Distortion Class Reference

Camera distortion based on Brown's model. More...

#include <rendering/rendering.hh>

Public Member Functions

 Distortion ()
 Constructor. More...
 
virtual ~Distortion ()
 Destructor. More...
 
ignition::math::Vector2d Center () const
 Get the distortion center. More...
 
bool Crop () const
 Get whether to crop the black border around the distorted image points. More...
 
math::Vector2d GetCenter () const GAZEBO_DEPRECATED(8.0)
 Get the distortion center. More...
 
double GetK1 () const GAZEBO_DEPRECATED(8.0)
 Get the radial distortion coefficient k1. More...
 
double GetK2 () const GAZEBO_DEPRECATED(8.0)
 Get the radial distortion coefficient k2. More...
 
double GetK3 () const GAZEBO_DEPRECATED(8.0)
 Get the radial distortion coefficient k3. More...
 
double GetP1 () const GAZEBO_DEPRECATED(8.0)
 Get the tangential distortion coefficient p1. More...
 
double GetP2 () const GAZEBO_DEPRECATED(8.0)
 Get the tangential distortion coefficient p2. More...
 
double K1 () const
 Get the radial distortion coefficient k1. More...
 
double K2 () const
 Get the radial distortion coefficient k2. More...
 
double K3 () const
 Get the radial distortion coefficient k3. More...
 
virtual void Load (sdf::ElementPtr _sdf)
 Load the camera with a set of parmeters. More...
 
double P1 () const
 Get the tangential distortion coefficient p1. More...
 
double P2 () const
 Get the tangential distortion coefficient p2. More...
 
void SetCamera (CameraPtr _camera)
 Set the camera which distortion will be applied to. More...
 
void SetCrop (const bool _crop)
 Set whether to crop the black border around the distorted image points. More...
 

Static Public Member Functions

static math::Vector2d Distort (const math::Vector2d &_in, const math::Vector2d &_center, double _k1, double _k2, double _k3, double _p1, double _p2) GAZEBO_DEPRECATED(8.0)
 Apply distortion model. More...
 
static ignition::math::Vector2d Distort (const ignition::math::Vector2d &_in, const ignition::math::Vector2d &_center, double _k1, double _k2, double _k3, double _p1, double _p2)
 Apply distortion model. More...
 

Detailed Description

Camera distortion based on Brown's model.

Note that the current implementation only supports barrel distortion.

Constructor & Destructor Documentation

Constructor.

virtual ~Distortion ( )
virtual

Destructor.

Member Function Documentation

ignition::math::Vector2d Center ( ) const

Get the distortion center.

Returns
Distortion center.
bool Crop ( ) const

Get whether to crop the black border around the distorted image points.

Returns
True if the black border is cropped
See also
SetCrop
static math::Vector2d Distort ( const math::Vector2d _in,
const math::Vector2d _center,
double  _k1,
double  _k2,
double  _k3,
double  _p1,
double  _p2 
)
static

Apply distortion model.

Parameters
[in]_inInput uv coordinate.
[in]_centerNormalized distortion center.
[in]_k1Radial distortion coefficient k1.
[in]_k2Radial distortion coefficient k2.
[in]_k3Radial distortion coefficient k3.
[in]_p1Tangential distortion coefficient p1.
[in]_p2Tangential distortion coefficient p2.
Returns
Distorted coordinate.
Deprecated:
See version that accepts and returns ignition math objects.
static ignition::math::Vector2d Distort ( const ignition::math::Vector2d &  _in,
const ignition::math::Vector2d &  _center,
double  _k1,
double  _k2,
double  _k3,
double  _p1,
double  _p2 
)
static

Apply distortion model.

Parameters
[in]_inInput uv coordinate.
[in]_centerNormalized distortion center.
[in]_k1Radial distortion coefficient k1.
[in]_k2Radial distortion coefficient k2.
[in]_k3Radial distortion coefficient k3.
[in]_p1Tangential distortion coefficient p1.
[in]_p2Tangential distortion coefficient p2.
Returns
Distorted coordinate.
math::Vector2d GetCenter ( ) const

Get the distortion center.

Returns
Distortion center.
Deprecated:
See ignition::math::Vector2d Center() const.
double GetK1 ( ) const

Get the radial distortion coefficient k1.

Returns
Distortion coefficient k1.
Deprecated:
See double K1() const
double GetK2 ( ) const

Get the radial distortion coefficient k2.

Returns
Distortion coefficient k2.
Deprecated:
See double K2() const
double GetK3 ( ) const

Get the radial distortion coefficient k3.

Returns
Distortion coefficient k3.
Deprecated:
See double K3() const
double GetP1 ( ) const

Get the tangential distortion coefficient p1.

Returns
Distortion coefficient p1.
Deprecated:
See double P1() const
double GetP2 ( ) const

Get the tangential distortion coefficient p2.

Returns
Distortion coefficient p2.
Deprecated:
See double P2() const
double K1 ( ) const

Get the radial distortion coefficient k1.

Returns
Distortion coefficient k1.
double K2 ( ) const

Get the radial distortion coefficient k2.

Returns
Distortion coefficient k2.
double K3 ( ) const

Get the radial distortion coefficient k3.

Returns
Distortion coefficient k3.
virtual void Load ( sdf::ElementPtr  _sdf)
virtual

Load the camera with a set of parmeters.

Parameters
[in]_sdfThe SDF camera info
double P1 ( ) const

Get the tangential distortion coefficient p1.

Returns
Distortion coefficient p1.
double P2 ( ) const

Get the tangential distortion coefficient p2.

Returns
Distortion coefficient p2.
void SetCamera ( CameraPtr  _camera)

Set the camera which distortion will be applied to.

Parameters
[in]_cameraCamera to be distorted
void SetCrop ( const bool  _crop)

Set whether to crop the black border around the distorted image points.

Parameters
[in]_cropTrue to crop the black border
See also
Crop

The documentation for this class was generated from the following file: