CameraLens.hh

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/*
 * Copyright (C) 2021 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
 
#ifndef GZ_RENDERING_CAMERALENS_HH_
#define GZ_RENDERING_CAMERALENS_HH_
 
#include <memory>
 
#include <gz/math/Vector3.hh>
#include <gz/utils/ImplPtr.hh>
 
#include "gz/rendering/config.hh"
#include "gz/rendering/Export.hh"
 
namespace gz
{
  namespace rendering
  {
    inline namespace GZ_RENDERING_VERSION_NAMESPACE {
    //
    enum GZ_RENDERING_VISIBLE MappingFunctionType
    {
      MFT_GNOMONIC = 0,
 
      MFT_STEREOGRAPHIC = 1,
 
      MFT_EQUIDISTANT = 2,
 
      MFT_EQUISOLID_ANGLE = 3,
 
      MFT_ORTHOGRAPHIC = 4,
 
      MFT_CUSTOM = 5
    };
 
    enum GZ_RENDERING_VISIBLE AngleFunctionType
    {
      AFT_IDENTITY = 0,
 
      AFT_SIN = 1,
 
      AFT_TAN = 2
    };
 
    class GZ_RENDERING_VISIBLE CameraLens
    {
      public: CameraLens();
 
      public: virtual ~CameraLens();
 
      public: explicit CameraLens(const CameraLens &_other);
 
      public: void SetCustomMappingFunction(double _c1, double _c2,
                        AngleFunctionType _fun, double _f, double _c3);
 
      public: MappingFunctionType Type() const;
 
      public: bool IsCustom() const;
 
      public: double C1() const;
 
      public: double C2() const;
 
      public: double C3() const;
 
      public: double F() const;
 
      public: AngleFunctionType AngleFunction() const;
 
      public: double CutOffAngle() const;
 
      public: bool ScaleToHFOV() const;
 
      public: void SetType(MappingFunctionType _type);
 
      public: void SetC1(double _c);
 
      public: void SetC2(double _c);
 
      public: void SetC3(double _c);
 
      public: void SetF(double _f);
 
      public: void SetAngleFunction(AngleFunctionType _fun);
 
      public: void SetCutOffAngle(double _angle);
 
      public: void SetScaleToHFOV(bool _scale);
 
      public: float ApplyMappingFunction(float _f) const;
 
      public: math::Vector3d MappingFunctionAsVector3d() const;
 
      public: CameraLens &operator=(const CameraLens &_other);
 
      private: void ConvertToCustom();
 
      GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
    };
    }
  }
}
#endif