mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +08:00
Added Db/TargetVersion parameter (#652)
This commit is contained in:
matlabbe
@@ -0,0 +1,169 @@
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-- *******************************************************************
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-- DatabaseSchema: Script for creating the database
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-- Usage:
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-- $ sqlite3 LTM.db < DatabaseSchema.sql
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--
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||||
-- *******************************************************************
|
||||
|
||||
-- *******************************************************************
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||||
-- CLEAN
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||||
-- *******************************************************************
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/*DROP TABLE Node;*/
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||||
|
||||
-- *******************************************************************
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-- CREATE
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-- *******************************************************************
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CREATE TABLE Node (
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id INTEGER NOT NULL,
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map_id INTEGER NOT NULL,
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weight INTEGER,
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stamp FLOAT,
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pose BLOB, -- 3x4 float
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ground_truth_pose BLOB, -- 3x4 float
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velocity BLOB, -- 6 float (vx,vy,vz,vroll,vpitch,vyaw) m/s and rad/s
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label TEXT,
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gps BLOB, -- 1x6 double: stamp, longitude (DD), latitude (DD), altitude (m), accuracy (m), bearing (North 0->360 deg clockwise)
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time_enter DATE,
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PRIMARY KEY (id)
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);
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CREATE TABLE Data (
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id INTEGER NOT NULL,
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image BLOB, -- compressed image (Grayscale or RGB)
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depth BLOB, -- compressed image (Depth or Right image)
|
||||
calibration BLOB, -- fx, fy, cx, cy, [baseline,] width, height, local_transform
|
||||
|
||||
scan BLOB, -- compressed data (Laser scan)
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scan_info BLOB, -- scan_max_pts, scan_max_range, local_transform
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||||
|
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ground_cells BLOB, -- compressed data (occupancy grid)
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obstacle_cells BLOB, -- compressed data (occupancy grid)
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empty_cells BLOB, -- compressed data (occupancy grid)
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cell_size FLOAT,
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view_point_x FLOAT,
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view_point_y FLOAT,
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view_point_z FLOAT,
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user_data BLOB, -- compressed data (User data)
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time_enter DATE,
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PRIMARY KEY (id)
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);
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CREATE TABLE Link (
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from_id INTEGER NOT NULL,
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to_id INTEGER NOT NULL,
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type INTEGER NOT NULL, -- neighbor=0, loop=1, child=2
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information_matrix BLOB NOT NULL, -- 6x6 double (inverse covariance)
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transform BLOB, -- 3x4 float
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||||
user_data BLOB, -- compressed data (User data)
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||||
FOREIGN KEY (from_id) REFERENCES Node(id),
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FOREIGN KEY (to_id) REFERENCES Node(id)
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);
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--
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CREATE TABLE Word (
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id INTEGER NOT NULL,
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descriptor_size INTEGER NOT NULL,
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descriptor BLOB NOT NULL,
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time_enter DATE,
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PRIMARY KEY (id)
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);
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CREATE TABLE Feature (
