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Added principalPoint

release/4.3a0
Kai Ni 2009-09-11 20:48:02 +00:00
parent 0ac12dfcbf
commit b76a029ad8
1 changed files with 7 additions and 0 deletions
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7
cpp/Cal3_S2.h
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@ -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 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) * return vectorized form (column-wise)
*/ */