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Merge pull request #842 from borglab/fix/missing-visual-factor-getter 

Add missing getter in ProjectionFactor
release/4.3a0
Varun Agrawal 2021-08-11 07:17:57 -07:00 committed by GitHub
parent 41c82687ac 570a44b7b2
commit f7ef6f7037
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1 changed files with 6 additions and 1 deletions
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7
gtsam/slam/ProjectionFactor.h
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@ -164,10 +164,15 @@ namespace gtsam {
} }
/** return the calibration object */ /** return the calibration object */
inline const boost::shared_ptr<CALIBRATION> calibration() const { const boost::shared_ptr<CALIBRATION> calibration() const {
return K_; return K_;
} }
/** return the (optional) sensor pose with respect to the vehicle frame */
const boost::optional<POSE>& body_P_sensor() const {
return body_P_sensor_;
}
/** return verbosity */ /** return verbosity */
inline bool verboseCheirality() const { return verboseCheirality_; } inline bool verboseCheirality() const { return verboseCheirality_; }