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node_id INTEGER NOT NULL,
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word_id INTEGER NOT NULL,
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pos_x FLOAT NOT NULL,
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pos_y FLOAT NOT NULL,
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size INTEGER NOT NULL,
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dir FLOAT NOT NULL,
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response FLOAT NOT NULL,
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octave INTEGER NOT NULL,
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depth_x FLOAT,
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depth_y FLOAT,
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depth_z FLOAT,
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descriptor_size INTEGER,
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descriptor BLOB,
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FOREIGN KEY (node_id) REFERENCES Node(id)
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);
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CREATE TABLE Info (
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STM_size INTEGER,
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last_sign_added INTEGER,
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process_mem_used INTEGER,
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database_mem_used INTEGER,
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dictionary_size INTEGER,
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parameters TEXT,
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time_enter DATE
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);
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CREATE TABLE Statistics (
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id INTEGER NOT NULL,
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stamp FLOAT,
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data BLOB,
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FOREIGN KEY (id) REFERENCES Node(id)
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);
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CREATE TABLE Admin (
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version TEXT,
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preview_image BLOB, -- compressed image
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opt_cloud BLOB, -- compressed data
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opt_ids BLOB, -- Node ids used to generate the optimized cloud/mesh
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opt_poses BLOB, -- compressed N*3x4 float
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opt_polygons_size INTEGER, -- e.g., 3
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opt_polygons BLOB, -- compressed data [length_v0, i0,i1,i3, length_v1, i0,i1,i3]
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opt_tex_coords BLOB, -- compressed data [length_v0, u0,v0,u1,v1,u2,v2, length_v1, u0,v0,u1,v1,u2,v2]
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opt_tex_materials BLOB, -- compressed image
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opt_map BLOB, -- compressed CV_8SC1 occupancy grid
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opt_map_x_min FLOAT,
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opt_map_y_min FLOAT,
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time_enter DATE
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);
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||||
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-- *******************************************************************
|
||||
-- TRIGGERS
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||||
-- *******************************************************************
|
||||
CREATE TRIGGER insert_Feature BEFORE INSERT ON Feature
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WHEN NOT EXISTS (SELECT Node.id FROM Node WHERE Node.id = NEW.node_id)
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BEGIN
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SELECT RAISE(ABORT, 'Foreign key constraint failed in Feature table');
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END;
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-- Creating a trigger for time_enter
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CREATE TRIGGER insert_Node_timeEnter AFTER INSERT ON Node
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BEGIN
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UPDATE Node SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
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END;
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CREATE TRIGGER insert_Data_timeEnter AFTER INSERT ON Data
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BEGIN
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UPDATE Node SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
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END;
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CREATE TRIGGER insert_Word_timeEnter AFTER INSERT ON Word
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BEGIN
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UPDATE Word SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
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END;
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CREATE TRIGGER insert_Info_timeEnter AFTER INSERT ON Info
