Added accessor method for the calibration object to the ProjectionFactor and StereoFactor
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e7562ac07f
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2b35d04c8e
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@ -36,6 +36,8 @@ namespace gtsam {
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public:
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typedef boost::shared_ptr<Cal3_S2> shared_ptr; ///< shared pointer to calibration object
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/// @name Standard Constructors
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/// @{
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@ -101,6 +101,11 @@ namespace gtsam {
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return z_;
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}
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/** return the calibration object */
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inline const Cal3_S2::shared_ptr calibration() const {
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return K_;
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}
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private:
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/// Serialization function
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@ -100,6 +100,12 @@ public:
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return z_;
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}
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/** return the calibration object */
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inline const Cal3_S2Stereo::shared_ptr calibration() const {
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return K_;
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}
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private:
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/** Serialization function */
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friend class boost::serialization::access;
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