| 1136 | } |
| 1137 | |
| 1138 | Eigen::Matrix<float,3,3> KeyFrame::GetRightRotation() { |
| 1139 | unique_lock<mutex> lock(mMutexPose); |
| 1140 | |
| 1141 | return (mTrl.so3() * mTcw.so3()).matrix(); |
| 1142 | } |
| 1143 | |
| 1144 | Eigen::Vector3f KeyFrame::GetRightTranslation() { |
| 1145 | unique_lock<mutex> lock(mMutexPose); |