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BEGIN
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UPDATE Info SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
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END;
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-- *******************************************************************
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-- INDEXES
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-- *******************************************************************
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CREATE UNIQUE INDEX IDX_Node_id on Node (id);
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CREATE INDEX IDX_Feature_node_id on Feature (node_id);
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CREATE INDEX IDX_Link_from_id on Link (from_id);
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CREATE UNIQUE INDEX IDX_node_label on Node (label);
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CREATE UNIQUE INDEX IDX_Statistics_id on Statistics (id);
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-- *******************************************************************
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-- VERSION
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-- *******************************************************************
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INSERT INTO Admin(version) VALUES('0.16.0');
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||||
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||||
@@ -0,0 +1,169 @@
|
||||
-- *******************************************************************
|
||||
-- DatabaseSchema: Script for creating the database
|
||||
-- Usage:
|
||||
-- $ sqlite3 LTM.db < DatabaseSchema.sql
|
||||
--
|
||||
-- *******************************************************************
|
||||
|
||||
-- *******************************************************************
|
||||
-- CLEAN
|
||||
-- *******************************************************************
|
||||
/*DROP TABLE Node;*/
|
||||
|
||||
-- *******************************************************************
|
||||
-- CREATE
|
||||
-- *******************************************************************
|
||||
CREATE TABLE Node (
|
||||
id INTEGER NOT NULL,
|
||||
map_id INTEGER NOT NULL,
|
||||
weight INTEGER,
|
||||
stamp FLOAT,
|
||||
pose BLOB, -- 3x4 float
|
||||
ground_truth_pose BLOB, -- 3x4 float
|
||||
velocity BLOB, -- 6 float (vx,vy,vz,vroll,vpitch,vyaw) m/s and rad/s
|
||||
label TEXT,
|
||||
gps BLOB, -- 1x6 double: stamp, longitude (DD), latitude (DD), altitude (m), accuracy (m), bearing (North 0->360 deg clockwise)
|
||||
|
||||
time_enter DATE,
|
||||
PRIMARY KEY (id)
|
||||
);
|
||||
|
||||
CREATE TABLE Data (
|
||||
id INTEGER NOT NULL,
|
||||
image BLOB, -- compressed image (Grayscale or RGB)
|
||||
depth BLOB, -- compressed image (Depth or Right image)
|
||||
calibration BLOB, -- fx, fy, cx, cy, [baseline,] width, height, local_transform
|
||||
|
||||
scan BLOB, -- compressed data (Laser scan)
|
||||
scan_info BLOB, -- scan_max_pts, scan_max_range, scan_format, local_transform
|
||||
|
||||
ground_cells BLOB, -- compressed data (occupancy grid)
|
||||
obstacle_cells BLOB, -- compressed data (occupancy grid)
|
||||
empty_cells BLOB, -- compressed data (occupancy grid)
|
||||
cell_size FLOAT,
|
||||
view_point_x FLOAT,
|
||||
view_point_y FLOAT,
|
||||
view_point_z FLOAT,
|
||||
|
||||
user_data BLOB, -- compressed data (User data)
|
||||
time_enter DATE,
|
||||
PRIMARY KEY (id)
|
||||
);
|
||||
|
||||
CREATE TABLE Link (
|
||||
from_id INTEGER NOT NULL,
|
||||
to_id INTEGER NOT NULL,
|
||||
type INTEGER NOT NULL, -- neighbor=0, loop=1, child=2
|
||||
information_matrix BLOB NOT NULL, -- 6x6 double (inverse covariance)
|
||||
transform BLOB, -- 3x4 float
|
||||
user_data BLOB, -- compressed data (User data)
|
||||
FOREIGN KEY (from_id) REFERENCES Node(id),
|
||||
FOREIGN KEY (to_id) REFERENCES Node(id)
|
||||
);
|
||||
|
||||
--
|
||||
CREATE TABLE Word (
|
||||
id INTEGER NOT NULL,
|
||||
descriptor_size INTEGER NOT NULL,
|
||||
descriptor BLOB NOT NULL,
|
||||
time_enter DATE,
|
||||
PRIMARY KEY (id)
|
||||
);
|
||||
|
||||
CREATE TABLE Feature (
|
||||
node_id INTEGER NOT NULL,
|
||||
word_id INTEGER NOT NULL,
|
||||
pos_x FLOAT NOT NULL,
|
||||
pos_y FLOAT NOT NULL,
|
||||
size INTEGER NOT NULL,
|
||||
dir FLOAT NOT NULL,
|
||||
response FLOAT NOT NULL,
|
||||
octave INTEGER NOT NULL,
|
||||
depth_x FLOAT,
|
||||
depth_y FLOAT,
|
||||
depth_z FLOAT,
|
||||
descriptor_size INTEGER,
|
||||
descriptor BLOB,
|
||||
FOREIGN KEY (node_id) REFERENCES Node(id)
|
||||
);
|
||||
|
||||
CREATE TABLE Info (
|
||||
STM_size INTEGER,
|
||||
last_sign_added INTEGER,
|
||||
process_mem_used INTEGER,
|
||||
database_mem_used INTEGER,
|
||||
dictionary_size INTEGER,
|
||||
parameters TEXT,
|
||||
time_enter DATE
|
||||
);
|
||||
|
||||
CREATE TABLE Statistics (
|
||||
id INTEGER NOT NULL,
|
||||
stamp FLOAT,
|
||||
data BLOB,
|
||||
FOREIGN KEY (id) REFERENCES Node(id)
|
||||
);
|
||||
|
||||
CREATE TABLE Admin (
|
||||
version TEXT,
|
||||
preview_image BLOB, -- compressed image
|
||||
|
||||
opt_cloud BLOB, -- compressed data
|
||||
opt_ids BLOB, -- Node ids used to generate the optimized cloud/mesh
|
||||
opt_poses BLOB, -- compressed N*3x4 float
|
||||
opt_polygons_size INTEGER, -- e.g., 3
|
||||
opt_polygons BLOB, -- compressed data [length_v0, i0,i1,i3, length_v1, i0,i1,i3]
|
||||
opt_tex_coords BLOB, -- compressed data [length_v0, u0,v0,u1,v1,u2,v2, length_v1, u0,v0,u1,v1,u2,v2]
