Function point_callback

src/dvins/pose_graph/src/pose_graph_node.cpp:114–132

}

void point_callback(const sensor_msgs::PointCloudConstPtr &point_msg)
{
    //ROS_INFO("point_callback!");
    if(!LOOP_CLOSURE)
        return;
    m_buf.lock();
    point_buf.push(point_msg);
    m_buf.unlock();
    /*
    for (unsigned int i = 0; i < point_msg->points.size(); i++)
    {
        printf("%d, 3D point: %f, %f, %f 2D point %f, %f \n",i , point_msg->points[i].x, 
                                                     point_msg->points[i].y,
                                                     point_msg->points[i].z,
                                                     point_msg->channels[i].values[0],
                                                     point_msg->channels[i].values[1]);
    }
    */
}

void pose_callback(const nav_msgs::Odometry::ConstPtr &pose_msg)
{