[libcvd-members] libcvd/cvd camera.h

[Olaf Kähler]

CVSROOT:        /sources/libcvd
Module name:    libcvd
Changes by:     Olaf Kähler <ok245>     10/06/10 15:55:43

Modified files:
        cvd            : camera.h 

Log message:
        added some const qualifiers

CVSWeb URLs:
http://cvs.savannah.gnu.org/viewcvs/libcvd/cvd/camera.h?cvsroot=libcvd&r1=1.24&r2=1.25

Patches:
Index: camera.h
===================================================================
RCS file: /sources/libcvd/libcvd/cvd/camera.h,v
retrieving revision 1.24
retrieving revision 1.25
diff -u -b -r1.24 -r1.25
--- camera.h    21 Apr 2010 13:38:54 -0000      1.24
+++ camera.h    10 Jun 2010 15:55:43 -0000      1.25
@@ -46,7 +46,7 @@
     inline void load(std::istream& is); 
        /// Save parameters to a stream 
        ///@param os The stream to use
-    inline void save(std::ostream& os); 
+    inline void save(std::ostream& os) const; 
 
     /// Fast linear projection for working out what's there
     inline TooN::Vector<2> linearproject(const TooN::Vector<2>& camframe, 
double scale=1) const;
@@ -95,18 +95,18 @@
     inline void load(std::istream& is);
        /// Save parameters to a stream 
        ///@param os The stream to use
-    inline void save(std::ostream& os);
+    inline void save(std::ostream& os) const;
 
     /// Fast linear projection for working out what's there
-    inline TooN::Vector<2> linearproject(const TooN::Vector<2>& camframe, 
double scale=1); 
+    inline TooN::Vector<2> linearproject(const TooN::Vector<2>& camframe, 
double scale=1) const; 
        /// Project from Euclidean camera frame to image plane
     inline TooN::Vector<2> project(const TooN::Vector<2>& camframe) const; 
        /// Project from image plane to a Euclidean camera
-    inline TooN::Vector<2> unproject(const TooN::Vector<2>& imframe); 
+    inline TooN::Vector<2> unproject(const TooN::Vector<2>& imframe) const; 
     
     /// Get the derivative of image frame wrt camera frame at the last 
computed projection
     /// in the form \f$ \begin{bmatrix} \frac{\partial \text{im1}}{\partial 
\text{cam1}} & \frac{\partial \text{im1}}{\partial \text{cam2}} \\ 
\frac{\partial \text{im2}}{\partial \text{cam1}} & \frac{\partial 
\text{im2}}{\partial \text{cam2}} \end{bmatrix} \f$
-    inline TooN::Matrix<2,2> get_derivative();
+    inline TooN::Matrix<2,2> get_derivative() const;
 
     /// Get the motion of a point with respect to each of the internal camera 
parameters
     inline TooN::Matrix<num_parameters,2> get_parameter_derivs() const ;
@@ -144,7 +144,7 @@
     inline void load(std::istream& is);
        /// Save parameters to a stream 
        ///@param os The stream to use
-    inline void save(std::ostream& os);
+    inline void save(std::ostream& os) const;
 
     /// Fast linear projection for working out what's there
     inline TooN::Vector<2> linearproject(const TooN::Vector<2>& camframe, 
double scale=1) const ;
@@ -249,7 +249,7 @@
 
                        /// Save parameters to a stream 
                        ///@param os The stream to use
-                       inline void save(std::ostream& os)
+                       inline void save(std::ostream& os) const
                        {
                                os << my_camera_parameters;
                        }
@@ -269,7 +269,7 @@
                        }
 
                        /// Project from image plane to a Euclidean camera
-                       inline TooN::Vector<2> unproject(const TooN::Vector<2>& 
imframe)
+                       inline TooN::Vector<2> unproject(const TooN::Vector<2>& 
imframe) const
                        {
                                //Undo the focal length and optic axis.
                                TooN::Vector<2> mod_camframe;
@@ -404,7 +404,7 @@
 
                        /// Save parameters to a stream 
                        ///@param os The stream to use
-                       inline void save(std::ostream& os)
+                       inline void save(std::ostream& os) const
                        {
                                os << my_camera_parameters;
                        }
@@ -424,7 +424,7 @@
                        }
 
                        /// Project from image plane to a Euclidean camera
-                       inline TooN::Vector<2> unproject(const TooN::Vector<2>& 
imframe)
+                       inline TooN::Vector<2> unproject(const TooN::Vector<2>& 
imframe) const
                        {
                                //Undo the focal length and optic axis.
                                TooN::Vector<2> mod_camframe;
@@ -535,7 +535,7 @@
   is >> my_camera_parameters;
 }
 
-void Camera::Linear::save(std::ostream& os){
+void Camera::Linear::save(std::ostream& os) const {
   os << my_camera_parameters;
 }
 
@@ -598,11 +598,11 @@
   is >> my_camera_parameters;
 }
 
-void Camera::Cubic::save(std::ostream& os){
+void Camera::Cubic::save(std::ostream& os) const {
   os << my_camera_parameters;
 }
 
-inline TooN::Vector<2> Camera::Cubic::linearproject(const TooN::Vector<2>& 
camframe, double scale){
+inline TooN::Vector<2> Camera::Cubic::linearproject(const TooN::Vector<2>& 
camframe, double scale) const {
   return TooN::Vector<2>(scale * diagmult(camframe, 
my_camera_parameters.slice<0,2>()) + my_camera_parameters.slice<2,2>());
 }
 
@@ -612,7 +612,7 @@
   return TooN::Vector<2>(diagmult(mod_camframe, 
my_camera_parameters.slice<0,2>()) + my_camera_parameters.slice<2,2>());
 }
 
-inline TooN::Vector<2> Camera::Cubic::unproject(const TooN::Vector<2>& 
imframe){
+inline TooN::Vector<2> Camera::Cubic::unproject(const TooN::Vector<2>& 
imframe) const {
   TooN::Vector<2> mod_camframe;
   mod_camframe[0] = 
(imframe[0]-my_camera_parameters[2])/my_camera_parameters[0];
   mod_camframe[1] = 
(imframe[1]-my_camera_parameters[3])/my_camera_parameters[1];
@@ -631,7 +631,7 @@
   return my_last_camframe;
 }
 
-TooN::Matrix<2,2> Camera::Cubic::get_derivative(){
+TooN::Matrix<2,2> Camera::Cubic::get_derivative() const {
   TooN::Matrix<2,2> result = TooN::Identity;
   result *= 1+my_camera_parameters[4]*(my_last_camframe*my_last_camframe);
   result += (2*my_camera_parameters[4]*my_last_camframe.as_col()) * 
my_last_camframe.as_row();
@@ -685,7 +685,7 @@
   is >> my_camera_parameters;
 }
 
-void Camera::Quintic::save(std::ostream& os){
+void Camera::Quintic::save(std::ostream& os) const {
   os << my_camera_parameters;
 }