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

Add missing getter in ProjectionFactor
borglab · Aug 11, 2021 · f7ef6f7 · f7ef6f7
2 parents 41c8268 + 570a44b
commit f7ef6f7
Showing 1 changed file with 6 additions and 1 deletion.
diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h
@@ -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_; }