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addKeyFrame function #44

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xzwang12345 opened this issue Jun 29, 2020 · 0 comments

xzwang12345 commented Jun 29, 2020

// update pose of current keyframe wrt previous one (in case of LC)
Matrix4d T_curr_w = prev_kf->T_kf_w * curr_kf->T_kf_w;
what this T_curr_w meaning in addKeyFrame function? why is equal to prev_kf->T_kf_w * curr_kf->T_kf_w

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