.32.0 and later */
+#define sqlite3_create_filename        sqlite3_api->create_filename
+#define sqlite3_free_filename          sqlite3_api->free_filename
+#define sqlite3_database_file_object   sqlite3_api->database_file_object
+/* Version 3.34.0 and later */
+#define sqlite3_txn_state              sqlite3_api->txn_state
+/* Version 3.36.1 and later */
+#define sqlite3_changes64              sqlite3_api->changes64
+#define sqlite3_total_changes64        sqlite3_api->total_changes64
+/* Version 3.37.0 and later */
+#define sqlite3_autovacuum_pages       sqlite3_api->autovacuum_pages
+/* Version 3.38.0 and later */
+#define sqlite3_error_offset           sqlite3_api->error_offset
+#define sqlite3_vtab_rhs_value         sqlite3_api->vtab_rhs_value
+#define sqlite3_vtab_distinct          sqlite3_api->vtab_distinct
+#define sqlite3_vtab_in                sqlite3_api->vtab_in
+#define sqlite3_vtab_in_first          sqlite3_api->vtab_in_first
+#define sqlite3_vtab_in_next           sqlite3_api->vtab_in_next
+/* Version 3.39.0 and later */
+#ifndef SQLITE_OMIT_DESERIALIZE
+#define sqlite3_deserialize            sqlite3_api->deserialize
+#define sqlite3_serialize              sqlite3_api->serialize
+#endif
+#define sqlite3_db_name                sqlite3_api->db_name
+/* Version 3.40.0 and later */
+#define sqlite3_value_encoding         sqlite3_api->value_encoding
+/* Version 3.41.0 and later */
+#define sqlite3_is_interrupted         sqlite3_api->is_interrupted
+/* Version 3.43.0 and later */
+#define sqlite3_stmt_explain           sqlite3_api->stmt_explain
+/* Version 3.44.0 and later */
+#define sqlite3_get_clientdata         sqlite3_api->get_clientdata
+#define sqlite3_set_clientdata         sqlite3_api->set_clientdata
+/* Version 3.50.0 and later */
+#define sqlite3_setlk_timeout          sqlite3_api->setlk_timeout
+/* Version 3.51.0 and later */
+#define sqlite3_set_errmsg             sqlite3_api->set_errmsg
+#define sqlite3_db_status64            sqlite3_api->db_status64
+/* Version 3.52.0 and later */
+#define sqlite3_str_truncate           sqlite3_api->str_truncate
+#define sqlite3_str_free               sqlite3_api->str_free
+#define sqlite3_carray_bind            sqlite3_api->carray_bind
+#define sqlite3_carray_bind_v2         sqlite3_api->carray_bind_v2
+#endif /* !defined(SQLITE_CORE) && !defined(SQLITE_OMIT_LOAD_EXTENSION) */

-#ifndef SQLITE_CORE
+#if !defined(SQLITE_CORE) && !defined(SQLITE_OMIT_LOAD_EXTENSION)
  /* This case when the file really is being compiled as a loadable 
  ** extension */
 # define SQLITE_EXTENSION_INIT1     const sqlite3_api_routines *sqlite3_api=0;
@@ -484,4 +736,4 @@ struct sqlite3_api_routines {
 # define SQLITE_EXTENSION_INIT3     /*no-op*/
 #endif

-#endif /* _SQLITE3EXT_H_ */
+#endif /* SQLITE3EXT_H */
--- a/tools/CMakeLists.txt
+++ b/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 )
--- a/tools/DatabaseUpdate/CMakeLists.txt
+++ b/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)
--- a/tools/DatabaseUpdate/main.cpp
+++ b/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;
+}
--- a/tools/Reprocess/main.cpp
+++ b/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());