From 0663fb75c6bc42ccd093bed66820e92541ed419c Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Sun, 28 Jan 2018 11:45:53 -0500
Subject: Add define for FEATUREMAP

This will print the feature information in the unicsv so that the mapper
Makefile can create a feature map.
---
 src/feature.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

(limited to 'src/feature.h')

diff --git a/src/feature.h b/src/feature.h
index 7cf38aa..9eb7eaa 100644
--- a/src/feature.h
+++ b/src/feature.h
@@ -52,10 +52,11 @@ class Feature
         int id();
         Matrix<double,3,3> P0(measurement_type t);
         Vector3d asVector();
-        UTM utm(Vector3d &xbw, Quaterniond &q); 
+        UTM utm(const Vector3d &xbw, const Quaterniond &q); 
         Mat patch();
         Mat warpedPatch(const Camera &cam, const Quaterniond &q1);
         Mat reflectedPatch(const Camera &cam, const Quaterniond &q1);
+        void unicsv(const double time, const Vector3d &xbw, const Quaterniond &qbw) ;
 
         /* ====================  MUTATORS      ======================================= */
         void asVector(const Vector3d &m);
-- 
cgit v1.1