From 9d25e281235511df008d21203eb0d12ae07272bc Mon Sep 17 00:00:00 2001 From: Kai Ni Date: Thu, 24 Mar 2011 12:42:39 +0000 Subject: [PATCH] add Dim function --- gtsam/geometry/StereoCamera.h | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/gtsam/geometry/StereoCamera.h b/gtsam/geometry/StereoCamera.h index cdd62a675..1998ce79d 100644 --- a/gtsam/geometry/StereoCamera.h +++ b/gtsam/geometry/StereoCamera.h @@ -85,6 +85,11 @@ namespace gtsam { return 6; } + /** Dimensionality of the tangent space */ + static inline size_t Dim() { + return 6; + } + /** Exponential map around p0 */ inline StereoCamera expmap(const Vector& d) const { return StereoCamera(pose().expmap(d), calibration());