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added --rewind, use sqlite3 changeset instead of patchset

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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
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@@ -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: