From 728cc9930cbea478ca732b6c19bab275ef50c6d0 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Fri, 7 Apr 2017 17:28:23 -0500
Subject: Begin Vision class.

This class can display measurements and featuers and find new features.
When complete it will also perform measurements.
---
 src/camera.h | 14 ++++++++------
 1 file changed, 8 insertions(+), 6 deletions(-)

(limited to 'src/camera.h')

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       ======================================= */
-- 
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