|
||||
opt_tex_materials BLOB, -- compressed image
|
||||
opt_map BLOB, -- compressed CV_8SC1 occupancy grid
|
||||
opt_map_x_min FLOAT,
|
||||
opt_map_y_min FLOAT,
|
||||
|
||||
time_enter DATE
|
||||
);
|
||||
|
||||
-- *******************************************************************
|
||||
-- TRIGGERS
|
||||
-- *******************************************************************
|
||||
CREATE TRIGGER insert_Feature BEFORE INSERT ON Feature
|
||||
WHEN NOT EXISTS (SELECT Node.id FROM Node WHERE Node.id = NEW.node_id)
|
||||
BEGIN
|
||||
SELECT RAISE(ABORT, 'Foreign key constraint failed in Feature table');
|
||||
END;
|
||||
|
||||
-- Creating a trigger for time_enter
|
||||
CREATE TRIGGER insert_Node_timeEnter AFTER INSERT ON Node
|
||||
BEGIN
|
||||
UPDATE Node SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
|
||||
END;
|
||||
|
||||
CREATE TRIGGER insert_Data_timeEnter AFTER INSERT ON Data
|
||||
BEGIN
|
||||
UPDATE Node SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
|
||||
END;
|
||||
|
||||
CREATE TRIGGER insert_Word_timeEnter AFTER INSERT ON Word
|
||||
BEGIN
|
||||
UPDATE Word SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
|
||||
END;
|
||||
|
||||
CREATE TRIGGER insert_Info_timeEnter AFTER INSERT ON Info
|
||||
BEGIN
|
||||
UPDATE Info SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
|
||||
END;
|
||||
|
||||
-- *******************************************************************
|
||||
-- INDEXES
|
||||
-- *******************************************************************
|
||||
CREATE UNIQUE INDEX IDX_Node_id on Node (id);
|
||||
CREATE INDEX IDX_Feature_node_id on Feature (node_id);
|
||||
CREATE INDEX IDX_Link_from_id on Link (from_id);
|
||||
CREATE UNIQUE INDEX IDX_node_label on Node (label);
|
||||
CREATE UNIQUE INDEX IDX_Statistics_id on Statistics (id);
|
||||
|
||||
-- *******************************************************************
|
||||
-- VERSION
|
||||
-- *******************************************************************
|
||||
INSERT INTO Admin(version) VALUES('0.16.1');
|
||||
|
||||
|
||||
@@ -0,0 +1,170 @@
|
||||
-- *******************************************************************
|
||||
-- DatabaseSchema: Script for creating the database
|
||||
-- Usage:
|
||||
-- $ sqlite3 LTM.db < DatabaseSchema.sql
|
||||
--
|
||||
-- *******************************************************************
|
||||
|
||||
-- *******************************************************************
|
||||
-- CLEAN
|
||||
-- *******************************************************************
|
||||
/*DROP TABLE Node;*/
|
||||
|
||||
-- *******************************************************************
|
||||
-- CREATE
|
||||
-- *******************************************************************
|
||||
CREATE TABLE Node (
|
||||
id INTEGER NOT NULL,
|
||||
map_id INTEGER NOT NULL,
|
||||
weight INTEGER,
|
||||
stamp FLOAT,
|
||||
pose BLOB, -- 3x4 float
|
||||
ground_truth_pose BLOB, -- 3x4 float
|
||||
velocity BLOB, -- 6 float (vx,vy,vz,vroll,vpitch,vyaw) m/s and rad/s
|
||||
label TEXT,
|
||||
gps BLOB, -- 1x6 double: stamp, longitude (DD), latitude (DD), altitude (m), accuracy (m), bearing (North 0->360 deg clockwise)
|
||||
|
||||
time_enter DATE,
|
||||
PRIMARY KEY (id)
|
||||
);
|
||||
|
||||
CREATE TABLE Data (
|
||||
id INTEGER NOT NULL,
|
||||
image BLOB, -- compressed image (Grayscale or RGB)
|
||||
depth BLOB, -- compressed image (Depth or Right image)
|
||||
calibration BLOB, -- fx, fy, cx, cy, [baseline,] width, height, local_transform
|
||||
|
||||
scan BLOB, -- compressed data (Laser scan)
|
||||
scan_info BLOB, -- scan_max_pts, scan_max_range, scan_format, local_transform
|
||||
|
||||
ground_cells BLOB, -- compressed data (occupancy grid)
|
||||
obstacle_cells BLOB, -- compressed data (occupancy grid)
|
||||
empty_cells BLOB, -- compressed data (occupancy grid)
|
||||
cell_size FLOAT,
|
||||
view_point_x FLOAT,
|
||||
view_point_y FLOAT,
|
||||
view_point_z FLOAT,
|
||||
|
||||
user_data BLOB, -- compressed data (User data)
|
||||
time_enter DATE,
|
||||
PRIMARY KEY (id)
|
||||
);
|
||||
|
||||
CREATE TABLE Link (
|
||||
from_id INTEGER NOT NULL,
|
||||
to_id INTEGER NOT NULL,
|
||||
type INTEGER NOT NULL, -- neighbor=0, loop=1, child=2
|
||||
information_matrix BLOB NOT NULL, -- 6x6 double (inverse covariance)
|
||||
transform BLOB, -- 3x4 float
|
||||
user_data BLOB, -- compressed data (User data)
|
||||
FOREIGN KEY (from_id) REFERENCES Node(id),
|
||||
FOREIGN KEY (to_id) REFERENCES Node(id)
|
||||
);
|
||||
|
||||
--
|
||||
CREATE TABLE Word (
|
||||
id INTEGER NOT NULL,
|
||||
descriptor_size INTEGER NOT NULL,
|
||||
descriptor BLOB NOT NULL,
|
||||
time_enter DATE,
|
||||
PRIMARY KEY (id)
|
||||
);
|
||||
|
||||
CREATE TABLE Feature (
|
||||
node_id INTEGER NOT NULL,
|
||||
word_id INTEGER NOT NULL,
|
||||
pos_x FLOAT NOT NULL,
|
||||
pos_y FLOAT NOT NULL,
|
||||
size INTEGER NOT NULL,
|
||||
dir FLOAT NOT NULL,
|
||||
response FLOAT NOT NULL,
|
||||
octave INTEGER NOT NULL,
|
||||
depth_x FLOAT,
|
||||
depth_y FLOAT,
|
||||
depth_z FLOAT,
|
||||
descriptor_size INTEGER,
|
||||
descriptor BLOB,
|
||||
FOREIGN KEY (node_id) REFERENCES Node(id)
|
||||
);
|
||||
|
||||
CREATE TABLE Info (
|
||||
STM_size INTEGER,
|
||||
last_sign_added INTEGER,
|
||||
process_mem_used INTEGER,
|
||||
database_mem_used INTEGER,
|
||||
dictionary_size INTEGER,
|
||||
parameters TEXT,
|
||||
time_enter DATE
|
||||
);
|
||||
|
||||
CREATE TABLE Statistics (
|
||||
id INTEGER NOT NULL,
|
||||
stamp FLOAT,
|
||||
data BLOB, -- compressed string
|
||||
