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added between on StereoCamera

release/4.3a0
Chris Beall 2011-03-17 04:34:08 +00:00
parent 1224c9550b
commit ad8b87c3c2
1 changed files with 6 additions and 0 deletions
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6
gtsam/geometry/StereoCamera.h
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@ -100,6 +100,12 @@ namespace gtsam {
camera.K_, tol); camera.K_, tol);
} }
Pose3 between(const StereoCamera &camera,
boost::optional<Matrix&> H1=boost::none,
boost::optional<Matrix&> H2=boost::none) const {
return leftCamPose_.between(camera.pose(), H1, H2);
}
void print(const std::string& s = "") const { void print(const std::string& s = "") const {
leftCamPose_.print(s + ".camera."); leftCamPose_.print(s + ".camera.");
K_.print(s + ".calibration."); K_.print(s + ".calibration.");