From 1a5bbf751ee0e924b514989f859084ebcd733dc6 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Sun, 9 Apr 2017 15:59:29 -0500
Subject: Full state estimation and vision process are working.

---
 src/camera.cpp | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

(limited to 'src/camera.cpp')

diff --git a/src/camera.cpp b/src/camera.cpp
index 2040641..8d0be89 100644
--- a/src/camera.cpp
+++ b/src/camera.cpp
@@ -143,6 +143,16 @@ Camera::K (  ) const
     return _K ;
 }		/* -----  end of method Camera::K  ----- */
 
+cv::Matx33d
+Camera::K (int x) const
+{
+    cv::Matx33d k;
+    k << _K(0,0), _K(0,1), _K(0,2),
+         _K(1,0), _K(1,1), _K(1,2),
+         _K(2,0), _K(2,1), _K(2,2);
+    return k;
+}
+
 /*
  *--------------------------------------------------------------------------------------
  *       Class:  Camera
@@ -156,6 +166,12 @@ Camera::d ( ) const
     return _d;
 }		/* -----  end of method Camera::d  ----- */
 
+cv::Vec4d
+Camera::d ( int x ) const
+{
+    return cv::Vec4d( _d(0), _d(1), _d(2), _d(3));
+}
+
 /*
  *--------------------------------------------------------------------------------------
  *       Class:  Camera
-- 
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