Removed sqlite3 dependency (now building it directly in source, making installation easier between x86 and x64)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1074 f169173b-cf89-36c8-b27e-44dbe73f0c83

CMakeLists.txt

@@ -76,11 +76,8 @@ ENDIF(CMAKE_COMPILER_IS_GNUCXX)
 # [Eclipse] Automatic Discovery of Include directories (Optional, but handy) 
 #SET(CMAKE_VERBOSE_MAKEFILE ON)
 
-#Find libraries included with our project first
+#Other paths...
-IF(WIN32)
+IF(APPLE)
-   SET(CMAKE_INCLUDE_PATH "${PROJECT_SOURCE_DIR}/3rdParty/include;${CMAKE_INCLUDE_PATH}")
-   SET(CMAKE_LIBRARY_PATH "${PROJECT_SOURCE_DIR}/3rdParty/lib;${CMAKE_LIBRARY_PATH}")
-ELSEIF(APPLE)
    # For Mac ports
    SET(CMAKE_INCLUDE_PATH "/opt/local/include;${CMAKE_INCLUDE_PATH}")
    SET(CMAKE_LIBRARY_PATH "/opt/local/lib;${CMAKE_LIBRARY_PATH}")
@@ -138,7 +135,6 @@ OPTION(DEMO_BUILD "Set to ON to build DEMO version" OFF)
 
 ####### DEPENDENCIES #######
 FIND_PACKAGE(OpenCV REQUIRED)
-FIND_PACKAGE(Sqlite3 REQUIRED)
 FIND_PACKAGE(PCL 1.7 REQUIRED)
 FIND_PACKAGE(VTK REQUIRED)
 FIND_PACKAGE(ZLIB REQUIRED)

corelib/src/CMakeLists.txt

@@ -31,6 +31,8 @@ SET(SRC_FILES
 	toro3d/posegraph3.cpp
 	toro3d/treeoptimizer3_iteration.cpp
 	toro3d/treeoptimizer3.cpp
+	
+	sqlite3/sqlite3.c
 )
 
 SET(INCLUDE_DIRS
@@ -39,10 +41,8 @@ SET(INCLUDE_DIRS
 	${CMAKE_CURRENT_SOURCE_DIR}
 	${CMAKE_CURRENT_BINARY_DIR}
     ${OpenCV_INCLUDE_DIRS}
-	${SQLITE3_INCLUDE_DIR}
 	${PCL_INCLUDE_DIRS}
 	${ZLIB_INCLUDE_DIRS}
-	
 )
 
 ####################################
@@ -81,7 +81,7 @@ INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
 # Add binary that is built from the source file "main.cpp".
 # The extension is automatically found.
 ADD_LIBRARY(rtabmap_core ${SRC_FILES} ${RESOURCES_HEADERS})
-TARGET_LINK_LIBRARIES(rtabmap_core rtabmap_utilite ${OpenCV_LIBS} ${SQLITE3_LIBRARY} ${PCL_LIBRARIES} ${ZLIB_LIBRARIES})
+TARGET_LINK_LIBRARIES(rtabmap_core rtabmap_utilite ${OpenCV_LIBS} ${PCL_LIBRARIES} ${ZLIB_LIBRARIES})
 
 INSTALL(TARGETS rtabmap_core
         RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT runtime

corelib/src/DBDriverSqlite3.h

@@ -23,7 +23,7 @@
 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
 #include "rtabmap/core/DBDriver.h"
 #include <opencv2/features2d/features2d.hpp>
-#include <sqlite3.h>
+#include "sqlite3/sqlite3.h"
 #include <pcl/point_types.h>
 
