18 #ifndef _GAZEBO_RENDERING_DISTORTION_HH_ 19 #define _GAZEBO_RENDERING_DISTORTION_HH_ 22 #include <ignition/math.hh> 32 class DistortionPrivate;
49 public:
virtual void Load(sdf::ElementPtr _sdf);
53 public:
void SetCamera(
CameraPtr _camera);
58 public:
void SetCrop(
bool _crop);
62 public:
double GetK1()
const;
66 public:
double GetK2()
const;
70 public:
double GetK3()
const;
74 public:
double GetP1()
const;
78 public:
double GetP2()
const;
83 public:
bool Crop()
const;
101 double _k3,
double _p1,
double _p2);
107 protected: ignition::math::Vector2d
108 DistortionMapValueClamped(
const int x,
const int y)
const;
113 protected:
void CalculateAndApplyDistortionScale();
116 protected: sdf::ElementPtr
sdf;
120 private: DistortionPrivate *dataPtr;
Forward declarations for the common classes.
Definition: Animation.hh:33
Generic double x, y vector.
Definition: Vector2d.hh:36
Camera distortion based on the Brown-Conrady model.
Definition: Distortion.hh:39
boost::shared_ptr< Camera > CameraPtr
Definition: RenderTypes.hh:90
sdf::ElementPtr sdf
Distortion SDF values.
Definition: Distortion.hh:116