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