Todo List

Member kidnapped_robot::PlaceDatabase::add (ros::Time stamp, const tf::Pose &pose_in_map, const tf::Transform &optical_transform, const frame_common::Frame &frame, int64_t id=AUTO_ID)

Move persistent db stuff to separate function

Member kidnapped_robot::PlaceDatabase::findMatching (const frame_common::Frame &query_frame, size_t N, vt::Matches &matches) const

Copy-pasta from add()

Member kidnapped_robot::PlaceDatabase::loadPersistentDatabase (const std::string &db_file)

Could use R*Tree module instead

Member KidnappedNode::imageCb (const sensor_msgs::ImageConstPtr &l_image, const sensor_msgs::CameraInfoConstPtr &l_cam_info, const sensor_msgs::ImageConstPtr &r_image, const sensor_msgs::CameraInfoConstPtr &r_cam_info)

Don't have to look up base_in_map every time, but arguably more robust this way

Make parameterizable

Rename to base_to_camera, etc.

Member KidnappedNode::sample_cond_

Probably could have kept this single-threaded, just do own spin on stereo_cb_queue_

Member main (int argc, char **argv)

Extra options of sqlite3_open_v2 useful?

Transform from camera frame to odom

Reset INSERT statement

Member PlaceRecognitionNode::imageCb (const sensor_msgs::ImageConstPtr &l_image, const sensor_msgs::CameraInfoConstPtr &l_cam_info, const sensor_msgs::ImageConstPtr &r_image, const sensor_msgs::CameraInfoConstPtr &r_cam_info, bool save_in_db, uint32_t save_id)

Should take into account that image and requested time stamps differ when doing tf transforms

Make parameterizable

Rename to base_to_camera, etc.