Base distortion render pass. More...

#include <BaseDistortionPass.hh>

Public Member Functions
virtual	~BaseDistortionPass ()
	Destructor.

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

double	K1 () const
	Get the radial distortion coefficient k1.

double	K2 () const
	Get the radial distortion coefficient k2.

double	K3 () const
	Get the radial distortion coefficient k3.

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

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

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

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

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

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

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

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

Public Member Functions inherited from DistortionPass
	DistortionPass ()
	Constructor.

virtual	~DistortionPass ()
	Destructor.

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

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

virtual void	PreRender (const CameraPtr &_camera)=0
	See Object::PreRender. This function will call Object::PreRender but with the added bonus that it has access to the camera that is about to render.

virtual void	SetEnabled (bool _enabled)=0
	Set to enable or disable the render pass.

virtual void	SetWideAngleCameraAfterStitching (bool _afterStitching)=0
	WideAngleCamera renders to 6 faces; then stitches all 6 into a final "fish-eye" lens result.

virtual bool	WideAngleCameraAfterStitching () const =0
	See SetWideAngleCameraAfterStitching()

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

virtual void	Destroy ()=0
	Destroy any resources associated with this object. Invoking any other functions after destroying an object will result in undefined behavior.

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.

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.

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

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

Public Attributes
double	k1 = 0
	Radial distortion coefficient k1.

double	k2 = 0
	Radial distortion coefficient k2.

double	k3 = 0
	Radial distortion coefficient k3.

math::Vector2d	lensCenter = {0.5, 0.5}
	Lens center used for distortion.

double	p1 = 0
	Tangential distortion coefficient p1.

double	p2 = 0
	Tangential distortion coefficient p2.

Protected Member Functions
	BaseDistortionPass ()
	Constructor.

Detailed Description

template<class T>
class gz::rendering::BaseDistortionPass< T >

Base distortion render pass.

Constructor & Destructor Documentation

◆ BaseDistortionPass()

template<class T >

BaseDistortionPass ( )

protected

Constructor.

◆ ~BaseDistortionPass()

template<class T >

~BaseDistortionPass ( )

virtual

Destructor.

Member Function Documentation

◆ Center()

template<class T >

math::Vector2d Center ( ) const

virtual

Get the distortion center.

Returns: Distortion center.

Implements DistortionPass.

◆ K1()

template<class T >

double K1 ( ) const

virtual

Get the radial distortion coefficient k1.

Returns: Distortion coefficient k1.

Implements DistortionPass.

◆ K2()

template<class T >

double K2 ( ) const

virtual

Get the radial distortion coefficient k2.

Returns: Distortion coefficient k2.

Implements DistortionPass.

◆ K3()

template<class T >

double K3 ( ) const

virtual

Get the radial distortion coefficient k3.

Returns: Distortion coefficient k3.

Implements DistortionPass.

◆ P1()

template<class T >

double P1 ( ) const

virtual

Get the tangential distortion coefficient p1.

Returns: Distortion coefficient p1.

Implements DistortionPass.

◆ P2()

template<class T >

double P2 ( ) const

virtual

Get the tangential distortion coefficient p2.

Returns: Distortion coefficient p2.

Implements DistortionPass.

◆ SetCenter()

template<class T >

void SetCenter ( const math::Vector2d & _center )

virtual

Set the distortion center.

Parameters

[in] _center Distortion center.

Implements DistortionPass.

◆ SetK1()

template<class T >

void SetK1 ( double _k1 )

virtual

Set the radial distortion coefficient k1.

Parameters

[in] _k1 Distortion coefficient k1.

Implements DistortionPass.

◆ SetK2()

template<class T >

void SetK2 ( double _k2 )

virtual

Set the radial distortion coefficient k2.

Parameters

[in] _k2 Distortion coefficient k1.

Implements DistortionPass.

◆ SetK3()

template<class T >

void SetK3 ( double _k3 )

virtual

Set the radial distortion coefficient k3.

Parameters

[in] _k3 Distortion coefficient k1.

Implements DistortionPass.

◆ SetP1()

template<class T >

void SetP1 ( double _p1 )

virtual

Set the tangential distortion coefficient p1.

Parameters

[in] _p1 Distortion coefficient k1.

Implements DistortionPass.

◆ SetP2()

template<class T >

void SetP2 ( double _p2 )

virtual

Set the tangential distortion coefficient p2.

Parameters

[in] _p2 Distortion coefficient k1.

Implements DistortionPass.

Member Data Documentation

◆ k1

template<class T >

double k1 = 0

Radial distortion coefficient k1.

◆ k2

template<class T >

double k2 = 0

Radial distortion coefficient k2.

◆ k3

template<class T >

double k3 = 0

Radial distortion coefficient k3.

◆ lensCenter

template<class T >

math::Vector2d lensCenter = {0.5, 0.5}

Lens center used for distortion.

◆ p1

template<class T >

double p1 = 0

Tangential distortion coefficient p1.

◆ p2

template<class T >

double p2 = 0

Tangential distortion coefficient p2.

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

BaseDistortionPass.hh

Gazebo Rendering

API Reference

Public Member Functions

Public Attributes

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ BaseDistortionPass()

◆ ~BaseDistortionPass()

Member Function Documentation

◆ Center()

◆ K1()

◆ K2()

◆ K3()

◆ P1()

◆ P2()

◆ SetCenter()

◆ SetK1()

◆ SetK2()

◆ SetK3()

◆ SetP1()

◆ SetP2()

Member Data Documentation

◆ k1

◆ k2

◆ k3

◆ lensCenter

◆ p1

◆ p2