mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 08:47:45 +08:00
Added CalibrationDialog in Preferences->source for convenience. The database is also changed to handle new FX, FY, CX and CY intrinsic parameters instead of only depthConstant parameter. Added version of the database in a new table Admin. Updated to version 0.7.0.
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1613 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
+128
-115
@@ -1,115 +1,128 @@
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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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-- *******************************************************************
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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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pose BLOB,
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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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id INTEGER NOT NULL,
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data BLOB,
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time_enter DATE,
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PRIMARY KEY (id)
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);
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CREATE TABLE Depth (
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id INTEGER NOT NULL,
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data BLOB, -- CV_32FC1, width = Image/raw_width, height=Image/raw_height
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constant FLOAT,
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local_transform BLOB,
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data2d BLOB, -- CV_32FC2, Example: Laser scan
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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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transform 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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--
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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 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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size INTEGER NOT NULL,
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dir FLOAT NOT NULL,
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response FLOAT 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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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 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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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_Map_Node_Word BEFORE INSERT ON Map_Node_Word
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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 Map_Node_Word 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_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_Statistics_timeEnter AFTER INSERT ON Statistics
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BEGIN
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UPDATE Statistics 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_Node_Word_node_id on Map_Node_Word (node_id);
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CREATE INDEX IDX_Link_from_id on Link (from_id);
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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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-- *******************************************************************
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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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pose BLOB,
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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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id INTEGER NOT NULL,
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data BLOB,
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time_enter DATE,
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PRIMARY KEY (id)
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);
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CREATE TABLE Depth (
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id INTEGER NOT NULL,
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data BLOB, -- CV_32FC1, width = Image/raw_width, height=Image/raw_height
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fx FLOAT,
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fy FLOAT,
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cx FLOAT,
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cy FLOAT,
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local_transform BLOB,
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data2d BLOB, -- CV_32FC2, Example: Laser scan
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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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transform 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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--
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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 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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size INTEGER NOT NULL,
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dir FLOAT NOT NULL,
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response FLOAT 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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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 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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dictionary_size INTEGER,
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time_enter DATE
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);
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CREATE TABLE Admin (
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version 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_Map_Node_Word BEFORE INSERT ON Map_Node_Word
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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 Map_Node_Word 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_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_Statistics_timeEnter AFTER INSERT ON Statistics
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BEGIN
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UPDATE Statistics 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_Node_Word_node_id on Map_Node_Word (node_id);
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CREATE INDEX IDX_Link_from_id on Link (from_id);
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-- *******************************************************************
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-- VERSION
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-- *******************************************************************
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INSERT INTO Admin(version) VALUES('@PROJECT_VERSION@');
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