| 81 | } |
| 82 | |
| 83 | void pose_callback(const nav_msgs::Odometry::ConstPtr &pose_msg) |
| 84 | { |
| 85 | if(!LOOP_CLOSURE) |
| 86 | return; |
| 87 | |
| 88 | m_buf.lock(); |
| 89 | pose_buf.push(pose_msg); |
| 90 | m_buf.unlock(); |
| 91 | } |
| 92 | |
| 93 | void extrinsic_callback(const nav_msgs::Odometry::ConstPtr &pose_msg) |
| 94 | { |