i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-06 01:57:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added Db/TargetVersion parameter (#652)

Browse Source
This commit is contained in:
matlabbe
2020-12-03 15:45:40 -05:00
parent 3ffc8ce73f
commit 3131474102
14 changed files with 1137 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/DBDriverSqlite3.cpp
+36
View File
@@ -34,6 +34,14 @@ 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_18_3_sql.h"
#include "DatabaseSchema_0_18_0_sql.h"
#include "DatabaseSchema_0_17_0_sql.h"
#include "DatabaseSchema_0_16_2_sql.h"
#include "DatabaseSchema_0_16_1_sql.h"
#include "DatabaseSchema_0_16_0_sql.h"
#include <set>
#include "rtabmap/utilite/UtiLite.h"
@@ -383,6 +391,34 @@ bool DBDriverSqlite3::connectDatabaseQuery(const std::string & url, bool overwri
}
// Create the database
std::string schema = DATABASESCHEMA_SQL;
std::string targetVersion = this->getTargetVersion();
if(!targetVersion.empty())
{
// search for schema with version <= target version
std::vector<std::pair<std::string, std::string> > schemas;
schemas.push_back(std::make_pair("0.16.0", DATABASESCHEMA_0_16_0_SQL));
schemas.push_back(std::make_pair("0.16.1", DATABASESCHEMA_0_16_1_SQL));
schemas.push_back(std::make_pair("0.16.2", DATABASESCHEMA_0_16_2_SQL));
schemas.push_back(std::make_pair("0.17.0", DATABASESCHEMA_0_17_0_SQL));
schemas.push_back(std::make_pair("0.18.0", DATABASESCHEMA_0_18_0_SQL));
schemas.push_back(std::make_pair("0.18.3", DATABASESCHEMA_0_18_3_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)
{
if(uStrNumCmp(targetVersion, schemas[i].first) < 0)
{
if(i==0)
{
UERROR("Cannot create database with target version \"%s\" (not implemented), using latest version.", targetVersion.c_str());
}
break;
}
else
{
schema = schemas[i].second;
}
}
}
schema = uHex2Str(schema);
this->executeNoResultQuery(schema.c_str());
}