Distortion.hh
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2  * Copyright (C) 2014 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
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17 #ifndef GAZEBO_RENDERING_DISTORTION_HH_
18 #define GAZEBO_RENDERING_DISTORTION_HH_
19 
20 #include <memory>
21 #include <ignition/math/Vector2.hh>
22 
24 #include "gazebo/util/system.hh"
25 
26 namespace gazebo
27 {
30  namespace rendering
31  {
32  class DistortionPrivate;
33 
36 
40  class GZ_RENDERING_VISIBLE Distortion
41  {
43  public: Distortion();
44 
46  public: virtual ~Distortion();
47 
50  public: virtual void Load(sdf::ElementPtr _sdf);
51 
54  public: void SetCamera(CameraPtr _camera);
55 
60  public: void SetCrop(const bool _crop);
61 
66  public: bool Crop() const;
67 
70  public: double K1() const;
71 
74  public: double K2() const;
75 
78  public: double K3() const;
79 
82  public: double P1() const;
83 
86  public: double P2() const;
87 
90  public: ignition::math::Vector2d Center() const;
91 
101  public: static ignition::math::Vector2d Distort(
102  const ignition::math::Vector2d &_in,
103  const ignition::math::Vector2d &_center,
104  double _k1, double _k2, double _k3,
105  double _p1, double _p2);
106 
109  private: std::unique_ptr<DistortionPrivate> dataPtr;
110  };
112  }
113 }
114 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
Camera distortion based on Brown&#39;s model.
Definition: Distortion.hh:40
boost::shared_ptr< Camera > CameraPtr
Definition: RenderTypes.hh:89