| 567 | } |
| 568 | |
| 569 | void Keyframe::updateSVInPose(const Eigen::Vector3d& _T_w_i, const Eigen::Matrix3d& _R_w_i) { |
| 570 | svin_T_w_i = _T_w_i; |
| 571 | svin_R_w_i = _R_w_i; |
| 572 | T_w_i = svin_T_w_i; |
| 573 | R_w_i = svin_R_w_i; |
| 574 | } |
| 575 | |
| 576 | Eigen::Vector3d Keyframe::getLoopRelativeT() { return Eigen::Vector3d(loop_info(0), loop_info(1), loop_info(2)); } |
| 577 |