Gazebo Sensors

API Reference

6.8.1
gz/sensors/BrownDistortionModel.hh
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2  * Copyright (C) 2022 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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8  * http://www.apache.org/licenses/LICENSE-2.0
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10  * Unless required by applicable law or agreed to in writing, software
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13  * See the License for the specific language governing permissions and
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17 
18 #ifndef IGNITION_SENSORS_BROWNDISTORTIONMODEL_HH_
19 #define IGNITION_SENSORS_BROWNDISTORTIONMODEL_HH_
20 
21 #include <sdf/sdf.hh>
22 
26 #include "ignition/utils/ImplPtr.hh"
27 
28 namespace ignition
29 {
30  namespace sensors
31  {
32  // Inline bracket to help doxygen filtering.
33  inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
34  //
35  // Forward declarations
36  class BrownDistortionModelPrivate;
37 
41  class IGNITION_SENSORS_VISIBLE BrownDistortionModel : public Distortion
43  {
45  public: BrownDistortionModel();
46 
48  public: virtual ~BrownDistortionModel();
49 
50  // Documentation inherited.
51  public: virtual void Load(const sdf::Camera &_sdf) override;
52 
55  public: double K1() const;
56 
59  public: double K2() const;
60 
63  public: double K3() const;
64 
67  public: double P1() const;
68 
71  public: double P2() const;
72 
75  public: math::Vector2d Center() const;
76 
78  public: virtual void Print(std::ostream &_out) const override;
79 
81  IGN_UTILS_IMPL_PTR(dataPtr)
82  };
83  }
84  }
85 }
86 
87 #endif
Definition: gz/sensors/AirPressureSensor.hh:31
double K3() const
Get the radial distortion coefficient k3.
double K2() const
Get the radial distortion coefficient k2.
STL class.
math::Vector2d Center() const
Get the distortion center.
virtual void Print(std::ostream &_out) const override
Documentation inherited.
double P1() const
Get the tangential distortion coefficient p1.
double P2() const
Get the tangential distortion coefficient p2.
virtual void Load(const sdf::Camera &_sdf) override
Load distortion parameters from sdf.
virtual ~BrownDistortionModel()
Destructor.
double K1() const
Get the radial distortion coefficient k1.