wm_state BLOB, -- compressed data
|
||||
FOREIGN KEY (id) REFERENCES Node(id)
|
||||
);
|
||||
|
||||
CREATE TABLE Admin (
|
||||
version TEXT,
|
||||
preview_image BLOB, -- compressed image
|
||||
|
||||
opt_cloud BLOB, -- compressed data
|
||||
opt_ids BLOB, -- Node ids used to generate the optimized cloud/mesh
|
||||
opt_poses BLOB, -- compressed N*3x4 float
|
||||
opt_polygons_size INTEGER, -- e.g., 3
|
||||
opt_polygons BLOB, -- compressed data [length_v0, i0,i1,i3, length_v1, i0,i1,i3]
|
||||
opt_tex_coords BLOB, -- compressed data [length_v0, u0,v0,u1,v1,u2,v2, length_v1, u0,v0,u1,v1,u2,v2]
|
||||
opt_tex_materials BLOB, -- compressed image
|
||||
opt_map BLOB, -- compressed CV_8SC1 occupancy grid
|
||||
opt_map_x_min FLOAT,
|
||||
opt_map_y_min FLOAT,
|
||||
|
||||
time_enter DATE
|
||||
);
|
||||
|
||||
-- *******************************************************************
|
||||
-- TRIGGERS
|
||||
-- *******************************************************************
|
||||
CREATE TRIGGER insert_Feature BEFORE INSERT ON Feature
|
||||
WHEN NOT EXISTS (SELECT Node.id FROM Node WHERE Node.id = NEW.node_id)
|
||||
BEGIN
|
||||
SELECT RAISE(ABORT, 'Foreign key constraint failed in Feature table');
|
||||
END;
|
||||
|
||||
-- Creating a trigger for time_enter
|
||||
CREATE TRIGGER insert_Node_timeEnter AFTER INSERT ON Node
|
||||
BEGIN
|
||||
UPDATE Node SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
|
||||
END;
|
||||
|
||||
CREATE TRIGGER insert_Data_timeEnter AFTER INSERT ON Data
|
||||
BEGIN
|
||||
UPDATE Node SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
|
||||
END;
|
||||
|
||||
CREATE TRIGGER insert_Word_timeEnter AFTER INSERT ON Word
|
||||
BEGIN
|
||||
UPDATE Word SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
|
||||
END;
|
||||
|
||||
CREATE TRIGGER insert_Info_timeEnter AFTER INSERT ON Info
|
||||
BEGIN
|
||||
UPDATE Info SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
|
||||
END;
|
||||
|
||||
-- *******************************************************************
|
||||
-- INDEXES
|
||||
-- *******************************************************************
|
||||
CREATE UNIQUE INDEX IDX_Node_id on Node (id);
|
||||
CREATE INDEX IDX_Feature_node_id on Feature (node_id);
|
||||
CREATE INDEX IDX_Link_from_id on Link (from_id);
|
||||
CREATE UNIQUE INDEX IDX_node_label on Node (label);
|
||||
CREATE UNIQUE INDEX IDX_Statistics_id on Statistics (id);
|
||||
|
||||
-- *******************************************************************
|
||||
-- VERSION
|
||||
-- *******************************************************************
|
||||
INSERT INTO Admin(version) VALUES('0.16.2');
|
||||
|
||||
|
||||
@@ -0,0 +1,172 @@
|
||||
-- *******************************************************************
|
||||
-- DatabaseSchema: Script for creating the database
|
||||
-- Usage:
|
||||
-- $ sqlite3 LTM.db < DatabaseSchema.sql
|
||||
--
|
||||
-- *******************************************************************
|
||||
|
||||
-- *******************************************************************
|
||||
-- CLEAN
|
||||
-- *******************************************************************
|
||||
/*DROP TABLE Node;*/
|
||||
|
||||
-- *******************************************************************
|
||||
-- CREATE
|
||||
-- *******************************************************************
|
||||
CREATE TABLE Node (
|
||||
id INTEGER NOT NULL,
|
||||
map_id INTEGER NOT NULL,
|
||||
weight INTEGER,
|
||||
stamp FLOAT,
|
||||
pose BLOB, -- 3x4 float
|
||||
ground_truth_pose BLOB, -- 3x4 float
|
||||
velocity BLOB, -- 6 float (vx,vy,vz,vroll,vpitch,vyaw) m/s and rad/s
|
||||
label TEXT,
|
||||
gps BLOB, -- 1x6 double: stamp, longitude (DD), latitude (DD), altitude (m), accuracy (m), bearing (North 0->360 deg clockwise)
|
||||
|
||||
time_enter DATE,
|
||||
PRIMARY KEY (id)
|
||||
);
|
||||
|
||||
CREATE TABLE Data (
|
||||
id INTEGER NOT NULL,
|
||||
image BLOB, -- compressed image (Grayscale or RGB)
|
||||
depth BLOB, -- compressed image (Depth or Right image)
|
||||
calibration BLOB, -- fx, fy, cx, cy, [baseline,] width, height, local_transform
|
||||
|
||||
scan BLOB, -- compressed data (Laser scan)
|
||||
scan_info BLOB, -- scan_max_pts, scan_max_range, scan_format, local_transform
|
||||
|
||||
ground_cells BLOB, -- compressed data (occupancy grid)
|
||||
obstacle_cells BLOB, -- compressed data (occupancy grid)
|
||||
empty_cells BLOB, -- compressed data (occupancy grid)
|
||||
cell_size FLOAT,
|
||||
view_point_x FLOAT,
|
||||
view_point_y FLOAT,
|
||||
view_point_z FLOAT,
|
||||
|
||||
user_data BLOB, -- compressed data (User data)
|
||||
time_enter DATE,
|
||||
PRIMARY KEY (id)
|
||||
);
|
||||
|
||||
CREATE TABLE Link (
|
||||
from_id INTEGER NOT NULL,
|
||||
to_id INTEGER NOT NULL,
|
||||
type INTEGER NOT NULL, -- neighbor=0, loop=1, child=2
|
||||
information_matrix BLOB NOT NULL, -- 6x6 double (inverse covariance)
|
||||
transform BLOB, -- 3x4 float
|
||||
user_data BLOB, -- compressed data (User data)
|
||||
FOREIGN KEY (from_id) REFERENCES Node(id),
|
||||
FOREIGN KEY (to_id) REFERENCES Node(id)
|
||||
);
|
||||
|
||||
--
|
||||
CREATE TABLE Word (
|
||||
id INTEGER NOT NULL,
|
||||
descriptor_size INTEGER NOT NULL,
|
||||
descriptor BLOB NOT NULL,
|
||||
time_enter DATE,
|
||||
PRIMARY KEY (id)
|
||||
);
|
||||
|
||||
CREATE TABLE Feature (
|
||||
node_id INTEGER NOT NULL,
|
||||
word_id INTEGER NOT NULL,
|
||||
pos_x FLOAT NOT NULL,
|
||||
pos_y FLOAT NOT NULL,
|
||||
size INTEGER NOT NULL,
|
||||
dir FLOAT NOT NULL,
|
||||
response FLOAT NOT NULL,
|
||||
