| 107 | } |
| 108 | |
| 109 | void KeyFrame::SetPose(const Sophus::SE3f &Tcw) |
| 110 | { |
| 111 | unique_lock<mutex> lock(mMutexPose); |
| 112 | |
| 113 | mTcw = Tcw; |
| 114 | mRcw = mTcw.rotationMatrix(); |
| 115 | mTwc = mTcw.inverse(); |
| 116 | mRwc = mTwc.rotationMatrix(); |
| 117 | |
| 118 | if (mImuCalib.mbIsSet) // TODO Use a flag instead of the OpenCV matrix |
| 119 | { |
| 120 | mOwb = mRwc * mImuCalib.mTcb.translation() + mTwc.translation(); |
| 121 | } |
| 122 | } |
| 123 | |
| 124 | void KeyFrame::SetVelocity(const Eigen::Vector3f &Vw) |
| 125 | { |
nothing calls this directly
no test coverage detected