Function pose_callback

src/dvins/pose_graph/src/pose_graph_node.cpp:134–151

}

void pose_callback(const nav_msgs::Odometry::ConstPtr &pose_msg)
{
    //ROS_INFO("pose_callback!");
    if(!LOOP_CLOSURE)
        return;
    m_buf.lock();
    pose_buf.push(pose_msg);
    m_buf.unlock();
    /*
    printf("pose t: %f, %f, %f   q: %f, %f, %f %f \n", pose_msg->pose.pose.position.x,
                                                       pose_msg->pose.pose.position.y,
                                                       pose_msg->pose.pose.position.z,
                                                       pose_msg->pose.pose.orientation.w,
                                                       pose_msg->pose.pose.orientation.x,
                                                       pose_msg->pose.pose.orientation.y,
                                                       pose_msg->pose.pose.orientation.z);
    */
}

void imu_forward_callback(const nav_msgs::Odometry::ConstPtr &forward_msg)
{