)
void Frame::UpdatePoseMatrices() { Sophus::SE3float Twc mTcw.inverse(); mRwc Twc.rotationMatrix(); mOw Twc.translation(); mRcw mTcw.rotationMatrix(); mtcw mTcw.translation(); }見代碼知其意在SetPose() 中被調(diào)用 ORB-SLAM3 void Frame::UpdatePoseMatrices()
void Frame::UpdatePoseMatrices() { Sophus::SE3float Twc mTcw.inverse(); mRwc Twc.rotationMatrix(); mOw Twc.translation(); mRcw mTcw.rotationMatrix(); mtcw mTcw.translation(); }見代碼知其意在SetPose() 中被調(diào)用