 namespace rtabmap {

corelib/src/random_sample.h

@@ -1,255 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2009, Willow Garage, Inc.
- *  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 copyright holder(s) 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 OWNER 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.
- *
- * $Id: extract_indices.h 1370 2011-06-19 01:06:01Z jspricke $
- *
- */
-
-#ifndef PCL_FILTERS_RANDOM_SUBSAMPLE_H_
-#define PCL_FILTERS_RANDOM_SUBSAMPLE_H_
-
-#include <pcl/filters/filter_indices.h>
-#include <time.h>
-#include <limits.h>
-
-  /** \brief @b RandomSample applies a random sampling with uniform probability.
-    * Based off Algorithm A from the paper "Faster Methods for Random Sampling"
-    * by Jeffrey Scott Vitter. The algorithm runs in O(N) and results in sorted
-    * indices
-    * http://www.ittc.ku.edu/~jsv/Papers/Vit84.sampling.pdf
-    * \author Justin Rosen
-    * \ingroup filters
-    */
-  template<typename PointT>
-  class RandomSample : public pcl::FilterIndices<PointT>
-  {
-    using pcl::FilterIndices<PointT>::filter_name_;
-    using pcl::FilterIndices<PointT>::getClassName;
-    using pcl::FilterIndices<PointT>::indices_;
-    using pcl::FilterIndices<PointT>::input_;
-    using pcl::FilterIndices<PointT>::negative_;
-    using pcl::FilterIndices<PointT>::keep_organized_;
-    using pcl::FilterIndices<PointT>::user_filter_value_;
-    using pcl::FilterIndices<PointT>::extract_removed_indices_;
-    using pcl::FilterIndices<PointT>::removed_indices_;
-
-    typedef typename pcl::FilterIndices<PointT>::PointCloud PointCloud;
-    typedef typename PointCloud::Ptr PointCloudPtr;
-    typedef typename PointCloud::ConstPtr PointCloudConstPtr;
-
-    public:
-
-      typedef boost::shared_ptr< RandomSample<PointT> > Ptr;
-      typedef boost::shared_ptr< const RandomSample<PointT> > ConstPtr;
-
-      /** \brief Empty constructor. */
-      RandomSample (bool extract_removed_indices = false) :
-    	  pcl::FilterIndices<PointT> (extract_removed_indices),
-        sample_ (UINT_MAX),
-        seed_ (static_cast<unsigned int> (time (NULL)))
-      {
-        filter_name_ = "RandomSample";
-      }
-
-      /** \brief Set number of indices to be sampled.
-        * \param sample
-        */
-      inline void
-      setSample (unsigned int sample)
-      {
-        sample_ = sample;
-      }
-
-      /** \brief Get the value of the internal \a sample parameter.
-        */
-      inline unsigned int
-      getSample ()
-      {
-        return (sample_);
-      }
-
-      /** \brief Set seed of random function.
-        * \param seed
-        */
-      inline void
-      setSeed (unsigned int seed)
-      {
-        seed_ = seed;
-      }
-
-      /** \brief Get the value of the internal \a seed parameter.
-        */
-      inline unsigned int
-      getSeed ()
-      {
-        return (seed_);
-      }
-
-    protected:
-
-      /** \brief Number of indices that will be returned. */
-      unsigned int sample_;
-      /** \brief Random number seed. */
-      unsigned int seed_;
-
-      /** \brief Sample of point indices into a separate PointCloud
-        * \param output the resultant point cloud
-        */
-      void
-      applyFilter (PointCloud &output)
-      {
-        std::vector<int> indices;
-        if (keep_organized_)
-        {
-          bool temp = extract_removed_indices_;
-          extract_removed_indices_ = true;
-          applyFilter (indices);
-          extract_removed_indices_ = temp;
-          copyPointCloud (*input_, output);
-          // Get X, Y, Z fields
-          std::vector<sensor_msgs::PointField> fields;
-          pcl::getFields (*input_, fields);
-          std::vector<size_t> offsets;
-          for (size_t i = 0; i < fields.size (); ++i)
-          {
-            if (fields[i].name == "x" ||
