tm_sensor - doxygen doc of relocalization functions #4685
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harville
suggested changes
Aug 23, 2019
| bool import_relocalization_map(const std::vector<uint8_t>& lmap_buf) const override; | ||
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| /** | ||
| * Creates a named virtual landmark in the current map, known as static node. |
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Suggested change
| * Creates a named virtual landmark in the current map, known as static node. | |
| * Creates a named virtual landmark in the current map, known as a static node. |
src/tm2/tm-device.h
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| /** | ||
| * Creates a named virtual landmark in the current map, known as static node. | ||
| * The static node's pose must be giving relative to the origin of coordinates of T265 poses. | ||
| * This function fails if the current tracker confidence is not high. |
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"not high" means what, below 3? Should we be specific?
src/tm2/tm-device.h
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| * Creates a named virtual landmark in the current map, known as static node. | ||
| * The static node's pose must be giving relative to the origin of coordinates of T265 poses. | ||
| * This function fails if the current tracker confidence is not high. | ||
| * \param[in] guid unique name of the static node. If a static node with the same name alrady exists |
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| /** | ||
| * Gets the current pose of a static node that was created in the current map or in an imported map. | ||
| * Static nodes of imported maps are available after relocalizing the imported map. |
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| * Static nodes of imported maps are available after relocalizing the imported map. | |
| * Static nodes of imported maps are available after a relocalization to the imported map has occurred. |
And as a bonus, how would anyone know that a relocalization has occurred? sounds like that currently is non-trivial, so it may be best to not comment on it it until it's easy for user to catch those notifications.
Co-Authored-By: Michael Harville <harville@stanfordalumni.org>
dorodnic
approved these changes
Aug 27, 2019
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