octave INTEGER NOT NULL,
|
||||
depth_x FLOAT,
|
||||
depth_y FLOAT,
|
||||
depth_z FLOAT,
|
||||
descriptor_size INTEGER,
|
||||
descriptor BLOB,
|
||||
FOREIGN KEY (node_id) REFERENCES Node(id)
|
||||
);
|
||||
|
||||
CREATE TABLE Info (
|
||||
STM_size INTEGER,
|
||||
last_sign_added INTEGER,
|
||||
process_mem_used INTEGER,
|
||||
database_mem_used INTEGER,
|
||||
dictionary_size INTEGER,
|
||||
parameters TEXT,
|
||||
time_enter DATE
|
||||
);
|
||||
|
||||
CREATE TABLE Statistics (
|
||||
id INTEGER NOT NULL,
|
||||
stamp FLOAT,
|
||||
data BLOB, -- compressed string
|
||||
wm_state BLOB, -- compressed data
|
||||
FOREIGN KEY (id) REFERENCES Node(id)
|
||||
);
|
||||
|
||||
CREATE TABLE Admin (
|
||||
version TEXT,
|
||||
preview_image BLOB, -- compressed image
|
||||
|
||||
opt_cloud BLOB, -- compressed data
|
||||
opt_ids BLOB, -- Node ids used to generate the optimized cloud/mesh
|
||||
opt_poses BLOB, -- compressed N*3x4 float
|
||||
opt_last_localization BLOB, -- 3x4 float
|
||||
opt_polygons_size INTEGER, -- e.g., 3
|
||||
opt_polygons BLOB, -- compressed data [length_v0, i0,i1,i3, length_v1, i0,i1,i3]
|
||||
opt_tex_coords BLOB, -- compressed data [length_v0, u0,v0,u1,v1,u2,v2, length_v1, u0,v0,u1,v1,u2,v2]
|
||||
opt_tex_materials BLOB, -- compressed image
|
||||
opt_map BLOB, -- compressed CV_8SC1 occupancy grid
|
||||
opt_map_x_min FLOAT,
|
||||
opt_map_y_min FLOAT,
|
||||
opt_map_resolution FLOAT,
|
||||
|
||||
time_enter DATE
|
||||
);
|
||||
|
||||
-- *******************************************************************
|
||||
-- TRIGGERS
|
||||
-- *******************************************************************
|
||||
CREATE TRIGGER insert_Feature BEFORE INSERT ON Feature
|
||||
WHEN NOT EXISTS (SELECT Node.id FROM Node WHERE Node.id = NEW.node_id)
|
||||
BEGIN
|
||||
SELECT RAISE(ABORT, 'Foreign key constraint failed in Feature table');
|
||||
END;
|
||||
|
||||
-- Creating a trigger for time_enter
|
||||
CREATE TRIGGER insert_Node_timeEnter AFTER INSERT ON Node
|
||||
BEGIN
|
||||
UPDATE Node SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
|
||||
END;
|
||||
|
||||
CREATE TRIGGER insert_Data_timeEnter AFTER INSERT ON Data
|
||||
BEGIN
|
||||
UPDATE Node SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
|
||||
END;
|
||||
|
||||
CREATE TRIGGER insert_Word_timeEnter AFTER INSERT ON Word
|
||||
BEGIN
|
||||
UPDATE Word SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
|
||||
END;
|
||||
|
||||
CREATE TRIGGER insert_Info_timeEnter AFTER INSERT ON Info
|
||||
BEGIN
|
||||
UPDATE Info SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
|
||||
END;
|
||||
|
||||
-- *******************************************************************
|
||||
-- INDEXES
|
||||
-- *******************************************************************
|
||||
CREATE UNIQUE INDEX IDX_Node_id on Node (id);
|
||||
CREATE INDEX IDX_Feature_node_id on Feature (node_id);
|
||||
CREATE INDEX IDX_Link_from_id on Link (from_id);
|
||||
CREATE UNIQUE INDEX IDX_node_label on Node (label);
|
||||
CREATE UNIQUE INDEX IDX_Statistics_id on Statistics (id);
|
||||
|
||||
-- *******************************************************************
|
||||
-- VERSION
|
||||
-- *******************************************************************
|
||||
INSERT INTO Admin(version) VALUES('0.17.0');
|
||||
|
||||
|
||||
@@ -0,0 +1,181 @@
|
||||
-- *******************************************************************
|
||||
-- DatabaseSchema: Script for creating the database
|
||||
-- Usage:
|
||||
-- $ sqlite3 LTM.db < DatabaseSchema.sql
|
||||
--
|
||||
-- *******************************************************************
|
||||
|
||||
-- *******************************************************************
|
||||
-- CLEAN
|
||||
-- *******************************************************************
|
||||
/*DROP TABLE Node;*/
|
||||
|
||||
-- *******************************************************************
|
||||
-- CREATE
|
||||
-- *******************************************************************
|
||||
CREATE TABLE Node (
|
||||
id INTEGER NOT NULL,
|
||||
map_id INTEGER NOT NULL,
|
||||
weight INTEGER,
|
||||
stamp FLOAT,
|
||||
pose BLOB, -- 3x4 float
|
||||
ground_truth_pose BLOB, -- 3x4 float
|
||||
velocity BLOB, -- 6 float (vx,vy,vz,vroll,vpitch,vyaw) m/s and rad/s
|
||||
label TEXT,
|
||||
gps BLOB, -- 1x6 double: stamp, longitude (DD), latitude (DD), altitude (m), accuracy (m), bearing (North 0->360 deg clockwise)
|
||||
env_sensors BLOB, -- Variable 3xdouble: (sensorId1, value, stamp, sensorId2, value, stamp, ...)
|
||||
time_enter DATE,
|
||||
PRIMARY KEY (id)
|
||||
);
|
||||
|
||||
CREATE TABLE Data (
|
||||
id INTEGER NOT NULL,
|
||||
image BLOB, -- compressed image (Grayscale or RGB)
|
||||
depth BLOB, -- compressed image (Depth or Right image)
|
||||
calibration BLOB, -- fx, fy, cx, cy, [baseline,] width, height, local_transform
|
||||
|
||||
scan BLOB, -- compressed data (Laser scan)
|
||||
scan_info BLOB, -- scan_max_pts, scan_max_range, scan_format, local_transform
|
||||
|
||||
ground_cells BLOB, -- compressed data (occupancy grid)
|
||||
obstacle_cells BLOB, -- compressed data (occupancy grid)
|
||||
empty_cells BLOB, -- compressed data (occupancy grid)
|
||||
cell_size FLOAT,
|
||||
view_point_x FLOAT,
|
||||
view_point_y FLOAT,
|
||||
view_point_z FLOAT,
|
||||
|
||||
user_data BLOB, -- compressed data (User data)
|
||||
time_enter DATE,
|
||||
PRIMARY KEY (id)
|
||||
);
|
||||
|
||||
CREATE TABLE Link (
|
||||
from_id INTEGER NOT NULL,
|
||||
to_id INTEGER NOT NULL,
|
||||
type INTEGER NOT NULL, -- neighbor=0, loop=1, child=2
