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Added matrix and calibration

release/4.3a0
Frank Dellaert 2012-06-17 15:14:22 +00:00
parent 8cf867bdbd
commit 77cab0a248
1 changed files with 7 additions and 3 deletions
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10
gtsam/geometry/Cal3_S2Stereo.h
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@ -68,6 +68,12 @@ namespace gtsam {
/// @name Standard Interface /// @name Standard Interface
/// @{ /// @{
/// return calibration, same for left and right
const Cal3_S2& calibration() const { return K_;}
/// return calibration matrix K, same for left and right
Matrix matrix() const { return K_.matrix();}
/// focal length x /// focal length x
inline double fx() const { return K_.fx();} inline double fx() const { return K_.fx();}
@ -84,9 +90,7 @@ namespace gtsam {
inline double py() const { return K_.py();} inline double py() const { return K_.py();}
/// return the principal point /// return the principal point
Point2 principalPoint() const { Point2 principalPoint() const { return K_.principalPoint();}
return K_.principalPoint();
}
/// return baseline /// return baseline
inline double baseline() const { return b_; } inline double baseline() const { return b_; }