Posted by
matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Database-malformed-tp10500p10513.html
Hi Pierre,
I have good news, I was able to get most data (I think). I followed the instructions of this
post, that I copy here. Assuming "rtabmap.db" is the file name of the corrupted database.
1. Dump SQL
sqlite3 rtabmap.db
.mode insert
.output dump_all.sql
.dump
.exit
2. Extract all data without transactions:
cat dump_all.sql | grep -v TRANSACTION | grep -v ROLLBACK | grep -v COMMIT > dump_all_notrans.sql
3. Re-create a RTAB-Map database:
sqlite3 rtabmap_data.db ".read dump_all_notrans.sql"
4. At this step, you could already browse data in that database with rtabmap-databaseViewer. It may be not needed in your case as visual features (Kp/MaxFeatures=-1) are disabled, but for others who need a working database for a robot, you should be able at this point to re-use rtabmap-recovery to fix the database:
rtabmap-recovery rtabmap_data.db
For info, here what I could recover:
rtabmap-info rtabmap_data.db
Info:
Path: data.db
Version: 0.21.6
Sessions: 1
Total odometry length:748.832764 m
Total time: 2428.857190s
LTM: 5911 nodes and 0 words (dim=0 type=8U)
WM: 308 nodes and 0 words
Global graph: 5911 poses and 15821 links
Optimized graph: 309 poses (x=15821->-165, y=-62->-24, z=2->0)
Maps in graph: 1/1 [0(308)]
Ground truth: 0 poses
GPS: 0 poses
Links:
Neighbor: 4954 (length avg: 0.15m, std: 0.15m, max: 1.43m)
GlobalClosure: 0 (length avg: 0.00m, std: 0.00m, max: 0.00m)
LocalSpaceClosure:0 (length avg: 0.00m, std: 0.00m, max: 0.00m)
LocalTimeClosure: 0 (length avg: 0.00m, std: 0.00m, max: 0.00m)
UserClosure: 0 (length avg: 0.00m, std: 0.00m, max: 0.00m)
VirtualClosure: 0 (length avg: 0.00m, std: 0.00m, max: 0.00m)
NeighborMerged: 0 (length avg: 0.00m, std: 0.00m, max: 0.00m)
PosePrior: 0 (length avg: 0.00m, std: 0.00m, max: 0.00m)
Landmark: 2 (length avg: 1.58m, std: 0.28m, max: 1.78m)
Gravity: 5911 (length avg: 0.00m, std: 0.00m, max: 0.00m)
Database size: 5078 MB
Nodes size: 1 MB (0.02%)
Links size: 5 MB (0.11%)
RGB Images size: 4242 MB (83.55%)
Depth Images size: 796 MB (15.68%)
Calibrations size: 969 KB (0.02%)
Grids size: 70 KB (0.00%)
Scans size: 9 MB (0.19%)
User data size: 0 Bytes (0.00%)
Dictionary size: 0 Bytes (0.00%)
Features size: 0 Bytes (0.00%)
Statistics size: 6 MB (0.12%)
Other (indexing, unused):15 MB (0.31%)
cheers,
Mathieu