| 1489 | } |
| 1490 | |
| 1491 | void UpdatePosePrior(const PosePrior& pose_prior) override { |
| 1492 | Sqlite3StmtContext context(sql_stmt_update_pose_prior_); |
| 1493 | |
| 1494 | SQLITE3_CALL(sqlite3_bind_int64( |
| 1495 | sql_stmt_update_pose_prior_, 1, pose_prior.corr_data_id.id)); |
| 1496 | SQLITE3_CALL(sqlite3_bind_int64( |
| 1497 | sql_stmt_update_pose_prior_, 2, pose_prior.corr_data_id.sensor_id.id)); |
| 1498 | SQLITE3_CALL(sqlite3_bind_int64( |
| 1499 | sql_stmt_update_pose_prior_, |
| 1500 | 3, |
| 1501 | static_cast<sqlite3_int64>(pose_prior.corr_data_id.sensor_id.type))); |
| 1502 | WriteStaticMatrixBlob(sql_stmt_update_pose_prior_, pose_prior.position, 4); |
| 1503 | WriteStaticMatrixBlob( |
| 1504 | sql_stmt_update_pose_prior_, pose_prior.position_covariance, 5); |
| 1505 | SQLITE3_CALL(sqlite3_bind_int64( |
| 1506 | sql_stmt_update_pose_prior_, |
| 1507 | 6, |
| 1508 | static_cast<sqlite3_int64>(pose_prior.coordinate_system))); |
| 1509 | WriteStaticMatrixBlob(sql_stmt_update_pose_prior_, pose_prior.gravity, 7); |
| 1510 | SQLITE3_CALL(sqlite3_bind_int64( |
| 1511 | sql_stmt_update_pose_prior_, 8, pose_prior.pose_prior_id)); |
| 1512 | |
| 1513 | SQLITE3_CALL(sqlite3_step(sql_stmt_update_pose_prior_)); |
| 1514 | } |
| 1515 | |
| 1516 | void UpdateKeypoints(image_t image_id, |
| 1517 | const FeatureKeypoints& keypoints) override { |