Ogre implementation of the DistortionPass class. More...

#include <OgreDistortionPass.hh>

Public Member Functions
	OgreDistortionPass ()
	Constructor. More...

virtual	~OgreDistortionPass ()
	Destructor. More...

void	CreateRenderPass () override
	Create the render pass using ogre compositor. More...

void	Destroy () override
	Destroy any resources associated with this object. Invoking any other functions after destroying an object will result in undefined behavior. More...

void	PreRender () override
	Prepare this object and any of its children for rendering. This should be called for each object in a scene just before rendering, which can be achieved by a single call to Scene::PreRender. More...

Public Member Functions inherited from BaseDistortionPass< OgreRenderPass >
virtual	~BaseDistortionPass ()
	Destructor. More...

math::Vector2d	Center () const
	Get the distortion center. 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...

double	P1 () const
	Get the tangential distortion coefficient p1. More...

double	P2 () const
	Get the tangential distortion coefficient p2. More...

void	SetCenter (const math::Vector2d &_center)
	Set the distortion center. More...

void	SetK1 (double _k1)
	Set the radial distortion coefficient k1. More...

void	SetK2 (double _k2)
	Set the radial distortion coefficient k2. More...

void	SetK3 (double _k3)
	Set the radial distortion coefficient k3. More...

void	SetP1 (double _p1)
	Set the tangential distortion coefficient p1. More...

void	SetP2 (double _p2)
	Set the tangential distortion coefficient p2. More...

Public Member Functions inherited from DistortionPass
	DistortionPass ()
	Constructor. More...

virtual	~DistortionPass ()
	Destructor. More...

virtual math::Vector2d	Center () const =0
	Get the distortion center. More...

virtual double	K1 () const =0
	Get the radial distortion coefficient k1. More...

virtual double	K2 () const =0
	Get the radial distortion coefficient k2. More...

virtual double	K3 () const =0
	Get the radial distortion coefficient k3. More...

virtual double	P1 () const =0
	Get the tangential distortion coefficient p1. More...

virtual double	P2 () const =0
	Get the tangential distortion coefficient p2. More...

Public Member Functions inherited from RenderPass
virtual	~RenderPass ()
	Destructor. More...

virtual bool	IsEnabled () const =0
	Get whether or not the render pass is enabled. More...

Public Member Functions inherited from Object
virtual	~Object ()
	Destructor. More...

virtual unsigned int	Id () const =0
	Get the object ID. This ID will be unique across all objects inside a given scene, but necessarily true for objects across different scenes. More...

virtual std::string	Name () const =0
	Get the object name. This name will be unique across all objects inside a given scene, but necessarily true for objects across different scenes. More...

virtual void	PostRender ()=0
	Post process this object and any of its children after rendering. More...

virtual ScenePtr	Scene () const =0
	Get the Scene that created this object. More...

Public Member Functions inherited from OgreRenderPass
virtual	~OgreRenderPass ()
	Destructor. More...

void	Destroy () override

virtual void	SetCamera (Ogre::Camera *_camera)
	Set the ogre camera that the render pass applies to. More...

Public Member Functions inherited from BaseRenderPass< OgreObject >
virtual	~BaseRenderPass ()
	Destructor. More...

virtual bool	IsEnabled () const override
	Get whether or not the render pass is enabled. More...

virtual void	SetEnabled (bool _enabled) override
	Set to enable or disable the render pass. More...

Public Member Functions inherited from OgreObject
virtual	~OgreObject ()

virtual ScenePtr	Scene () const

Public Member Functions inherited from BaseObject
virtual	~BaseObject ()

virtual unsigned int	Id () const override

virtual std::string	Name () const override

virtual void	PostRender () override

Static Public Member Functions
static gz::math::Vector2d	Distort (const gz::math::Vector2d &_in, const gz::math::Vector2d &_center, double _k1, double _k2, double _k3, double _p1, double _p2, unsigned int _width, double _f)
	Apply distortion model using camera coordinates projection. More...

Protected Member Functions
void	CalculateAndApplyDistortionScale ()
	calculate the correct scale factor to "zoom" the render, cutting off black borders caused by distortion (only if the crop flag has been set). More...

gz::math::Vector2d	DistortionMapValueClamped (int _x, int _y) const
	get the distortion map value. More...

