From c1a9f1e5c765632f3ce8dea7304935f06d769172 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Mon, 27 Mar 2017 12:55:50 -0500
Subject: Add comments to Camera

---
 src/camera.cpp | 23 +++++++++++++++++++++++
 1 file changed, 23 insertions(+)

(limited to 'src')

diff --git a/src/camera.cpp b/src/camera.cpp
index d522cd6..60d33bd 100644
--- a/src/camera.cpp
+++ b/src/camera.cpp
@@ -111,18 +111,41 @@ Camera::K4 ( )
 }		/* -----  end of method Camera::K4  ----- */
 
 
+/*
+ *--------------------------------------------------------------------------------------
+ *       Class:  Camera
+ *      Method:  Camera :: K
+ * Description:  Returns the 3x3 camera matrix.
+ *--------------------------------------------------------------------------------------
+ */
 Matrix<double,3,3>
 Camera::K (  )
 {
     return _K ;
 }		/* -----  end of method Camera::K  ----- */
 
+/*
+ *--------------------------------------------------------------------------------------
+ *       Class:  Camera
+ *      Method:  Camera :: d
+ * Description:  Returns the distortion coefficients.
+ *--------------------------------------------------------------------------------------
+ */
 Vector4d
 Camera::d ( )
 {
     return _d;
 }		/* -----  end of method Camera::d  ----- */
 
+/*
+ *--------------------------------------------------------------------------------------
+ *       Class:  Camera
+ *      Method:  Camera :: img2body
+ * Description:  Returns image points (pixel coordinates) in the body frame.
+ * That is xi: -> K -> xc -> Rc2b -> xb, the point is tranformed to the camera
+ * frame by K and to the body frame by Rc2b.
+ *--------------------------------------------------------------------------------------
+ */
 Vector3d
 Camera::img2body ( Vector3d &xi )
 {
-- 
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