From b76a029ad81a6811602cbfef7a4b3765e59cbd4e Mon Sep 17 00:00:00 2001 From: Kai Ni Date: Fri, 11 Sep 2009 20:48:02 +0000 Subject: [PATCH] Added principalPoint --- cpp/Cal3_S2.h | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/cpp/Cal3_S2.h b/cpp/Cal3_S2.h index ef16e2932..04fe70d0e 100644 --- a/cpp/Cal3_S2.h +++ b/cpp/Cal3_S2.h @@ -50,6 +50,13 @@ namespace gtsam { return Cal3_S2(fx_ + d(0), fy_ + d(1), s_ + d(2), u0_ + d(3), v0_ + d(4)); } + /** + * return the principal point + */ + Point2 principalPoint() const { + return Point2(u0_,v0_); + } + /** * return vectorized form (column-wise) */