BrownDistortionModel.hh

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/*
 * Copyright (C) 2022 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 IGNITION_SENSORS_BROWNDISTORTIONMODEL_HH_
#define IGNITION_SENSORS_BROWNDISTORTIONMODEL_HH_

#include <sdf/sdf.hh>

#include "ignition/sensors/Distortion.hh"
#include "ignition/sensors/Export.hh"
#include "ignition/sensors/config.hh"
#include "ignition/utils/ImplPtr.hh"

namespace ignition
{
  namespace sensors
  {
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
    //
    // Forward declarations
    class BrownDistortionModelPrivate;

    class IGNITION_SENSORS_VISIBLE BrownDistortionModel : public Distortion
    {
      public: BrownDistortionModel();

      public: virtual ~BrownDistortionModel();

      // Documentation inherited.
      public: virtual void Load(const sdf::Camera &_sdf) override;

      public: double K1() const;

      public: double K2() const;

      public: double K3() const;

      public: double P1() const;

      public: double P2() const;

      public: math::Vector2d Center() const;

      public: virtual void Print(std::ostream &_out) const override;

      IGN_UTILS_IMPL_PTR(dataPtr)
    };
  }
  }
}

#endif