def graph_node_from_query_result(result): latest_pose_node = Graph_Nodes() latest_pose_node.node_id = result[0] latest_pose_node.node_type = result[1] latest_pose_node.sp_3d_matches_id = result[2] latest_pose_node.global_transformation_filepath = result[3] return latest_pose_node
def add_new_feature_node(_3d_matches): global session feature_node = Graph_Nodes() feature_node.node_type = 'feature' feature_node.sp_3d_matches_id = _3d_matches.sp_3d_matches_id session.add(feature_node) session.commit() return feature_node
def add_new_wpi_feature_node(_3d_matches): global session feature_node = Graph_Nodes() feature_node.node_type = 'wpi_feature' feature_node.sp_3d_matches_id = _3d_matches.sp_3d_matches_id #this is a wpi node, so optimal global transform is identity session.add(feature_node) session.commit() global_R = np.array([[1, 0, 0], [0, 1, 0], [0, 0, 1]]) global_t = np.array([[0], [0], [0]]) transform = [global_R.tolist(), global_t.tolist()] global_transform_filepath = save_transform(transform, feature_node) feature_node.global_transformation_filepath = global_transform_filepath session.commit() return feature_node
def create_pose_node(stereo_image_pair_id):
global session
global initial_node_set
global is_debug
node = Graph_Nodes()
node.stereo_image_pair_id = stereo_image_pair_id
node.node_type = 'pose'
session.add(node)
session.commit()
#if we're debugging, set the first node to global coordinates
if(is_debug and not initial_node_set):
initial_node_set = True
T = get_identity_transform()
filepath = save_global_transform(T, node)
node.global_transformation_filepath = filepath
session.commit()
return node