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.h | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

(limited to 'src/camera.h')

diff --git a/src/camera.h b/src/camera.h
index 51ba9a6..78808ad 100644
--- a/src/camera.h
+++ b/src/camera.h
@@ -9,7 +9,7 @@
 #include "types.h"
 #define BINNING 0.5 // set the binning factor
 #define YAWCORRECT 2.0
-//#define DOYAWCORRECT
+#define DOYAWCORRECT
 using Eigen::Matrix;
 using Eigen::Vector4d;
 using Eigen::Vector3d;
@@ -32,7 +32,9 @@ class Camera
 
         /* ====================  ACCESSORS     ======================================= */
         Vector4d d() const;
+        cv::Vec4d d( int x ) const;
         Matrix<double,3,3> K() const;
+        cv::Matx33d K(int x) const;
         Matrix<double,4,4> K4() const;
         Vector3d principalPoint() const;
         Matrix<double,3,3> Rc2b() const;
-- 
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