-                fields[i].name == "y" ||
-                fields[i].name == "z")
-              offsets.push_back (fields[i].offset);
-          }
-          // For every "removed" point, set the x,y,z fields to user_filter_value_
-          const static float user_filter_value = user_filter_value_;
-          for (size_t rii = 0; rii < removed_indices_->size (); ++rii)
-          {
-            uint8_t* pt_data = reinterpret_cast<uint8_t*> (&output[(*removed_indices_)[rii]]);
-            for (size_t i = 0; i < offsets.size (); ++i)
-            {
-              memcpy (pt_data + offsets[i], &user_filter_value, sizeof (float));
-            }
-            if (!pcl_isfinite (user_filter_value_))
-              output.is_dense = false;
-          }
-        }
-        else
-        {
-          output.is_dense = true;
-          applyFilter (indices);
-          copyPointCloud (*input_, indices, output);
-        }
-      }
-
-      /** \brief Sample of point indices
-        * \param indices the resultant point cloud indices
-        */
-      void
-      applyFilter (std::vector<int> &indices)
-      {
-        unsigned N = static_cast<unsigned> (indices_->size ());
-
-        unsigned int sample_size = negative_ ? N - sample_ : sample_;
-        // If sample size is 0 or if the sample size is greater then input cloud size
-        //   then return all indices
-        if (sample_size >= N)
-        {
-          indices = *indices_;
-          removed_indices_->clear ();
-        }
-        else
-        {
-          // Resize output indices to sample size
-          indices.resize (static_cast<size_t> (sample_size));
-          if (extract_removed_indices_)
-            removed_indices_->resize (static_cast<size_t> (N - sample_size));
-
-          // Set random seed so derived indices are the same each time the filter runs
-          std::srand (seed_);
-
-          // Algorithm A
-          unsigned top = N - sample_size;
-          unsigned i = 0;
-          unsigned index = 0;
-          std::vector<bool> added;
-          if (extract_removed_indices_)
-            added.resize (indices_->size (), false);
-          for (size_t n = sample_size; n >= 2; n--)
-          {
-            float V = unifRand ();
-            unsigned S = 0;
-            float quot = static_cast<float> (top) / static_cast<float> (N);
-            while (quot > V)
-            {
-              S++;
-              top--;
-              N--;
-              quot = quot * static_cast<float> (top) / static_cast<float> (N);
-            }
-            index += S;
-            if (extract_removed_indices_)
-              added[index] = true;
-            indices[i++] = (*indices_)[index++];
-            N--;
-          }
-
-          index += N * static_cast<unsigned> (unifRand ());
-          if (extract_removed_indices_)
-            added[index] = true;
-          indices[i++] = (*indices_)[index++];
-
-          // Now populate removed_indices_ appropriately
-          if (extract_removed_indices_)
-          {
-            unsigned ri = 0;
-            for (size_t i = 0; i < added.size (); i++)
-            {
-              if (!added[i])
-              {
-                (*removed_indices_)[ri++] = (*indices_)[i];
-              }
-            }
-          }
-        }
-      }
-
-      /** \brief Return a random number fast using a LCG (Linear Congruential Generator) algorithm.
-        * See http://software.intel.com/en-us/articles/fast-random-number-generator-on-the-intel-pentiumr-4-processor/ for more information.
-        */
-      inline float
-      unifRand ()
-      {
-        return (static_cast<float>(rand () / double (RAND_MAX)));
-        //return (((214013 * seed_ + 2531011) >> 16) & 0x7FFF);
-      }
-  };
-
-
-#endif  //#ifndef PCL_FILTERS_RANDOM_SUBSAMPLE_H_

