Added rtabmap::databaseRecovery() function, added rtabmap-recovery tool, added "Database recovery" menu action in DbViewer

corelib/src/CMakeLists.txt

@@ -11,6 +11,8 @@ SET(SRC_FILES
 	DBDriverSqlite3.cpp
 	DBReader.cpp
 	
+	Recovery.cpp
+	
     Camera.cpp
     CameraThread.cpp
     CameraRGB.cpp

corelib/src/Recovery.cpp

@@ -0,0 +1,208 @@
+/*
+Copyright (c) 2010-2017, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include <rtabmap/core/Recovery.h>
+#include <rtabmap/core/Rtabmap.h>
+#include <rtabmap/core/DBDriver.h>
+#include <rtabmap/core/DBReader.h>
+#include <rtabmap/core/Graph.h>
+#include <rtabmap/core/ProgressState.h>
+#include <rtabmap/utilite/UFile.h>
+#include <rtabmap/utilite/UStl.h>
+
+namespace rtabmap {
+
+bool databaseRecovery(
+		const std::string & corruptedDatabase,
+		bool keepCorruptedDatabase,
+		std::string * errorMsg,
+		ProgressState * progressState)
+{
+	UDEBUG("Recovering \"%s\"", corruptedDatabase.c_str());
+
+	std::string databasePath = uReplaceChar(corruptedDatabase, '~', UDirectory::homeDir());
+	if(!UFile::exists(databasePath))
+	{
+		if(errorMsg)
+			*errorMsg = uFormat("File \"%s\" doesn't exist!", databasePath.c_str());
+		return false;
+	}
+
+	std::string backupPath;
+	if(UFile::getExtension(databasePath).compare("db") != 0)
+	{
+		if(errorMsg)
+			*errorMsg = uFormat("File \"%s\" is not a database (*.db)!", databasePath.c_str());
+		return false;
+	}
+	std::list<std::string> strList = uSplit(databasePath, '.');
+	strList.pop_back();
+	backupPath = uJoin(strList, ".") + ".backup.db";
+	if(UFile::exists(backupPath))
+	{
+		if(errorMsg)
+			*errorMsg = uFormat("Backup file \"%s\" already exists!", backupPath.c_str());
+		return false;
+	}
+
+	DBDriver * dbDriver = DBDriver::create();
+	if(!dbDriver->openConnection(databasePath, false))
+	{
+		if(errorMsg)
+			*errorMsg = uFormat("Failed opening database!");
+		delete dbDriver;
+		return false;
+	}
+
+	ParametersMap parameters = dbDriver->getLastParameters();
+	if(parameters.empty())
+	{
+		if(errorMsg)
+			*errorMsg = uFormat("Failed getting parameters from database, recovery cannot be done.");
+		dbDriver->closeConnection(false);
+		delete dbDriver;
+		return false;
+	}
+	std::set<int> ids;
+	dbDriver->getAllNodeIds(ids);
+	if(ids.empty())
+	{
+		if(errorMsg)
+			*errorMsg = uFormat("Input database doesn't have any nodes saved in it.");
+		dbDriver->closeConnection(false);
+		delete dbDriver;
+		return false;
+	}
+	if(progressState)
+		progressState->callback(uFormat("Found %d nodes to recover.", (int)ids.size()));
+
+	//Detect if the database is corrupted
+	std::multimap<int, Link> links;
+	dbDriver->getAllLinks(links, true);
+	bool corrupted = false;
+	for(std::multimap<int, Link>::iterator iter=links.begin(); iter!=links.end(); ++iter)
+	{
+		if(iter->second.type() == Link::kNeighbor &&
+			graph::findLink(links, iter->second.to(), iter->second.from(), false) == links.end())
+		{
+			corrupted = true;
+			break;
+		}
+	}
+
+	if(progressState)
+	{
+		if(corrupted)
+			progressState->callback("Database is indeed corrupted, found one or more neighbor links missing.");
+		else
+			progressState->callback("Database doesn't seem to be corrupted, still recovering it.");
+	}
+
+	dbDriver->closeConnection(false);
+	delete dbDriver;
+
+	if(progressState)
+		progressState->callback(uFormat("Renaming \"%s\" to \"%s\"...", UFile::getName(databasePath).c_str(), UFile::getName(backupPath).c_str()));
+	if(UFile::rename(databasePath, backupPath) != 0)
+	{
+		if(errorMsg)
+			*errorMsg = uFormat("Failed renaming database file from \"%s\" to \"%s\". Is it opened by another app?", UFile::getName(databasePath).c_str(), UFile::getName(backupPath).c_str());
+		return false;
+	}
+	Rtabmap rtabmap;
+	rtabmap.init(parameters, databasePath);
+
+	bool odometryIgnored = false;
+	Parameters::parse(parameters, Parameters::kRGBDEnabled(), odometryIgnored);
+	DBReader dbReader(backupPath, 0, !odometryIgnored);
+	dbReader.init();
+
+	CameraInfo info;
+	SensorData data = dbReader.takeImage(&info);
+	int processed = 0;
+	if(progressState)
+		progressState->callback(uFormat("Recovering data of \"%s\"...", backupPath.c_str()));
+	while(data.isValid() && (progressState==0 || !progressState->isCanceled()))
+	{
+		std::string status;
+		if(!odometryIgnored && info.odomPose.isNull())
+		{
+			status = uFormat("Skipping node %d as it doesn't have odometry pose set.", data.id());
+		}
+		else
+		{
+			if(!rtabmap.process(data, info.odomPose, info.odomCovariance))
+			{
+				status = uFormat("Failed processing node %d.", data.id());
+			}
+		}
+		if(status.empty())
+		{
+			if(progressState)
+				progressState->callback(status);
+		}
+
+		data = dbReader.takeImage(&info);
+
+		if(progressState)
+			progressState->callback(uFormat("Processed %d/%d nodes...", ++processed, (int)ids.size()));
+	}
+
+	if(progressState)
+	{
+		if(progressState->isCanceled())
+		{
+			rtabmap.close(false);
+			if(errorMsg)
+				*errorMsg = "Recovery canceled";
+
+			// put back the file as before
+			UFile::erase(databasePath);
+			UFile::rename(backupPath, databasePath);
+			return false;
+		}
+	}
+
+	if(progressState)
+		progressState->callback(uFormat("Closing database \"%s\"...", databasePath.c_str()));
+	rtabmap.close(true);
+	if(progressState)
+		progressState->callback(uFormat("Closing database \"%s\"... done!", databasePath.c_str()));
+
+	if(!keepCorruptedDatabase)
+	{
+		UFile::erase(backupPath);
+	}
+
+	return true;
+}
+
+}
+
+
+
+

corelib/src/pcl18/surface/impl/texture_mapping.hpp

@@ -1053,7 +1053,7 @@ template<typename PointInT> bool
 pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras2 (
 		pcl::TextureMesh &mesh,
 		const pcl::texture_mapping::CameraVector &cameras,
-		const ProgressState * state,
+		const rtabmap::ProgressState * state,
 		std::vector<std::map<int, pcl::PointXY> > * vertexToPixels)
 {
 

corelib/src/pcl18/surface/texture_mapping.h

@@ -365,7 +365,7 @@ namespace pcl
       bool
       textureMeshwithMultipleCameras2 (pcl::TextureMesh &mesh,
                                       const pcl::texture_mapping::CameraVector &cameras,
-									  const ProgressState * callback = 0,
+									  const rtabmap::ProgressState * callback = 0,
 									  std::vector<std::map<int, pcl::PointXY> > * vertexToPixels = 0);
 
     protected: