mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 08:47:45 +08:00
Merged Audio branch to trunk
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@560 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
@@ -1,221 +1,136 @@
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-- *******************************************************************
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-- construct_avpd_db: Script for creating the database
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-- Usage:
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-- $ sqlite3 AvpdDatabase.db < DatabaseSchema.sql
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-- $ sqlite3 LTM.db < DatabaseSchema.sql
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--
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-- *******************************************************************
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-- *******************************************************************
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-- CLEAN
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-- *******************************************************************
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/*DROP TABLE Signature;
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DROP TABLE SignatureType;
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DROP TABLE Neighbor;
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DROP TABLE VisualWord;
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DROP TABLE Map_SS_VW;
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DROP TABLE StatisticsAfterRun;
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DROP TABLE StatisticsAfterRunSurf;*/
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/*DROP TABLE Node;
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DROP TABLE Link;
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DROP TABLE Sensor;
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DROP TABLE Actuator;
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DROP TABLE Word;
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DROP TABLE Map_Node_Word;
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DROP TABLE Statistics;
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DROP TABLE StatisticsSurf;*/
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-- *******************************************************************
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-- CREATE
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-- *******************************************************************
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CREATE TABLE Signature (
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CREATE TABLE Node (
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id INTEGER NOT NULL,
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type VARCHAR NOT NULL,
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type INTEGER NOT NULL, -- 0=Keypoint, 1=Sensor
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weight INTEGER,
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loopClosureIds BLOB,
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childLoopClosureIds BLOB,
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timeEnter DATE,
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PRIMARY KEY (id),
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FOREIGN KEY (type) REFERENCES SignatureType(type)
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time_enter DATE,
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PRIMARY KEY (id)
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);
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CREATE TABLE Image (
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CREATE TABLE Sensor (
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id INTEGER NOT NULL,
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num INTEGER NOT NULL,
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type INTEGER NOT NULL, -- kTypeImage=0, kTypeImageFeatures2d, kTypeAudio, kTypeAudioFreq, kTypeAudioFreqSqrdMagn, kTypeJointState, kTypeNotSpecified
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data BLOB, -- PostProcessed data (indexed integers)
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raw_width INTEGER NOT NULL,
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raw_height INTEGER NOT NULL,
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raw_data_type INTEGER NOT NULL,
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raw_compressed CHAR NOT NULL,
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raw_data BLOB,
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PRIMARY KEY (id, num)
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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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actuator_id INTEGER,
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base_ids BLOB,
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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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CREATE TABLE Actuator (
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id INTEGER NOT NULL,
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num INTEGER NOT NULL,
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type INTEGER NOT NULL, -- kTypeTwist=0, kTypeNotSpecified
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width INTEGER NOT NULL,
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height INTEGER NOT NULL,
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channels INTEGER NOT NULL,
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compressed CHAR NOT NULL,
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data_type INTEGER NOT NULL,
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data BLOB,
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timeEnter DATE,
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PRIMARY KEY (id)
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PRIMARY KEY (id, num)
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);
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CREATE TABLE SMState (
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--
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CREATE TABLE Word (
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id INTEGER NOT NULL,
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sensors BLOB,
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motionMask BLOB,
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timeEnter DATE,
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FOREIGN KEY (id) REFERENCES Signature(id)
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);
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CREATE TABLE Neighbor (
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sid INTEGER NOT NULL,
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nid INTEGER NOT NULL,
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actionSize INTEGER,
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actions BLOB,
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baseIds BLOB,
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FOREIGN KEY (sid) REFERENCES Signature(id),
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FOREIGN KEY (nid) REFERENCES Signature(id)