corelib/src/sqlite3/sqlite3ext.h

@@ -14,8 +14,6 @@
 ** an SQLite instance.  Shared libraries that intend to be loaded
 ** as extensions by SQLite should #include this file instead of 
 ** sqlite3.h.
-**
-** @(#) $Id: sqlite3ext.h,v 1.25 2008/10/12 00:27:54 shane Exp $
 */
 #ifndef _SQLITE3EXT_H_
 #define _SQLITE3EXT_H_
@@ -51,8 +49,10 @@ struct sqlite3_api_routines {
   int  (*busy_timeout)(sqlite3*,int ms);
   int  (*changes)(sqlite3*);
   int  (*close)(sqlite3*);
-  int  (*collation_needed)(sqlite3*,void*,void(*)(void*,sqlite3*,int eTextRep,const char*));
+  int  (*collation_needed)(sqlite3*,void*,void(*)(void*,sqlite3*,
-  int  (*collation_needed16)(sqlite3*,void*,void(*)(void*,sqlite3*,int eTextRep,const void*));
+                           int eTextRep,const char*));
+  int  (*collation_needed16)(sqlite3*,void*,void(*)(void*,sqlite3*,
+                             int eTextRep,const void*));
   const void * (*column_blob)(sqlite3_stmt*,int iCol);
   int  (*column_bytes)(sqlite3_stmt*,int iCol);
   int  (*column_bytes16)(sqlite3_stmt*,int iCol);
@@ -77,10 +77,18 @@ struct sqlite3_api_routines {
   void * (*commit_hook)(sqlite3*,int(*)(void*),void*);
   int  (*complete)(const char*sql);
   int  (*complete16)(const void*sql);
-  int  (*create_collation)(sqlite3*,const char*,int,void*,int(*)(void*,int,const void*,int,const void*));
+  int  (*create_collation)(sqlite3*,const char*,int,void*,
-  int  (*create_collation16)(sqlite3*,const void*,int,void*,int(*)(void*,int,const void*,int,const void*));
+                           int(*)(void*,int,const void*,int,const void*));
-  int  (*create_function)(sqlite3*,const char*,int,int,void*,void (*xFunc)(sqlite3_context*,int,sqlite3_value**),void (*xStep)(sqlite3_context*,int,sqlite3_value**),void (*xFinal)(sqlite3_context*));
+  int  (*create_collation16)(sqlite3*,const void*,int,void*,
-  int  (*create_function16)(sqlite3*,const void*,int,int,void*,void (*xFunc)(sqlite3_context*,int,sqlite3_value**),void (*xStep)(sqlite3_context*,int,sqlite3_value**),void (*xFinal)(sqlite3_context*));
+                             int(*)(void*,int,const void*,int,const void*));
+  int  (*create_function)(sqlite3*,const char*,int,int,void*,
+                          void (*xFunc)(sqlite3_context*,int,sqlite3_value**),
+                          void (*xStep)(sqlite3_context*,int,sqlite3_value**),
+                          void (*xFinal)(sqlite3_context*));
+  int  (*create_function16)(sqlite3*,const void*,int,int,void*,
+                            void (*xFunc)(sqlite3_context*,int,sqlite3_value**),
+                            void (*xStep)(sqlite3_context*,int,sqlite3_value**),
+                            void (*xFinal)(sqlite3_context*));
   int (*create_module)(sqlite3*,const char*,const sqlite3_module*,void*);
   int  (*data_count)(sqlite3_stmt*pStmt);
   sqlite3 * (*db_handle)(sqlite3_stmt*);
@@ -125,16 +133,19 @@ struct sqlite3_api_routines {
   void  (*result_text16le)(sqlite3_context*,const void*,int,void(*)(void*));
   void  (*result_value)(sqlite3_context*,sqlite3_value*);
   void * (*rollback_hook)(sqlite3*,void(*)(void*),void*);
-  int  (*set_authorizer)(sqlite3*,int(*)(void*,int,const char*,const char*,const char*,const char*),void*);
+  int  (*set_authorizer)(sqlite3*,int(*)(void*,int,const char*,const char*,
+                         const char*,const char*),void*);
   void  (*set_auxdata)(sqlite3_context*,int,void*,void (*)(void*));
   char * (*snprintf)(int,char*,const char*,...);
   int  (*step)(sqlite3_stmt*);
-  int  (*table_column_metadata)(sqlite3*,const char*,const char*,const char*,char const**,char const**,int*,int*,int*);
+  int  (*table_column_metadata)(sqlite3*,const char*,const char*,const char*,
+                                char const**,char const**,int*,int*,int*);
   void  (*thread_cleanup)(void);
   int  (*total_changes)(sqlite3*);
   void * (*trace)(sqlite3*,void(*xTrace)(void*,const char*),void*);
   int  (*transfer_bindings)(sqlite3_stmt*,sqlite3_stmt*);
