Method GetImuRotation

src/KeyFrame.cc:154–158

}

Eigen::Matrix3f KeyFrame::GetImuRotation()
{
    unique_lock<mutex> lock(mMutexPose);
    return (mTwc * mImuCalib.mTcb).rotationMatrix();
}

Sophus::SE3f KeyFrame::GetImuPose()
{