| 51 | } |
| 52 | |
| 53 | void GlobalMap::updateLandmark(uint64_t landmark_id, |
| 54 | const Eigen::Vector3d& global_pos, |
| 55 | double quality, |
| 56 | const Eigen::Vector3d& color) { |
| 57 | if (map_points_.count(landmark_id)) { |
| 58 | Landmark& point_landmark = map_points_.at(landmark_id); |
| 59 | point_landmark.color_ = color; |
| 60 | point_landmark.point_ = global_pos; |
| 61 | point_landmark.quality_ = quality; |
| 62 | } |
| 63 | } |
| 64 | |
| 65 | void GlobalMap::loopClosureOptimizationFinishCallback(const Timestamp optimization_finish_time) { |
| 66 | last_loop_closure_optimization_time_ = optimization_finish_time; |