From 40bb5ba079a0b81584a10fe976ec28a9f34e1113 Mon Sep 17 00:00:00 2001 From: Luca Carlone Date: Fri, 18 Oct 2013 06:24:28 +0000 Subject: [PATCH] added functions to get k1 and k2 in Cal3Bundler --- gtsam/geometry/Cal3Bundler.h | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/gtsam/geometry/Cal3Bundler.h b/gtsam/geometry/Cal3Bundler.h index 2c39a6387..2e4825ec1 100644 --- a/gtsam/geometry/Cal3Bundler.h +++ b/gtsam/geometry/Cal3Bundler.h @@ -82,6 +82,17 @@ public: return f_; } + /// distorsion parameter k1 + inline double k1() const { + return k1_; + } + + /// distorsion parameter k2 + inline double k2() const { + return k2_; + } + + /** * convert intrinsic coordinates xy to image coordinates uv * @param p point in intrinsic coordinates