Protected Member Functions inherited from BaseDistortionPass< OgreRenderPass >
	BaseDistortionPass ()
	Constructor. More...

Protected Member Functions inherited from OgreRenderPass
	OgreRenderPass ()
	Constructor. More...

Protected Member Functions inherited from BaseRenderPass< OgreObject >
	BaseRenderPass ()
	Constructor. More...

Protected Member Functions inherited from OgreObject
	OgreObject ()

Protected Member Functions inherited from BaseObject
	BaseObject ()

virtual void	Init ()

virtual void	Load ()

Additional Inherited Members
Public Attributes inherited from BaseDistortionPass< OgreRenderPass >
double	k1
	Radial distortion coefficient k1. More...

double	k2
	Radial distortion coefficient k2. More...

double	k3
	Radial distortion coefficient k3. More...

math::Vector2d	lensCenter
	Lens center used for distortion. More...

double	p1
	Tangential distortion coefficient p1. More...

double	p2
	Tangential distortion coefficient p2. More...

Protected Attributes inherited from OgreRenderPass
Ogre::Camera *	ogreCamera = nullptr
	Pointer to the ogre camera. More...

Protected Attributes inherited from BaseRenderPass< OgreObject >
bool	enabled
	Flag to indicate if render pass is enabled or not. More...

Protected Attributes inherited from OgreObject
OgreScenePtr	scene

Protected Attributes inherited from BaseObject
unsigned int	id

std::string	name

Detailed Description

Ogre implementation of the DistortionPass class.

Constructor & Destructor Documentation

◆ OgreDistortionPass()

OgreDistortionPass ( )

Constructor.

◆ ~OgreDistortionPass()

virtual ~OgreDistortionPass ( )

virtual

Destructor.

Member Function Documentation

◆ CalculateAndApplyDistortionScale()

void CalculateAndApplyDistortionScale ( )

protected

calculate the correct scale factor to "zoom" the render, cutting off black borders caused by distortion (only if the crop flag has been set).

◆ CreateRenderPass()

void CreateRenderPass ( )

overridevirtual

Create the render pass using ogre compositor.

Reimplemented from OgreRenderPass.

◆ Destroy()

void Destroy ( )

overridevirtual

Destroy any resources associated with this object. Invoking any other functions after destroying an object will result in undefined behavior.

Implements Object.

◆ Distort()

static gz::math::Vector2d Distort	(	const gz::math::Vector2d &	_in,
		const gz::math::Vector2d &	_center,
		double	_k1,
		double	_k2,
		double	_k3,
		double	_p1,
		double	_p2,
		unsigned int	_width,
		double	_f
	)

static

Apply distortion model using camera coordinates projection.

Parameters

[in]	_in	Input uv coordinate.
[in]	_center	Normalized distortion center.
[in]	_k1	Radial distortion coefficient k1.
[in]	_k2	Radial distortion coefficient k2.
[in]	_k3	Radial distortion coefficient k3.
[in]	_p1	Tangential distortion coefficient p1.
[in]	_p2	Tangential distortion coefficient p2.
[in]	_width	Width of the image texture in pixels.
[in]	_f	Focal length in pixels.

Returns: Distorted coordinate.

◆ DistortionMapValueClamped()

gz::math::Vector2d DistortionMapValueClamped	(	int	_x,
		int	_y
	)		const

protected

get the distortion map value.

Parameters

[in]	_x	X component of map.
[in]	_y	Y component of map.

Returns: the distortion map value at the specified index.

◆ PreRender()

void PreRender ( )

overridevirtual

Prepare this object and any of its children for rendering. This should be called for each object in a scene just before rendering, which can be achieved by a single call to Scene::PreRender.

Implements Object.

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

gz/rendering/ogre/OgreDistortionPass.hh

Gazebo Rendering

API Reference

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ OgreDistortionPass()

◆ ~OgreDistortionPass()

Member Function Documentation

◆ CalculateAndApplyDistortionScale()

◆ CreateRenderPass()

◆ Destroy()

◆ Distort()

◆ DistortionMapValueClamped()

◆ PreRender()