added option to reduceGraph and detectMoreLoopClosures tools

corelib/src/DBDriverSqlite3.cpp

@@ -231,14 +231,14 @@ void DBDriverSqlite3::startChangeTracking()
 	}
 	if(uStrNumCmp(_version, "0.24.0") < 0)
 	{
-		UWARN("Database change tracking to \"%s\" was requested but the database "
+		UERROR("Database change tracking to \"%s\" was requested but the database "
 			  "version is %s (< 0.24.0). Older schemas lack the primary keys required "
 			  "by the SQLite session extension, so change tracking is disabled.",
 			  _trackChangesOutput.c_str(), _version.c_str());
 	}
 	else if(!sqlite3_compileoption_used("ENABLE_SESSION"))
 	{
-		UWARN("Database change tracking to \"%s\" was requested but the linked SQLite "
+		UERROR("Database change tracking to \"%s\" was requested but the linked SQLite "
 			  "library was not built with the session extension (ENABLE_SESSION); "
 			  "change tracking is disabled.", _trackChangesOutput.c_str());
 	}
@@ -250,7 +250,7 @@ void DBDriverSqlite3::startChangeTracking()
 	}
 	else
 	{
-		UWARN("Could not create a SQLite session to track database changes to \"%s\".",
+		UERROR("Could not create a SQLite session to track database changes to \"%s\".",
 			  _trackChangesOutput.c_str());
 		_session = 0;
 	}
@@ -273,7 +273,7 @@ bool DBDriverSqlite3::trackDatabaseChanges(const std::string & outputUrl)
 #else
 	if(!outputUrl.empty())
 	{
-		UWARN("Database change tracking to \"%s\" was requested but rtabmap was built "
+		UERROR("Database change tracking to \"%s\" was requested but rtabmap was built "
 			  "against a SQLite library without the session extension; it is disabled.",
 			  outputUrl.c_str());
 	}

tools/DetectMoreLoopClosures/main.cpp

@@ -59,6 +59,11 @@ void showUsage()
 			"    --intra       Add only intra-session loop closures.\n"
 			"    --inter       Add only inter-session loop closures.\n"
 			"    --session #   Add loop closures only from/to that map session ID (use -1 for last session).\n"
+			"    --track-changes \"changes.update\"\n"
+			"                  Record the changes made to the database (added loop closures) and write a compact\n"
+			"                  delta to the given file, applied later on another copy with rtabmap-dbupdate.\n"
+			"                  Requires the database to be version 0.24 or newer. The changes are held in memory\n"
+			"                  until closing, so use this only when a small amount is added.\n"
 			"\n%s", Parameters::showUsage());
 	exit(1);
 }
@@ -110,12 +115,25 @@ int main(int argc, char * argv[])
 	bool intraSession = false;
 	bool interSession = false;
 	int fromToMapId = -2;
+	std::string trackChangesOutput;
 	for(int i=1; i<argc-1; ++i)
 	{
 		if(std::strcmp(argv[i], "--help") == 0)
 		{
 			showUsage();
 		}
+		else if(std::strcmp(argv[i], "--track-changes") == 0)
+		{
+			++i;
+			if(i<argc-1)
+			{
+				trackChangesOutput = argv[i];
+			}
+			else
+			{
+				showUsage();
+			}
+		}
 		else if(std::strcmp(argv[i], "--intra") == 0)
 		{
 			intraSession = true;
@@ -217,6 +235,10 @@ int main(int argc, char * argv[])
 	{
 		printf("Inter-session only\n");
 	}
+	if(!trackChangesOutput.empty())
+	{
+		printf("Track changes = %s\n", trackChangesOutput.c_str());
+	}
 
 	if(!intraSession && !interSession)
 	{
@@ -252,6 +274,13 @@ int main(int argc, char * argv[])
 	rtabmap.init(parameters, dbPath);
 	printf("Initialization... done! (%f sec)\n", timer.ticks());
 
+	// Record the changes made below (added loop closures) into a delta, applied later with
+	// rtabmap-dbupdate. Started after init so the delta reflects only what this tool changes.
+	if(!trackChangesOutput.empty())
+	{
+		rtabmap.trackDatabaseChanges(trackChangesOutput);
+	}
+
 	float xMin, yMin, cellSize;
 	bool haveOptimizedMap = !rtabmap.getMemory()->load2DMap(xMin, yMin, cellSize).empty();
 

tools/ReduceGraph/main.cpp

@@ -59,6 +59,11 @@ void showUsage(const char * exec)
 			"    --keep_linked  Keep reduced nodes linked to graph.\n"
 			"    --pre_cleanup  Remove all user loop closures linking nodes closer than %s in the graph before reducing the graph.\n"
 			"    --radius #.#   Maximum loop closure distance that can be merged. Default is 1 m. Should be > 0.\n"
+			"    --track-changes \"changes.update\"\n"
+			"                   Record the changes made to the database (reduced nodes, removed links) and write a\n"
+			"                   compact delta to the given file, applied later on another copy with rtabmap-dbupdate.\n"
+			"                   Requires the database to be version 0.24 or newer. Changes are held in memory until\n"
+			"                   closing, so use this only when a small amount is modified.\n"
 			"    --udebug/--uinfo/--warn can also be used to change verbosity.\n"
 			"\n", exec, Parameters::kMemSTMSize().c_str());
 	exit(1);
@@ -78,12 +83,25 @@ int main(int argc, char * argv[])
 	bool keepLinked = false;
 	float radius = 1.0f;
 	bool preCleanup = false;
+	std::string trackChangesOutput;
 	for(int i=1; i<argc; ++i)
 	{
 		if(std::strcmp(argv[i], "--help") == 0)
 		{
 			showUsage(argv[0]);
 		}
+		else if(std::strcmp(argv[i], "--track-changes") == 0)
+		{
+			++i;
+			if(i < argc-1)
+			{
+				trackChangesOutput = argv[i];
+			}
+			else
+			{
+				showUsage(argv[0]);
+			}
+		}
 		else if(std::strcmp(argv[i], "--keep_latest") == 0)
 		{
 			keepLatest = true;
@@ -118,6 +136,10 @@ int main(int argc, char * argv[])
 	printf("  keep_latest = %s\n", keepLatest?"true":"false");
 	printf("  keep_linked = %s\n", keepLinked?"true":"false");
 	printf("  pre_cleanup = %s\n", preCleanup?"true":"false");
+	if(!trackChangesOutput.empty())
+	{
+		printf("  track-changes = %s\n", trackChangesOutput.c_str());
+	}
 
 #ifdef RTABMAP_PYTHON
 	rtabmap::PythonInterface pythonInterface;
@@ -167,6 +189,14 @@ int main(int argc, char * argv[])
 	std::set<int> ids = memory.getAllSignatureIds();
 	printf("Initialization... done! %ld nodes loaded. (%f sec)\n", ids.size(), timer.ticks());
 
+	// Record the changes made below (reduced/merged nodes and removed links) into a delta,
+	// applied later on another copy with rtabmap-dbupdate. Started after init so the delta
+	// reflects only what this tool changes.
+	if(!trackChangesOutput.empty())
+	{
+		memory.trackDatabaseChanges(trackChangesOutput);
+	}
+
 	if(ids.empty())
 	{
 		printf("IDs are empty?! Aborting.\n");