|
||||
information_matrix BLOB NOT NULL, -- 6x6 double (inverse covariance)
|
||||
transform BLOB, -- 3x4 float
|
||||
user_data BLOB, -- compressed data (User data)
|
||||
FOREIGN KEY (from_id) REFERENCES Node(id),
|
||||
FOREIGN KEY (to_id) REFERENCES Node(id)
|
||||
);
|
||||
|
||||
--
|
||||
CREATE TABLE Word (
|
||||
id INTEGER NOT NULL,
|
||||
descriptor_size INTEGER NOT NULL,
|
||||
descriptor BLOB NOT NULL,
|
||||
time_enter DATE,
|
||||
PRIMARY KEY (id)
|
||||
);
|
||||
|
||||
CREATE TABLE Feature (
|
||||
node_id INTEGER NOT NULL,
|
||||
word_id INTEGER NOT NULL,
|
||||
pos_x FLOAT NOT NULL,
|
||||
pos_y FLOAT NOT NULL,
|
||||
size INTEGER NOT NULL,
|
||||
dir FLOAT NOT NULL,
|
||||
response FLOAT NOT NULL,
|
||||
octave INTEGER NOT NULL,
|
||||
depth_x FLOAT,
|
||||
depth_y FLOAT,
|
||||
depth_z FLOAT,
|
||||
descriptor_size INTEGER,
|
||||
descriptor BLOB,
|
||||
FOREIGN KEY (node_id) REFERENCES Node(id)
|
||||
);
|
||||
|
||||
--
|
||||
CREATE TABLE Tag (
|
||||
node_id INTEGER NOT NULL,
|
||||
tag_id INTEGER NOT NULL,
|
||||
stamp FLOAT NOT NULL,
|
||||
transform BLOB NOT NULL, -- 3x4 float, /base_link -> /tag_frame
|
||||
FOREIGN KEY (node_id) REFERENCES Node(id)
|
||||
);
|
||||
|
||||
CREATE TABLE Info (
|
||||
STM_size INTEGER,
|
||||
last_sign_added INTEGER,
|
||||
process_mem_used INTEGER,
|
||||
database_mem_used INTEGER,
|
||||
dictionary_size INTEGER,
|
||||
parameters TEXT,
|
||||
time_enter DATE
|
||||
);
|
||||
|
||||
CREATE TABLE Statistics (
|
||||
id INTEGER NOT NULL,
|
||||
stamp FLOAT,
|
||||
data BLOB, -- compressed string
|
||||
wm_state BLOB, -- compressed data
|
||||
FOREIGN KEY (id) REFERENCES Node(id)
|
||||
);
|
||||
|
||||
CREATE TABLE Admin (
|
||||
version TEXT,
|
||||
preview_image BLOB, -- compressed image
|
||||
|
||||
opt_cloud BLOB, -- compressed data
|
||||
opt_ids BLOB, -- Node ids used to generate the optimized cloud/mesh
|
||||
opt_poses BLOB, -- compressed N*3x4 float
|
||||
opt_last_localization BLOB, -- 3x4 float
|
||||
opt_polygons_size INTEGER, -- e.g., 3
|
||||
opt_polygons BLOB, -- compressed data [length_v0, i0,i1,i3, length_v1, i0,i1,i3]
|
||||
opt_tex_coords BLOB, -- compressed data [length_v0, u0,v0,u1,v1,u2,v2, length_v1, u0,v0,u1,v1,u2,v2]
|
||||
opt_tex_materials BLOB, -- compressed image
|
||||
opt_map BLOB, -- compressed CV_8SC1 occupancy grid
|
||||
opt_map_x_min FLOAT,
|
||||
opt_map_y_min FLOAT,
|
||||
opt_map_resolution FLOAT,
|
||||
|
||||
time_enter DATE
|
||||
);
|
||||
|
||||
-- *******************************************************************
|
||||
-- TRIGGERS
|
||||
-- *******************************************************************
|
||||
CREATE TRIGGER insert_Feature BEFORE INSERT ON Feature
|
||||
WHEN NOT EXISTS (SELECT Node.id FROM Node WHERE Node.id = NEW.node_id)
|
||||
BEGIN
|
||||
SELECT RAISE(ABORT, 'Foreign key constraint failed in Feature table');
|
||||
END;
|
||||
|
||||
-- Creating a trigger for time_enter
|
||||
CREATE TRIGGER insert_Node_timeEnter AFTER INSERT ON Node
|
||||
BEGIN
|
||||
UPDATE Node SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
|
||||
END;
|
||||
|
||||
CREATE TRIGGER insert_Data_timeEnter AFTER INSERT ON Data
|
||||
BEGIN
|
||||
UPDATE Node SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
|
||||
END;
|
||||
|
||||
CREATE TRIGGER insert_Word_timeEnter AFTER INSERT ON Word
|
||||
BEGIN
|
||||
UPDATE Word SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
|
||||
END;
|
||||
|
||||
CREATE TRIGGER insert_Info_timeEnter AFTER INSERT ON Info
|
||||
BEGIN
|
||||
UPDATE Info SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
|
||||
END;
|
||||
|
||||
-- *******************************************************************
|
||||
-- INDEXES
|
||||
-- *******************************************************************
|
||||
CREATE UNIQUE INDEX IDX_Node_id on Node (id);
|
||||
CREATE INDEX IDX_Feature_node_id on Feature (node_id);
|
||||
CREATE INDEX IDX_Link_from_id on Link (from_id);
|
||||
CREATE UNIQUE INDEX IDX_node_label on Node (label);
|
||||
CREATE UNIQUE INDEX IDX_Statistics_id on Statistics (id);
|
||||
|
||||
-- *******************************************************************
|
||||
-- VERSION
|
||||
-- *******************************************************************
|
||||
INSERT INTO Admin(version) VALUES('0.18.0');
|
||||
|
||||
|
||||
@@ -0,0 +1,181 @@
|
||||
-- *******************************************************************
|
||||
-- DatabaseSchema: Script for creating the database
|
||||
-- Usage:
|
||||
-- $ sqlite3 LTM.db < DatabaseSchema.sql
|
||||
--
|
||||
-- *******************************************************************
|
||||
|
||||
-- *******************************************************************
|
||||
-- CLEAN
|
||||
-- *******************************************************************
|
||||
/*DROP TABLE Node;*/
|
||||
|
||||
-- *******************************************************************
|
||||
-- CREATE
|
||||
-- *******************************************************************
|
||||
CREATE TABLE Node (
|
||||
id INTEGER NOT NULL,
|
||||
map_id INTEGER NOT NULL,
|
||||
weight INTEGER,
|
||||
stamp FLOAT,
|
||||
pose BLOB, -- 3x4 float
|
||||
ground_truth_pose BLOB, -- 3x4 float
|
||||
velocity BLOB, -- 6 float (vx,vy,vz,vroll,vpitch,vyaw) m/s and rad/s
|
||||
label TEXT,
|
||||
gps BLOB, -- 1x6 double: stamp, longitude (DD), latitude (DD), altitude (m), accuracy (m), bearing (North 0->360 deg clockwise)
|
||||
env_sensors BLOB, -- Variable 3xdouble: (sensorId1, value, stamp, sensorId2, value, stamp, ...)
