| 285 | } |
| 286 | |
| 287 | void graph_node::set_spanning_parent(keyframe *keyfrm) |
| 288 | { |
| 289 | std::lock_guard<std::mutex> lock(mtx_); |
| 290 | assert(!spanning_parent_); |
| 291 | spanning_parent_ = keyfrm; |
| 292 | } |
| 293 | |
| 294 | keyframe *graph_node::get_spanning_parent() const |
| 295 | { |