text: //
  // Created by sebastiano on 8/18/16.
  //
  
  #include "IMapPublisher.h"
  
  using namespace ORB_SLAM2;
  using namespace std;
  
  void IMapPublisher::SetCurrentCameraPose(const cv::Mat &Tcw)
  {
      unique_lock<mutex> lock(mMutexCamera);
      mCameraPose = Tcw.clone();
      mbCameraUpdated = true;
  }
  
  cv::Mat IMapPublisher::GetCameraPose()
  {
      unique_lock<mutex> lock(mMutexCamera);
      return mCameraPose;
  }
  
  bool IMapPublisher::isCamUpdated()
  {
      unique_lock<mutex> lock(mMutexCamera);
      return mbCameraUpdated;
  }
  
  void IMapPublisher::ResetCamFlag()
  {
      unique_lock<mutex> lock(mMutexCamera);
      mbCameraUpdated = false;
  }
  