def create_edge(node_1, node_2, R, t):
global session
edge = Graph_Edges()
edge.node_1_id = node_1.node_id
edge.node_2_id = node_2.node_id
transform = [R, t]
transform_filepath = save_transform(transform, node_1, node_2)
edge.opt_transform_1_to_2_filepath = transform_filepath
#TODO: do we need to save these?
'''
_3d_matches_filepath = save_3d_matches(point_matches,
pose_3d_points,
feature_3d_points,
new_pose_node.node_id,
feature_node.node_id,
transform)
edge._3d_matches_filepath = _3d_matches_filepath
'''
session.add(edge)
session.commit()
return edge
def connect_pose_to_feature(new_pose_node, feature_node, transform, point_matches, pose_3d_points, feature_3d_points):
global session
edge = Graph_Edges()
edge.node_1_id = new_pose_node.node_id
edge.node_1_type = "pose"
edge.node_2_id = feature_node.node_id
edge.node_2_type = "feature"
transform_filepath = save_transform(transform, None, new_pose_node, feature_node)
edge.opt_transform_1_to_2_filepath = transform_filepath
_3d_matches_filepath = save_3d_matches(
point_matches, pose_3d_points, feature_3d_points, new_pose_node.node_id, feature_node.node_id, transform
)
edge._3d_matches_filepath = _3d_matches_filepath
session.add(edge)
session.commit()
