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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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39
tools/DatabaseUpdate/main.cpp
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@@ -31,20 +31,27 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <stdio.h>
#include <stdlib.h>
#include <string>
#include <cstring>
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"
"change tracking enabled (the --track-changes option of rtabmap-reprocess,\n"
"rtabmap-detectMoreLoopClosures or rtabmap-reduceGraph). This applies the data changes\n"
"only; it does NOT upgrade the database schema/version.\n"
"\n"
"Usage:\n"
" rtabmap-dbupdate \"database.db\" \"changes.update\"\n"
" rtabmap-dbupdate [--rewind] \"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"
"Options:\n"
" --rewind Undo a previously applied update instead of applying it (the changeset is\n"
" inverted). The database must be in the state right after the update was applied.\n"
"\n"
"The changes must be applied to the exact database state they were recorded from (or, with\n"
"--rewind, the state right after they were applied); otherwise the operation is aborted and\n"
"the database is left unchanged.\n"
"\n");
exit(1);
}
@@ -59,6 +66,20 @@ int main(int argc, char * argv[])
showUsage();
}
bool rewind = false;
for(int i=1; i<argc-2; ++i)
{
if(std::strcmp(argv[i], "--rewind") == 0)
{
rewind = true;
}
else
{
printf("Unknown option \"%s\".\n", argv[i]);
showUsage();
}
}
std::string databasePath = argv[argc-2];
std::string updatePath = argv[argc-1];
@@ -73,12 +94,14 @@ int main(int argc, char * argv[])
return 1;
}
printf("Updating database \"%s\" with changes from \"%s\"...\n", databasePath.c_str(), updatePath.c_str());
printf("%s database \"%s\" with changes from \"%s\"...\n",
rewind?"Rewinding":"Updating", databasePath.c_str(), updatePath.c_str());
std::string error;
if(DBDriverSqlite3::applyChangesFromFile(databasePath, updatePath, &error))
if(DBDriverSqlite3::applyChangesFromFile(databasePath, updatePath, rewind, &error))
{
printf("Done! Database \"%s\" was updated successfully.\n", databasePath.c_str());
printf("Done! Database \"%s\" was %s successfully.\n",
databasePath.c_str(), rewind?"rewound":"updated");
return 0;
}