Method getLoopRelativeYaw

pose_graph/src/pose_graph/Keyframe.cpp:582–582

}

double Keyframe::getLoopRelativeYaw() { return loop_info(7); }

void Keyframe::updateLoop(Eigen::Matrix<double, 8, 1>& _loop_info) {
  if (abs(_loop_info(7)) < 30.0 && Eigen::Vector3d(_loop_info(0), _loop_info(1), _loop_info(2)).norm() < 20.0) {