From f48fdc0909850aaf11cc594be72abaec4fa68410 Mon Sep 17 00:00:00 2001
From: Kai Ni <nikai97@gmail.com>
Date: Fri, 12 Nov 2010 05:00:24 +0000
Subject: [PATCH] add logmap

---
 gtsam/geometry/Cal3_S2.h        | 8 ++++++++
 gtsam/geometry/GeneralCameraT.h | 5 ++---
 2 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/gtsam/geometry/Cal3_S2.h b/gtsam/geometry/Cal3_S2.h
index 1f18048c6..a83552e93 100644
--- a/gtsam/geometry/Cal3_S2.h
+++ b/gtsam/geometry/Cal3_S2.h
@@ -114,6 +114,7 @@ namespace gtsam {
 	     * return DOF, dimensionality of tangent space
 	     */
 	    inline size_t dim() const { return 5; }
+	  	static size_t Dim() { return 5; }
 
 	    /**
 	     * Given 5-dim tangent vector, create new calibration
@@ -123,6 +124,13 @@ namespace gtsam {
 	            s_ + d(2), u0_ + d(3), v0_ + d(4));
 	    }
 
+	    /**
+	     * logmap for the calibration
+	     */
+	    Vector logmap(const Cal3_S2& T2) const {
+	    	return vector() - T2.vector();
+	    }
+
 	private:
 		/** Serialization function */
 		friend class boost::serialization::access;
diff --git a/gtsam/geometry/GeneralCameraT.h b/gtsam/geometry/GeneralCameraT.h
index 32aab0534..c00d58312 100644
--- a/gtsam/geometry/GeneralCameraT.h
+++ b/gtsam/geometry/GeneralCameraT.h
@@ -32,9 +32,8 @@
 #include <gtsam/geometry/Cal3_S2.h>
 
 
-#include <gtsam/sfm/Cal3Dummy.h>
-#include <gtsam/sfm/Cal3Bundler.h>
-#include <gtsam/sfm/Cal3DS2.h>
+#include <gtsam/geometry/Cal3Bundler.h>
+#include <gtsam/geometry/Cal3DS2.h>
 
 namespace gtsam {