function

SLAM.PoseGraph.RGBDGraphEstimatorCommit.FromLocalization

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
input	`localization`	`RGBDLocalizationCatalog.State`
output	`result`	`State`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function FromLocalization
    input RGBDLocalizationCatalog.State localization;
    output State result;
  algorithm
    // Bootstrap only. Reconstructing this view from raw captures after a graph
    // correction would erase accepted pose means and is not a restore operation.
    result.localization := localization;
    result.poses.generation := localization.generation;
    result.poses.sourceRevision := localization.sourceRevision;
    result.poses.revision := 0; result.poses.catalogNextId := localization.catalog.nextId;
    result.poses.enabled := localization.catalog.occupied; result.poses.ids := localization.catalog.ids;
    result.poses.positions := localization.catalog.bodyPositions;
    result.poses.rotations := localization.catalog.bodyRotations;
    result.correctionRevision := 0; result.graphRevisionUsed := 0;
  end FromLocalization;