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);
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CREATE TABLE SignatureType (
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type VARCHAR NOT NULL,
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PRIMARY KEY (type)
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);
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CREATE TABLE VisualWord (
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id INTEGER NOT NULL,
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descriptorSize INTEGER NOT NULL,
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descriptor_size INTEGER NOT NULL,
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descriptor BLOB NOT NULL,
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timeEnter DATE,
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time_enter DATE,
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PRIMARY KEY (id)
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);
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CREATE TABLE Map_SS_VW (
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signatureId INTEGER NOT NULL,
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visualWordId INTEGER NOT NULL,
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CREATE TABLE Map_Node_Word (
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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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laplacian INTEGER NOT NULL,
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size INTEGER NOT NULL,
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dir FLOAT NOT NULL,
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hessian FLOAT NOT NULL,
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FOREIGN KEY (signatureId) REFERENCES Signature(id),
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FOREIGN KEY (visualWordId) REFERENCES VisualWord(id)
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response FLOAT NOT NULL,
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FOREIGN KEY (node_id) REFERENCES Node(id),
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FOREIGN KEY (word_id) REFERENCES Word(id)
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);
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CREATE TABLE StatisticsAfterRun (
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stMemSize INTEGER,
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lastSignAdded INTEGER,
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processMemUsed INTEGER,
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databaseMemUsed INTEGER,
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timeEnter DATE
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CREATE TABLE Statistics (
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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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time_enter DATE
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);
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CREATE TABLE StatisticsAfterRunSurf (
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dictionarySize INTEGER,
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timeEnter DATE
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CREATE TABLE StatisticsDictionary (
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dictionary_size INTEGER,
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time_enter DATE
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);
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-- *******************************************************************
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-- TRIGGERS
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-- *******************************************************************
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CREATE TRIGGER insert_Signature BEFORE INSERT ON Signature
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WHEN NOT EXISTS (SELECT type FROM SignatureType WHERE SignatureType.type = NEW.type)
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CREATE TRIGGER insert_Map_Node_Word BEFORE INSERT ON Map_Node_Word
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WHEN NOT EXISTS (SELECT type FROM Node WHERE Node.id = NEW.node_id AND type=0)
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BEGIN
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SELECT RAISE(ABORT, 'Foreign key Signature.type constraint failed');
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SELECT RAISE(ABORT, 'Keypoint type constraint failed');
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END;
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CREATE TRIGGER insert_SMState BEFORE INSERT ON SMState
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WHEN NOT EXISTS (SELECT id FROM Signature WHERE Signature.id = NEW.id)
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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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SELECT RAISE(ABORT, 'Foreign key SMState.id constraint failed');
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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_Neighbor_unique BEFORE INSERT ON Neighbor
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--WHEN NEW.sid = NEW.nid
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--BEGIN
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-- SELECT RAISE(ABORT, 'Cannot add self references');
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--END;
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CREATE TRIGGER insert_Neighbor_sid BEFORE INSERT ON Neighbor
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WHEN NOT EXISTS (SELECT id FROM Signature WHERE Signature.id = NEW.sid)
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CREATE TRIGGER insert_Word_timeEnter AFTER INSERT ON Word
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BEGIN
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SELECT RAISE(ABORT, 'Foreign key Neighbor.sid constraint failed');
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UPDATE Word SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
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END;
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--Commented before a link can be added before the neighbor is saved...
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--CREATE TRIGGER insert_Neighbor_nid BEFORE INSERT ON Neighbor
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--WHEN NOT EXISTS (SELECT id FROM Signature WHERE Signature.id = NEW.nid)
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--BEGIN
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-- SELECT RAISE(ABORT, 'Foreign key Neighbor.nid constraint failed');
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--END;
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CREATE TRIGGER insert_Map_SS_VW BEFORE INSERT ON Map_SS_VW
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WHEN NOT EXISTS (SELECT type FROM Signature WHERE Signature.id = NEW.signatureId AND type='KeypointSignature')
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CREATE TRIGGER insert_Statistics_timeEnter AFTER INSERT ON Statistics
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BEGIN
