Begin Vision class.

This class can display measurements and featuers and find new features.
When complete it will also perform measurements.

1 files changed, 8 insertions, 6 deletions

diff --git a/src/camera.h b/src/camera.h
index d038069..3de64a6 100644
--- a/src/camera.h
+++ b/src/camera.h
@@ -28,16 +28,18 @@ class Camera
         Camera (const char *fin);                             /* constructor */
 
         /* ====================  ACCESSORS     ======================================= */
-        Matrix<double,3,3> K();
-        Matrix<double,4,4> K4();
-        Vector4d d();
-        Matrix<double,3,3> Rc2b();
-        Matrix<double,4,4> Rc2b4();
+        Vector4d d() const;
+        Matrix<double,3,3> K() const;
+        Matrix<double,4,4> K4() const;
+        Vector3d principalPoint() const;
+        Matrix<double,3,3> Rc2b() const;
+        Matrix<double,4,4> Rc2b4() const;
 
         /* ====================  MUTATORS      ======================================= */
 
         /* ====================  OPERATORS     ======================================= */
-        Vector3d img2body(Vector3d &xi);
+        Vector3d img2body(const Vector3d &xi) const;
+        Vector3d body2img(const Vector3d &xb) const;
 
     protected:
         /* ====================  METHODS       ======================================= */