diff options
Diffstat (limited to 'src/camera.h')
| -rw-r--r-- | src/camera.h | 14 |
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 ======================================= */ |