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SELECT RAISE(ABORT, 'KeypointSignature type constraint failed');
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UPDATE Statistics SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
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END;
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-- Creating a trigger for timeEnter
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CREATE TRIGGER insert_Signature_timeEnter AFTER INSERT ON Signature
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CREATE TRIGGER insert_StatisticsDictionary_timeEnter AFTER INSERT ON StatisticsDictionary
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BEGIN
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UPDATE Signature SET timeEnter = DATETIME('NOW') WHERE rowid = new.rowid;
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END;
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CREATE TRIGGER insert_VisualWord_timeEnter AFTER INSERT ON VisualWord
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BEGIN
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UPDATE VisualWord SET timeEnter = DATETIME('NOW') WHERE rowid = new.rowid;
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END;
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CREATE TRIGGER insert_StatisticsAfterRun_timeEnter AFTER INSERT ON StatisticsAfterRun
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BEGIN
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UPDATE StatisticsAfterRun SET timeEnter = DATETIME('NOW') WHERE rowid = new.rowid;
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END;
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CREATE TRIGGER insert_StatisticsAfterRunSurf_timeEnter AFTER INSERT ON StatisticsAfterRunSurf
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BEGIN
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UPDATE StatisticsAfterRunSurf SET timeEnter = DATETIME('NOW') WHERE rowid = new.rowid;
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UPDATE StatisticsDictionary 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 INDEX IDX_Map_SS_VW_SignatureId on Map_SS_VW (signatureId);
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-- CREATE INDEX IDX_Map_SS_VW_VisualWordId on Map_SS_VW (visualWordId);
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-- CREATE INDEX IDX_Signature_Id on Signature (id);
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-- CREATE INDEX IDX_VisualWord_Id on VisualWord (id);
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CREATE INDEX IDX_SMState_Id on SMState (id);
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-- CREATE INDEX IDX_Signature_TimeEnter on Signature (timeEnter);
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-- CREATE INDEX IDX_VisualWord_TimeEnter on VisualWord (timeEnter);
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CREATE INDEX IDX_Neighbor_Sid on Neighbor (sid);
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CREATE INDEX IDX_Map_Node_Word_node_id on Map_Node_Word (node_id);
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CREATE INDEX IDX_Sensor_Id on Sensor (id);
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CREATE INDEX IDX_Link_from_id on Link (from_id);
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-- *******************************************************************
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-- Data
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-- *******************************************************************
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INSERT INTO SignatureType(type) VALUES ('KeypointSignature');
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INSERT INTO SignatureType(type) VALUES ('SMSignature');
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-- *******************************************************************
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-- TESTS
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-- *******************************************************************
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-- *** Data Test ***
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/*
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INSERT INTO Signature VALUES(1, 'surf', null, null, null);
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INSERT INTO Signature VALUES(2, 'surf', null, null, null);
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INSERT INTO Signature VALUES(3, 'surf', null, null, null);
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INSERT INTO VisualWord VALUES (1, 1, 2,'0.213213 0.4352323', null);
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INSERT INTO VisualWord VALUES (2, 1, 2,'0.213213 0.4352323', null);
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INSERT INTO VisualWord VALUES (3, 3, 2,'0.213213 0.4352323', null);
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INSERT INTO Map_SS_VW VALUES (1, 1, 0,0,0,0,0, null);
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INSERT INTO Map_SS_VW VALUES (2, 1, 0,0,0,0,0, null);
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INSERT INTO Map_SS_VW VALUES (2, 2, 0,0,0,0,0, null);
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*/
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/*
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-- For loading words
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SELECT vw.id, vw.laplacian, vw.descriptorSize, vw.descriptor, m.signatureId FROM VisualWord as vw INNER JOIN Map_SS_VW as m on vw.id=m.visualWordId ORDER BY vw.id;
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*/
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-- Refreshing the dictionary
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/*SELECT * FROM Map_SS_VW;
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SELECT * FROM VisualWord;*/
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/*
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DELETE FROM VisualWord;
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INSERT INTO VisualWord VALUES (1, 1, 2,'0.213213 0.4352323', null);
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DELETE FROM Map_SS_VW WHERE NOT EXISTS (SELECT id FROM VisualWord WHERE id = Map_SS_VW.visualWordId);
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*/
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/*SELECT * FROM Map_SS_VW;
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SELECT * FROM VisualWord;*/
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/*
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-- Loading only signatures on the last short time memory based on DATE
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INSERT INTO Signature VALUES(4, 'surf', null, null, null);
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INSERT INTO Signature VALUES(5, 'surf', 4, null, null);
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INSERT INTO Signature VALUES(6, 'surf', null, null, null);
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INSERT INTO Map_SS_VW VALUES (4, 1, 0,0,0,0,0, null);
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SELECT s.id FROM Signature AS s WHERE s.timeEnter >= (SELECT vw.timeEnter FROM VisualWord AS vw LIMIT 1) AND s.loopClosureId IS NULL;
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*/
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