|
||||
time_enter DATE,
|
||||
PRIMARY KEY (id)
|
||||
);
|
||||
|
||||
CREATE TABLE Data (
|
||||
id INTEGER NOT NULL,
|
||||
image BLOB, -- compressed image (Grayscale or RGB)
|
||||
depth BLOB, -- compressed image (Depth or Right image)
|
||||
calibration BLOB, -- fx, fy, cx, cy, [baseline,] width, height, local_transform
|
||||
|
||||
scan BLOB, -- compressed data (Laser scan)
|
||||
scan_info BLOB, -- scan_max_pts, scan_max_range, scan_format, local_transform
|
||||
|
||||
ground_cells BLOB, -- compressed data (occupancy grid)
|
||||
obstacle_cells BLOB, -- compressed data (occupancy grid)
|
||||
empty_cells BLOB, -- compressed data (occupancy grid)
|
||||
cell_size FLOAT,
|
||||
view_point_x FLOAT,
|
||||
view_point_y FLOAT,
|
||||
view_point_z FLOAT,
|
||||
|
||||
user_data BLOB, -- compressed data (User data)
|
||||
time_enter DATE,
|
||||
PRIMARY KEY (id)
|
||||
);
|
||||
|
||||
CREATE TABLE Link (
|
||||
from_id INTEGER NOT NULL,
|
||||
to_id INTEGER NOT NULL,
|
||||
type INTEGER NOT NULL, -- neighbor=0, loop=1, child=2
|
||||
information_matrix BLOB NOT NULL, -- 6x6 double (inverse covariance)
|
||||
transform BLOB, -- 3x4 float
|
||||
user_data BLOB, -- compressed data (User data)
|
||||
FOREIGN KEY (from_id) REFERENCES Node(id),
|
||||
FOREIGN KEY (to_id) REFERENCES Node(id)
|
||||
);
|
||||
|
||||
--
|
||||
CREATE TABLE Word (
|
||||
id INTEGER NOT NULL,
|
||||
descriptor_size INTEGER NOT NULL,
|
||||
descriptor BLOB NOT NULL,
|
||||
time_enter DATE,
|
||||
PRIMARY KEY (id)
|
||||
);
|
||||
|
||||
CREATE TABLE Feature (
|
||||
node_id INTEGER NOT NULL,
|
||||
word_id INTEGER NOT NULL,
|
||||
pos_x FLOAT NOT NULL,
|
||||
pos_y FLOAT NOT NULL,
|
||||
size INTEGER NOT NULL,
|
||||
dir FLOAT NOT NULL,
|
||||
response FLOAT NOT NULL,
|
||||
octave INTEGER NOT NULL,
|
||||
depth_x FLOAT,
|
||||
depth_y FLOAT,
|
||||
depth_z FLOAT,
|
||||
descriptor_size INTEGER,
|
||||
descriptor BLOB,
|
||||
FOREIGN KEY (node_id) REFERENCES Node(id)
|
||||
);
|
||||
|
||||
--
|
||||
CREATE TABLE Tag (
|
||||
node_id INTEGER NOT NULL,
|
||||
tag_id INTEGER NOT NULL,
|
||||
stamp FLOAT NOT NULL,
|
||||
transform BLOB NOT NULL, -- 3x4 float, /base_link -> /tag_frame
|
||||
FOREIGN KEY (node_id) REFERENCES Node(id)
|
||||
);
|
||||
|
||||
CREATE TABLE Info (
|
||||
STM_size INTEGER,
|
||||
last_sign_added INTEGER,
|
||||
process_mem_used INTEGER,
|
||||
database_mem_used INTEGER,
|
||||
dictionary_size INTEGER,
|
||||
parameters TEXT,
|
||||
time_enter DATE
|
||||
);
|
||||
|
||||
CREATE TABLE Statistics (
|
||||
id INTEGER NOT NULL,
|
||||
stamp FLOAT,
|
||||
data BLOB, -- compressed string
|
||||
wm_state BLOB, -- compressed data
|
||||
FOREIGN KEY (id) REFERENCES Node(id)
|
||||
);
|
||||
|
||||
CREATE TABLE Admin (
|
||||
version TEXT,
|
||||
preview_image BLOB, -- compressed image
|
||||
|
||||
opt_cloud BLOB, -- compressed data
|
||||
opt_ids BLOB, -- Node ids used to generate the optimized cloud/mesh
|
||||
opt_poses BLOB, -- compressed N*3x4 float
|
||||
opt_last_localization BLOB, -- 3x4 float
|
||||
opt_polygons_size INTEGER, -- e.g., 3
|
||||
opt_polygons BLOB, -- compressed data [length_v0, i0,i1,i3, length_v1, i0,i1,i3]
|
||||
opt_tex_coords BLOB, -- compressed data [length_v0, u0,v0,u1,v1,u2,v2, length_v1, u0,v0,u1,v1,u2,v2]
|
||||
opt_tex_materials BLOB, -- compressed image
|
||||
opt_map BLOB, -- compressed CV_8SC1 occupancy grid
|
||||
opt_map_x_min FLOAT,
|
||||
opt_map_y_min FLOAT,
|
||||
opt_map_resolution FLOAT,
|
||||
|
||||
time_enter DATE
|
||||
);
|
||||
|
||||
-- *******************************************************************
|
||||
-- TRIGGERS
|
||||
-- *******************************************************************
|
||||
CREATE TRIGGER insert_Feature BEFORE INSERT ON Feature
|
||||
WHEN NOT EXISTS (SELECT Node.id FROM Node WHERE Node.id = NEW.node_id)
|
||||
BEGIN
|
||||
SELECT RAISE(ABORT, 'Foreign key constraint failed in Feature table');
|
||||
END;
|
||||
|
||||
-- Creating a trigger for time_enter
|
||||
CREATE TRIGGER insert_Node_timeEnter AFTER INSERT ON Node
|
||||
BEGIN
|
||||
UPDATE Node SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
|
||||
END;
|
||||
|
||||
CREATE TRIGGER insert_Data_timeEnter AFTER INSERT ON Data
|
||||
BEGIN
|
||||
UPDATE Node SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
|
||||
END;
|
||||
|
||||
CREATE TRIGGER insert_Word_timeEnter AFTER INSERT ON Word
|
||||
BEGIN
|
||||
UPDATE Word SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
|
||||
END;
|
||||
|
||||
CREATE TRIGGER insert_Info_timeEnter AFTER INSERT ON Info
|
||||
BEGIN
|
||||
UPDATE Info SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
|
||||
END;
|
||||
|
||||
-- *******************************************************************
|
||||
-- INDEXES
|
||||
-- *******************************************************************
|
||||
CREATE UNIQUE INDEX IDX_Node_id on Node (id);
|
||||
CREATE INDEX IDX_Feature_node_id on Feature (node_id);
|
||||
CREATE INDEX IDX_Link_from_id on Link (from_id);
|
||||
CREATE UNIQUE INDEX IDX_node_label on Node (label);
|
||||
CREATE UNIQUE INDEX IDX_Statistics_id on Statistics (id);
|
||||
|
||||
-- *******************************************************************
|
||||
-- VERSION
|
||||
-- *******************************************************************
|
||||
INSERT INTO Admin(version) VALUES('0.18.3');
|
||||
|
||||
|
||||
Reference in New Issue
Block a user