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used dbu extension for update files

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This commit is contained in:
matlabbe
2026-07-10 20:54:51 -07:00
parent e61a45e44f
commit b532319885
9 changed files with 65 additions and 32 deletions
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6
corelib/include/rtabmap/core/DBDriver.h
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@@ -73,9 +73,9 @@ public:
const std::string & getTargetVersion() const {return _targetVersion;}
// Start recording changes made to the database until it is closed, then write a compact
// delta of those changes to outputUrl (empty disables). Returns true if recording is
// active. Only the SQLite backend supports it (session extension + database version
// >= 0.24); other backends return false.
// delta of those changes to outputUrl (empty disables). outputUrl MUST use the ".dbu"
// (db update) extension. Returns true if recording is active. Only the SQLite backend
// supports it (session extension + database version >= 0.24); other backends return false.
// NOTE: recorded changes are held in RAM until the database is closed, so only enable
// this when the expected set of changes is small.
virtual bool trackDatabaseChanges(const std::string & outputUrl) {(void)outputUrl; return false;}

23
corelib/include/rtabmap/core/DBDriverSqlite3.h
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@@ -51,22 +51,23 @@ public:
void setSynchronous(int synchronous);
void setTempStore(int tempStore);
// Start recording changes made to the database from now until it is closed, then write
// a compact patchset delta to outputUrl (empty disables). Can be called before the
// connection is opened or on an already-open connection (e.g. after init(), so the
// baseline is the current content). Returns true if recording is active. Only effective
// if the build/runtime SQLite has the session extension and the database is version >= 0.24.
// a compact changeset delta to outputUrl (empty disables). outputUrl MUST use the ".dbu"
// (db update) extension. Can be called before the connection is opened or on an already-open
// connection (e.g. after init(), so the baseline is the current content). Returns true if
// recording is active. Only effective if the build/runtime SQLite has the session extension
// and the database is version >= 0.24.
// NOTE: the SQLite session extension holds ALL recorded changes in RAM until the database
// is closed (there is no incremental spill to disk), so only enable this when the expected
// 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 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).
// Apply a ".dbu" change delta previously written by trackDatabaseChanges() onto the database
// at databasePath. The file (which must have the ".dbu" extension) 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 build and runtime).
static bool applyChangesFromFile(
const std::string & databasePath,
const std::string & changesetPath,

3
corelib/include/rtabmap/core/Memory.h
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@@ -183,7 +183,8 @@ public:
std::string getDatabaseVersion() const;
std::string getDatabaseUrl() const;
// Record changes made to the database until it is closed, then write a compact delta
// to outputUrl (empty disables). Returns true if recording started. See DBDriver.
// to outputUrl (empty disables). outputUrl MUST use the ".dbu" (db update) extension.
// Returns true if recording started. See DBDriver.
bool trackDatabaseChanges(const std::string & outputUrl);
double getDbSavingTime() const;
int getMapId(int id, bool lookInDatabase = false) const;

7
corelib/include/rtabmap/core/Rtabmap.h
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@@ -147,9 +147,10 @@ public:
Transform getMapCorrection() const {return _mapCorrection;}
const Memory * getMemory() const {return _memory;}
// Record changes made to the working database from now until it is closed, then write a
// compact delta to outputUrl (empty disables). Call after init(), so the delta reflects
// only what is added/modified afterwards. Returns true if recording started (requires the
// SQLite session extension and a database version >= 0.24). See DBDriver.
// compact delta to outputUrl (empty disables). outputUrl MUST use the ".dbu" (db update)
// extension. Call after init(), so the delta reflects only what is added/modified afterwards.
// Returns true if recording started (requires the SQLite session extension and a database
// version >= 0.24). See DBDriver.
// NOTE: recorded changes are held in RAM until the database is closed, so only enable this
// when the expected set of changes is small (e.g. appending a few sessions).
bool trackDatabaseChanges(const std::string & outputUrl);

13
corelib/src/DBDriverSqlite3.cpp
View File

@@ -260,6 +260,14 @@ void DBDriverSqlite3::startChangeTracking()
bool DBDriverSqlite3::trackDatabaseChanges(const std::string & outputUrl)
{
UDEBUG("outputUrl=%s", outputUrl.c_str());
// The delta file must use the ".dbu" (db update) extension so it is clearly identifiable
// and can be applied/rewound with rtabmap-dbupdate.
if(!outputUrl.empty() && UFile::getExtension(outputUrl).compare("dbu") != 0)
{
UERROR("Database change tracking output \"%s\" must have a \".dbu\" (db update) extension; "
"change tracking is disabled.", outputUrl.c_str());
return false;
}
_trackChangesOutput = outputUrl;
#ifdef RTABMAP_WITH_SQLITE3_SESSION
// If the connection is already open (e.g. set after connect(), as rtabmap-reprocess
@@ -297,6 +305,11 @@ bool DBDriverSqlite3::applyChangesFromFile(
bool rewind,
std::string * errorMsg)
{
if(UFile::getExtension(changesetPath).compare("dbu") != 0)
{
if(errorMsg) *errorMsg = uFormat("Update file \"%s\" must have a \".dbu\" (db update) extension.", changesetPath.c_str());
return false;
}
#ifdef RTABMAP_WITH_SQLITE3_SESSION
if(!sqlite3_compileoption_used("ENABLE_SESSION"))
{