Added Db/TargetVersion parameter (#652)

corelib/include/rtabmap/core/DBDriver.h

@@ -70,6 +70,7 @@ public:
 	virtual void parseParameters(const ParametersMap & parameters);
 	virtual bool isInMemory() const {return _url.empty();}
 	const std::string & getUrl() const {return _url;}
+	const std::string & getTargetVersion() const {return _targetVersion;}
 
 	void beginTransaction() const;
 	void commit() const;
@@ -300,6 +301,7 @@ private:
 	USemaphore _addSem;
 	double _emptyTrashesTime;
 	std::string _url;
+	std::string _targetVersion;
 	bool _timestampUpdate;
 };
 

corelib/include/rtabmap/core/Parameters.h

@@ -265,6 +265,7 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(DbSqlite3, JournalMode,  int, 3,           "0=DELETE, 1=TRUNCATE, 2=PERSIST, 3=MEMORY, 4=OFF (see sqlite3 doc : \"PRAGMA journal_mode\")");
     RTABMAP_PARAM(DbSqlite3, Synchronous,  int, 0,           "0=OFF, 1=NORMAL, 2=FULL (see sqlite3 doc : \"PRAGMA synchronous\")");
     RTABMAP_PARAM(DbSqlite3, TempStore,    int, 2,           "0=DEFAULT, 1=FILE, 2=MEMORY (see sqlite3 doc : \"PRAGMA temp_store\")");
+    RTABMAP_PARAM_STR(Db, TargetVersion,   "",               "Target database version for backward compatibility purpose. Only Major and minor versions are used and should be set (e.g., 0.19 vs 0.20 or 1.0 vs 2.0). Patch version is ignored (e.g., 0.20.1 and 0.20.3 will generate a 0.20 database).");
 
     // Keypoints descriptors/detectors
     RTABMAP_PARAM(SURF, Extended,          bool, false,  "Extended descriptor flag (true - use extended 128-element descriptors; false - use 64-element descriptors).");

corelib/src/CMakeLists.txt

@@ -592,18 +592,24 @@ ENDIF(WITH_MADGWICK)
 ####################################
 CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/resources/DatabaseSchema.sql.in ${CMAKE_CURRENT_SOURCE_DIR}/resources/DatabaseSchema.sql)
 
-SET(R
+SET(RESOURCES
 	${CMAKE_CURRENT_SOURCE_DIR}/resources/DatabaseSchema.sql
+	${CMAKE_CURRENT_SOURCE_DIR}/resources/backward_compatibility/DatabaseSchema_0_18_3.sql
+	${CMAKE_CURRENT_SOURCE_DIR}/resources/backward_compatibility/DatabaseSchema_0_18_0.sql
+	${CMAKE_CURRENT_SOURCE_DIR}/resources/backward_compatibility/DatabaseSchema_0_17_0.sql
+	${CMAKE_CURRENT_SOURCE_DIR}/resources/backward_compatibility/DatabaseSchema_0_16_2.sql
+	${CMAKE_CURRENT_SOURCE_DIR}/resources/backward_compatibility/DatabaseSchema_0_16_1.sql
+	${CMAKE_CURRENT_SOURCE_DIR}/resources/backward_compatibility/DatabaseSchema_0_16_0.sql
 )
 
-#replace semicolons by spaces
+foreach(arg ${RESOURCES})
-foreach(arg ${R})
+   get_filename_component(filename ${arg} NAME)
-   set(RESOURCES "${RESOURCES}" "${arg}")
+   string(REPLACE "." "_" output ${filename})
-endforeach(arg ${R})
+   set(RESOURCES_HEADERS "${RESOURCES_HEADERS}" "${CMAKE_CURRENT_BINARY_DIR}/${output}.h")
+endforeach(arg ${RESOURCES})
 
-SET(RESOURCES_HEADERS 
+MESSAGE(STATUS "RESOURCES = ${RESOURCES}")
-	${CMAKE_CURRENT_BINARY_DIR}/DatabaseSchema_sql.h 
+MESSAGE(STATUS "RESOURCES_HEADERS = ${RESOURCES_HEADERS}")
-)
 
 IF(ANDROID)
 
@@ -618,14 +624,14 @@ IF(ANDROID)
       OUTPUT ${RESOURCES_HEADERS}
       COMMAND ${RTABMAP_RES_TOOL} -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${RESOURCES}
       COMMENT "[Creating resources]"
-      DEPENDS ${R}
+      DEPENDS ${RESOURCES}
    )
 ELSE()
    ADD_CUSTOM_COMMAND(
       OUTPUT ${RESOURCES_HEADERS}
       COMMAND ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/rtabmap-res_tool -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${RESOURCES}
       COMMENT "[Creating resources]"
-      DEPENDS ${R} res_tool
+      DEPENDS ${RESOURCES} res_tool
    )
 ENDIF()
 

corelib/src/DBDriver.cpp

@@ -40,7 +40,6 @@ namespace rtabmap {
 
 DBDriver * DBDriver::create(const ParametersMap & parameters)
 {
-	// well, we only have Sqlite3 database type for now :P
 	return new DBDriverSqlite3(parameters);
 }
 
