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Export CLI: for --poses_camera option with intermediate nodes in db, re-use previous camera models of last valid node with data.

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matlabbe
2022-02-13 14:45:08 -05:00
parent 4776de7931
commit 578c19cc38
1 changed files with 5 additions and 0 deletions
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tools/Export/main.cpp
+5
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@@ -1231,6 +1231,11 @@ int main(int argc, char * argv[])
robotPoses.insert(std::make_pair(iter->first, iter->second));
cameraStamps.insert(std::make_pair(iter->first, node.getStamp()));
if(models.empty() && node.getWeight() == -1 && !cameraModels.empty())
{
// For intermediate nodes, use latest models
models = cameraModels.rbegin()->second;
}
if(!models.empty())
{
cameraModels.insert(std::make_pair(iter->first, models));