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added --rewind, use sqlite3 changeset instead of patchset

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This commit is contained in:
matlabbe
2026-07-10 20:28:55 -07:00
parent 9cd2318e37
commit 4056c152f0
3 changed files with 90 additions and 40 deletions
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16
corelib/include/rtabmap/core/DBDriverSqlite3.h
View File

@@ -60,15 +60,17 @@ public:
// 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).
// Apply a change delta previously written by trackDatabaseChanges() onto the database at
// databasePath. The file is decompressed (same codec as the other rtabmap blobs) then
// applied with the SQLite session extension. With rewind=false, databasePath must be at the
// same state the delta was recorded from; with rewind=true, the delta is inverted first to
// undo it, so databasePath must be at the post-update state. 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,
const std::string & changesetPath,
bool rewind = false,
std::string * errorMsg = 0);
protected:

75
corelib/src/DBDriverSqlite3.cpp
View File

@@ -245,7 +245,7 @@ void DBDriverSqlite3::startChangeTracking()
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.",
UINFO("Tracking database changes; a changeset will be written to \"%s\" on close.",
_trackChangesOutput.c_str());
}
else
@@ -293,7 +293,8 @@ static int rtabmapChangesetConflict(void * pCtx, int eConflict, sqlite3_changese
bool DBDriverSqlite3::applyChangesFromFile(
const std::string & databasePath,
const std::string & patchsetPath,
const std::string & changesetPath,
bool rewind,
std::string * errorMsg)
{
#ifdef RTABMAP_WITH_SQLITE3_SESSION
@@ -303,11 +304,11 @@ bool DBDriverSqlite3::applyChangesFromFile(
return false;
}
// Read the compressed patchset file.
FILE * fp = fopen(patchsetPath.c_str(), "rb");
// Read the compressed changeset file.
FILE * fp = fopen(changesetPath.c_str(), "rb");
if(!fp)
{
if(errorMsg) *errorMsg = uFormat("Could not open patchset file \"%s\".", patchsetPath.c_str());
if(errorMsg) *errorMsg = uFormat("Could not open changeset file \"%s\".", changesetPath.c_str());
return false;
}
fseek(fp, 0, SEEK_END);
@@ -316,7 +317,7 @@ bool DBDriverSqlite3::applyChangesFromFile(
if(fileSize <= 0)
{
fclose(fp);
if(errorMsg) *errorMsg = uFormat("Patchset file \"%s\" is empty or unreadable.", patchsetPath.c_str());
if(errorMsg) *errorMsg = uFormat("Changeset file \"%s\" is empty or unreadable.", changesetPath.c_str());
return false;
}
std::vector<unsigned char> fileBytes((size_t)fileSize);
@@ -324,18 +325,39 @@ bool DBDriverSqlite3::applyChangesFromFile(
fclose(fp);
if((long)bytesRead != fileSize)
{
if(errorMsg) *errorMsg = uFormat("Could not read patchset file \"%s\".", patchsetPath.c_str());
if(errorMsg) *errorMsg = uFormat("Could not read changeset file \"%s\".", changesetPath.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())
// Decompress to the raw changeset (same codec used to write it).
cv::Mat changes = uncompressData(fileBytes.data(), (unsigned long)fileSize);
if(changes.empty())
{
if(errorMsg) *errorMsg = uFormat("Could not decompress patchset file \"%s\".", patchsetPath.c_str());
if(errorMsg) *errorMsg = uFormat("Could not decompress changeset file \"%s\".", changesetPath.c_str());
return false;
}
int nChanges = (int)(changes.total()*changes.elemSize());
void * pApply = changes.data;
int nApply = nChanges;
void * pInverted = 0;
if(rewind)
{
// Invert the changeset so applying it undoes the recorded update (INSERT<->DELETE,
// UPDATE reversed). This is why the emit records a changeset, not a patchset: only
// changesets carry the old values needed to reverse a change.
int nInverted = 0;
int rcInv = sqlite3changeset_invert(nChanges, changes.data, &nInverted, &pInverted);
if(rcInv != SQLITE_OK || pInverted == 0)
{
if(errorMsg) *errorMsg = uFormat("Could not invert changeset \"%s\" for rewind (SQLite error %d: %s).",
changesetPath.c_str(), rcInv, sqlite3_errstr(rcInv));
return false;
}
pApply = pInverted;
nApply = nInverted;
}
// Apply onto the target database.
sqlite3 * db = 0;
int rc = sqlite3_open_v2(databasePath.c_str(), &db, SQLITE_OPEN_READWRITE, 0);
@@ -343,20 +365,21 @@ bool DBDriverSqlite3::applyChangesFromFile(
{
if(errorMsg) *errorMsg = uFormat("Could not open database \"%s\": %s", databasePath.c_str(), sqlite3_errmsg(db));
sqlite3_close(db);
if(pInverted) sqlite3_free(pInverted);
return false;
}
int nPatch = (int)(patch.total()*patch.elemSize());
rc = sqlite3changeset_apply(db, nPatch, patch.data, 0, rtabmapChangesetConflict, 0);
rc = sqlite3changeset_apply(db, nApply, pApply, 0, rtabmapChangesetConflict, 0);
sqlite3_close(db);
if(pInverted) sqlite3_free(pInverted);
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);
if(errorMsg) *errorMsg = uFormat("Failed to %s \"%s\" (SQLite error %d: %s). Make sure it is applied to the "
"exact database state the delta %s.",
rewind?"rewind":"update", databasePath.c_str(), rc, sqlite3_errstr(rc),
rewind?"was previously applied to":"was recorded from");
return false;
}
sqlite3_close(db);
return true;
#else
if(errorMsg) *errorMsg = "rtabmap was built without SQLite session support.";
@@ -645,15 +668,17 @@ 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 change tracking is active, emit the accumulated changeset before closing.
// A changeset (not a patchset) is used so it carries the old values too and can be
// inverted with sqlite3changeset_invert() to undo the update (see applyChangesFromFile).
if(_session)
{
int nBuf = 0;
void * pBuf = 0;
int rcp = sqlite3session_patchset(_session, &nBuf, &pBuf);
int rcp = sqlite3session_changeset(_session, &nBuf, &pBuf);
if(rcp == SQLITE_OK && pBuf && nBuf > 0)
{
// Compress the patchset with the same zlib-based codec used for every other
// Compress the changeset 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));
@@ -665,23 +690,23 @@ void DBDriverSqlite3::disconnectDatabaseQuery(bool save, const std::string & out
fclose(fp);
if(written == toWrite)
{
UINFO("Wrote compressed database patchset (%d -> %d bytes) to \"%s\".",
UINFO("Wrote compressed database changeset (%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\".",
UERROR("Could only write %d/%d bytes of the database changeset to \"%s\".",
(int)written, (int)toWrite, _trackChangesOutput.c_str());
}
}
else
{
UERROR("Could not open \"%s\" to write the database patchset.", _trackChangesOutput.c_str());
UERROR("Could not open \"%s\" to write the database changeset.", _trackChangesOutput.c_str());
}
}
else if(rcp != SQLITE_OK)
{
UERROR("Could not generate the database patchset for \"%s\" (SQLite error %d).",
UERROR("Could not generate the database changeset for \"%s\" (SQLite error %d).",
_trackChangesOutput.c_str(), rcp);
}
else