@@ -59,6 +58,7 @@ DBDriver::~DBDriver()
 
 void DBDriver::parseParameters(const ParametersMap & parameters)
 {
+	Parameters::parse(parameters, Parameters::kDbTargetVersion(), _targetVersion);
 }
 
 void DBDriver::closeConnection(bool save, const std::string & outputUrl)

corelib/src/DBDriverSqlite3.cpp

@@ -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());
 	}

corelib/src/resources/backward_compatibility/DatabaseSchema_0_16_0.sql

@@ -0,0 +1,169 @@
+-- *******************************************************************
+--  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)
+	
+	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)
+	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, 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,    -- neighbor=0, loop=1, child=2
+	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 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,	
+	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_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, 
+
+	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_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('0.16.0');
+
+

corelib/src/resources/backward_compatibility/DatabaseSchema_0_16_1.sql

@@ -0,0 +1,169 @@
+-- *******************************************************************
+--  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)
+	
+	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)
+	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,    -- neighbor=0, loop=1, child=2
+	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 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,	
+	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_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, 
+
+	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_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('0.16.1');
+
+

corelib/src/resources/backward_compatibility/DatabaseSchema_0_16_2.sql

@@ -0,0 +1,170 @@
+-- *******************************************************************
+--  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)
+	
+	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)
+	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,    -- neighbor=0, loop=1, child=2
+	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 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_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, 
+
+	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_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('0.16.2');
+
+

corelib/src/resources/backward_compatibility/DatabaseSchema_0_17_0.sql

@@ -0,0 +1,172 @@
+-- *******************************************************************
+--  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)
+	
+	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)
+	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,    -- neighbor=0, loop=1, child=2
+	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 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, 
+
+	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_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('0.17.0');
+
+

corelib/src/resources/backward_compatibility/DatabaseSchema_0_18_0.sql

@@ -0,0 +1,181 @@
+-- *******************************************************************
+--  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)
+	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,    -- neighbor=0, loop=1, child=2
+	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 Tag (
+	node_id INTEGER NOT NULL,
+	tag_id INTEGER NOT NULL,
+	stamp FLOAT NOT NULL,
+	transform BLOB NOT NULL,     -- 3x4 float, /base_link -> /tag_frame
+	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, 
+
+	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_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('0.18.0');
+
+

corelib/src/resources/backward_compatibility/DatabaseSchema_0_18_3.sql

@@ -0,0 +1,181 @@
+-- *******************************************************************
+--  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)
+	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,    -- neighbor=0, loop=1, child=2
+	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 Tag (
+	node_id INTEGER NOT NULL,
+	tag_id INTEGER NOT NULL,
+	stamp FLOAT NOT NULL,
+	transform BLOB NOT NULL,     -- 3x4 float, /base_link -> /tag_frame
+	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, 
+
+	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_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('0.18.3');
+
+

guilib/src/PreferencesDialog.cpp

@@ -881,6 +881,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui->comboBox_dbJournalMode->setObjectName(Parameters::kDbSqlite3JournalMode().c_str());
 	_ui->comboBox_dbSynchronous->setObjectName(Parameters::kDbSqlite3Synchronous().c_str());
 	_ui->comboBox_dbTempStore->setObjectName(Parameters::kDbSqlite3TempStore().c_str());
+	_ui->lineEdit_targetDatabaseVersion->setObjectName(Parameters::kDbTargetVersion().c_str());
+
 
 	// Create hypotheses
 	_ui->general_doubleSpinBox_hardThr->setObjectName(Parameters::kRtabmapLoopThr().c_str());

