PinholeCamera retract/localCoordinates

[Frank Dellaert]

@ydjian did you have a reason to allow other than full Vectors below?

    /// move a cameras according to d
    PinholeCamera retract(const Vector& d) const {
      if ( d.size() == pose_.dim() )
        return PinholeCamera(pose().retract(d), calibration()) ;
      else
        return PinholeCamera(pose().retract(d.head(pose().dim())),
                             calibration().retract(d.tail(calibration().dim()))) ;
    }

    /// return canonical coordinate
    Vector localCoordinates(const PinholeCamera& T2) const {
      Vector d(dim());
      d.head(pose().dim()) = pose().localCoordinates(T2.pose());
      d.tail(calibration().dim()) = calibration().localCoordinates(T2.calibration());
      return d;
    }

Otherwise it should be fixed.