-  void * (*update_hook)(sqlite3*,void(*)(void*,int ,char const*,char const*,sqlite_int64),void*);
+  void * (*update_hook)(sqlite3*,void(*)(void*,int ,char const*,char const*,
+                                         sqlite_int64),void*);
   void * (*user_data)(sqlite3_context*);
   const void * (*value_blob)(sqlite3_value*);
   int  (*value_bytes)(sqlite3_value*);
@@ -156,15 +167,19 @@ struct sqlite3_api_routines {
   int (*prepare16_v2)(sqlite3*,const void*,int,sqlite3_stmt**,const void**);
   int (*clear_bindings)(sqlite3_stmt*);
   /* Added by 3.4.1 */
-  int (*create_module_v2)(sqlite3*,const char*,const sqlite3_module*,void*,void (*xDestroy)(void *));
+  int (*create_module_v2)(sqlite3*,const char*,const sqlite3_module*,void*,
+                          void (*xDestroy)(void *));
   /* Added by 3.5.0 */
   int (*bind_zeroblob)(sqlite3_stmt*,int,int);
   int (*blob_bytes)(sqlite3_blob*);
   int (*blob_close)(sqlite3_blob*);
-  int (*blob_open)(sqlite3*,const char*,const char*,const char*,sqlite3_int64,int,sqlite3_blob**);
+  int (*blob_open)(sqlite3*,const char*,const char*,const char*,sqlite3_int64,
+                   int,sqlite3_blob**);
   int (*blob_read)(sqlite3_blob*,void*,int,int);
   int (*blob_write)(sqlite3_blob*,const void*,int,int);
-  int (*create_collation_v2)(sqlite3*,const char*,int,void*,int(*)(void*,int,const void*,int,const void*),void(*)(void*));
+  int (*create_collation_v2)(sqlite3*,const char*,int,void*,
+                             int(*)(void*,int,const void*,int,const void*),
+                             void(*)(void*));
   int (*file_control)(sqlite3*,const char*,int,void*);
   sqlite3_int64 (*memory_highwater)(int);
   sqlite3_int64 (*memory_used)(void);
@@ -193,6 +208,48 @@ struct sqlite3_api_routines {
   sqlite3_stmt *(*next_stmt)(sqlite3*,sqlite3_stmt*);
   const char *(*sql)(sqlite3_stmt*);
   int (*status)(int,int*,int*,int);
+  int (*backup_finish)(sqlite3_backup*);
+  sqlite3_backup *(*backup_init)(sqlite3*,const char*,sqlite3*,const char*);
+  int (*backup_pagecount)(sqlite3_backup*);
+  int (*backup_remaining)(sqlite3_backup*);
+  int (*backup_step)(sqlite3_backup*,int);
+  const char *(*compileoption_get)(int);
+  int (*compileoption_used)(const char*);
+  int (*create_function_v2)(sqlite3*,const char*,int,int,void*,
+                            void (*xFunc)(sqlite3_context*,int,sqlite3_value**),
+                            void (*xStep)(sqlite3_context*,int,sqlite3_value**),
+                            void (*xFinal)(sqlite3_context*),
+                            void(*xDestroy)(void*));
+  int (*db_config)(sqlite3*,int,...);
+  sqlite3_mutex *(*db_mutex)(sqlite3*);
+  int (*db_status)(sqlite3*,int,int*,int*,int);
+  int (*extended_errcode)(sqlite3*);
+  void (*log)(int,const char*,...);
+  sqlite3_int64 (*soft_heap_limit64)(sqlite3_int64);
+  const char *(*sourceid)(void);
+  int (*stmt_status)(sqlite3_stmt*,int,int);
+  int (*strnicmp)(const char*,const char*,int);
+  int (*unlock_notify)(sqlite3*,void(*)(void**,int),void*);
+  int (*wal_autocheckpoint)(sqlite3*,int);
+  int (*wal_checkpoint)(sqlite3*,const char*);
+  void *(*wal_hook)(sqlite3*,int(*)(void*,sqlite3*,const char*,int),void*);
+  int (*blob_reopen)(sqlite3_blob*,sqlite3_int64);
+  int (*vtab_config)(sqlite3*,int op,...);
+  int (*vtab_on_conflict)(sqlite3*);
+  /* Version 3.7.16 and later */
+  int (*close_v2)(sqlite3*);
+  const char *(*db_filename)(sqlite3*,const char*);
+  int (*db_readonly)(sqlite3*,const char*);
+  int (*db_release_memory)(sqlite3*);
+  const char *(*errstr)(int);
+  int (*stmt_busy)(sqlite3_stmt*);
+  int (*stmt_readonly)(sqlite3_stmt*);
+  int (*stricmp)(const char*,const char*);
+  int (*uri_boolean)(const char*,const char*,int);
+  sqlite3_int64 (*uri_int64)(const char*,const char*,sqlite3_int64);
+  const char *(*uri_parameter)(const char*,const char*);
+  char *(*vsnprintf)(int,char*,const char*,va_list);
+  int (*wal_checkpoint_v2)(sqlite3*,const char*,int,int*,int*);
 };
 
