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Add missing getter in ProjectionFactor #842

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Aug 11, 2021
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Add missing getter in ProjectionFactor #842

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7 changes: 6 additions & 1 deletion gtsam/slam/ProjectionFactor.h
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Original file line number Diff line number Diff line change
Expand Up @@ -164,10 +164,15 @@ namespace gtsam {
}

/** return the calibration object */
inline const boost::shared_ptr<CALIBRATION> calibration() const {
const boost::shared_ptr<CALIBRATION> calibration() const {
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 */
inline bool verboseCheirality() const { return verboseCheirality_; }

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