guilib/src/ui/preferencesDialog.ui

@@ -63,7 +63,7 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>-552</y>
+            <y>0</y>
             <width>686</width>
             <height>3286</height>
            </rect>
@@ -95,7 +95,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>22</number>
+                <number>10</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -9814,7 +9814,7 @@ When set to false, no new words are added to dictionary, so no more updates are
                       </property>
                      </widget>
                     </item>
-                    <item row="5" column="0">
+                    <item row="6" column="0">
                      <widget class="QComboBox" name="comboBox_dbJournalMode">
                       <item>
                        <property name="text">
@@ -9856,7 +9856,7 @@ When set to false, no new words are added to dictionary, so no more updates are
                       </property>
                      </widget>
                     </item>
-                    <item row="7" column="1">
+                    <item row="8" column="1">
                      <widget class="QLabel" name="label_120">
                       <property name="text">
                        <string>Sqlite3 temp store,
@@ -9870,7 +9870,7 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="7" column="0">
+                    <item row="8" column="0">
                      <widget class="QComboBox" name="comboBox_dbTempStore">
                       <item>
                        <property name="text">
@@ -9899,7 +9899,7 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="4" column="0">
+                    <item row="5" column="0">
                      <widget class="QSpinBox" name="spinBox_dbCacheSize">
                       <property name="minimum">
                        <number>10</number>
@@ -9915,7 +9915,7 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="4" column="1">
+                    <item row="5" column="1">
                      <widget class="QLabel" name="label_75">
                       <property name="text">
                        <string>Sqlite3 cache size,
@@ -9929,7 +9929,7 @@ see Sqlite3 doc 'PRAGMA cache_size'.</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="5" column="1">
+                    <item row="6" column="1">
                      <widget class="QLabel" name="label_77">
                       <property name="text">
                        <string>Sqlite3 journal mode,
@@ -9943,7 +9943,7 @@ see Sqlite3 doc 'PRAGMA journal_mode'.</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="6" column="1">
+                    <item row="7" column="1">
                      <widget class="QLabel" name="label_89">
                       <property name="text">
                        <string>Sqlite3 synchronous,
@@ -9957,7 +9957,7 @@ see Sqlite3 doc 'PRAGMA synchronous'.</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="6" column="0">
+                    <item row="7" column="0">
                      <widget class="QComboBox" name="comboBox_dbSynchronous">
                       <property name="currentIndex">
                        <number>2</number>
@@ -10008,6 +10008,26 @@ see Sqlite3 doc 'PRAGMA synchronous'.</string>
                     <item row="3" column="0">
                      <widget class="QLineEdit" name="lineEdit_rgbCompressionFormat"/>
                     </item>
+                    <item row="4" column="1">
+                     <widget class="QLabel" name="label_610">
+                      <property name="text">
+                       <string>Target database version for backward compatibility purpose. Only Major and minor versions are used and should be set (e.g., &quot;0.19&quot; vs &quot;0.20&quot; or &quot;1.0&quot; vs &quot;2.0&quot;). Patch version is ignored (e.g., &quot;0.20.1&quot; and &quot;0.20.3&quot; will generate a &quot;0.20&quot; database).</string>
+                      </property>
+                      <property name="wordWrap">
+                       <bool>true</bool>
+                      </property>
+                      <property name="textInteractionFlags">
+                       <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="4" column="0">
+                     <widget class="QLineEdit" name="lineEdit_targetDatabaseVersion">
+                      <property name="placeholderText">
+                       <string>major.minor</string>
+                      </property>
+                     </widget>
+                    </item>
                    </layout>
                   </widget>
                  </item>

tools/Reprocess/main.cpp

@@ -460,6 +460,8 @@ int main(int argc, char * argv[])
 	}
 
 	ParametersMap parameters = dbDriver->getLastParameters();
+	std::string targetVersion = dbDriver->getDatabaseVersion();
+	parameters.insert(ParametersPair(Parameters::kDbTargetVersion(), targetVersion));
 	if(parameters.empty())
 	{
 		printf("WARNING: Failed getting parameters from database, reprocessing will be done with default parameters! Database version may be too old (%s).\n", dbDriver->getDatabaseVersion().c_str());
@@ -498,6 +500,7 @@ int main(int argc, char * argv[])
 
 	bool incrementalMemory = Parameters::defaultMemIncrementalMemory();
 	Parameters::parse(parameters, Parameters::kMemIncrementalMemory(), incrementalMemory);
+	Parameters::parse(parameters, Parameters::kDbTargetVersion(), targetVersion);
 
 	int totalIds = 0;
 	std::set<int> ids;
@@ -539,6 +542,10 @@ int main(int argc, char * argv[])
 
 	std::string workingDirectory = UDirectory::getDir(outputDatabasePath);
 	printf("Set working directory to \"%s\".\n", workingDirectory.c_str());
+	if(!targetVersion.empty())
+	{
+		printf("Target database version: \"%s\" (set explicitly --%s \"\" to output with latest version.\n", targetVersion.c_str(), Parameters::kDbTargetVersion().c_str());
+	}
 	uInsert(parameters, ParametersPair(Parameters::kRtabmapWorkingDirectory(), workingDirectory));
 	uInsert(parameters, ParametersPair(Parameters::kRtabmapPublishStats(), "true")); // to log status below