 /*
@@ -372,9 +429,59 @@ struct sqlite3_api_routines {
 #define sqlite3_next_stmt              sqlite3_api->next_stmt
 #define sqlite3_sql                    sqlite3_api->sql
 #define sqlite3_status                 sqlite3_api->status
+#define sqlite3_backup_finish          sqlite3_api->backup_finish
+#define sqlite3_backup_init            sqlite3_api->backup_init
+#define sqlite3_backup_pagecount       sqlite3_api->backup_pagecount
+#define sqlite3_backup_remaining       sqlite3_api->backup_remaining
+#define sqlite3_backup_step            sqlite3_api->backup_step
+#define sqlite3_compileoption_get      sqlite3_api->compileoption_get
+#define sqlite3_compileoption_used     sqlite3_api->compileoption_used
+#define sqlite3_create_function_v2     sqlite3_api->create_function_v2
+#define sqlite3_db_config              sqlite3_api->db_config
+#define sqlite3_db_mutex               sqlite3_api->db_mutex
+#define sqlite3_db_status              sqlite3_api->db_status
+#define sqlite3_extended_errcode       sqlite3_api->extended_errcode
+#define sqlite3_log                    sqlite3_api->log
+#define sqlite3_soft_heap_limit64      sqlite3_api->soft_heap_limit64
+#define sqlite3_sourceid               sqlite3_api->sourceid
+#define sqlite3_stmt_status            sqlite3_api->stmt_status
+#define sqlite3_strnicmp               sqlite3_api->strnicmp
+#define sqlite3_unlock_notify          sqlite3_api->unlock_notify
+#define sqlite3_wal_autocheckpoint     sqlite3_api->wal_autocheckpoint
+#define sqlite3_wal_checkpoint         sqlite3_api->wal_checkpoint
+#define sqlite3_wal_hook               sqlite3_api->wal_hook
+#define sqlite3_blob_reopen            sqlite3_api->blob_reopen
+#define sqlite3_vtab_config            sqlite3_api->vtab_config
+#define sqlite3_vtab_on_conflict       sqlite3_api->vtab_on_conflict
+/* Version 3.7.16 and later */
+#define sqlite3_close_v2               sqlite3_api->close_v2
+#define sqlite3_db_filename            sqlite3_api->db_filename
+#define sqlite3_db_readonly            sqlite3_api->db_readonly
+#define sqlite3_db_release_memory      sqlite3_api->db_release_memory
+#define sqlite3_errstr                 sqlite3_api->errstr
+#define sqlite3_stmt_busy              sqlite3_api->stmt_busy
+#define sqlite3_stmt_readonly          sqlite3_api->stmt_readonly
+#define sqlite3_stricmp                sqlite3_api->stricmp
+#define sqlite3_uri_boolean            sqlite3_api->uri_boolean
+#define sqlite3_uri_int64              sqlite3_api->uri_int64
+#define sqlite3_uri_parameter          sqlite3_api->uri_parameter
+#define sqlite3_uri_vsnprintf          sqlite3_api->vsnprintf
+#define sqlite3_wal_checkpoint_v2      sqlite3_api->wal_checkpoint_v2
 #endif /* SQLITE_CORE */
 
-#define SQLITE_EXTENSION_INIT1     const sqlite3_api_routines *sqlite3_api = 0;
+#ifndef SQLITE_CORE
-#define SQLITE_EXTENSION_INIT2(v)  sqlite3_api = v;
+  /* This case when the file really is being compiled as a loadable 
+  ** extension */
+# define SQLITE_EXTENSION_INIT1     const sqlite3_api_routines *sqlite3_api=0;
+# define SQLITE_EXTENSION_INIT2(v)  sqlite3_api=v;
+# define SQLITE_EXTENSION_INIT3     \
+    extern const sqlite3_api_routines *sqlite3_api;
+#else
+  /* This case when the file is being statically linked into the 
+  ** application */
+# define SQLITE_EXTENSION_INIT1     /*no-op*/
+# define SQLITE_EXTENSION_INIT2(v)  (void)v; /* unused parameter */
+# define SQLITE_EXTENSION_INIT3     /*no-op*/
+#endif
 
 #endif /* _SQLITE3EXT_H_ */