17 #ifndef GAZEBO_RENDERING_DISTORTION_HH_ 18 #define GAZEBO_RENDERING_DISTORTION_HH_ 21 #include <ignition/math/Vector2.hh> 33 class DistortionPrivate;
51 public:
virtual void Load(sdf::ElementPtr _sdf);
55 public:
void SetCamera(
CameraPtr _camera);
61 public:
void SetCrop(
const bool _crop);
67 public:
bool Crop()
const;
76 public:
double K1()
const;
85 public:
double K2()
const;
94 public:
double K3()
const;
103 public:
double P1()
const;
112 public:
double P2()
const;
121 public: ignition::math::Vector2d Center()
const;
135 const math::Vector2d &_center,
double _k1,
double _k2,
double _k3,
147 public:
static ignition::math::Vector2d Distort(
148 const ignition::math::Vector2d &_in,
149 const ignition::math::Vector2d &_center,
150 double _k1,
double _k2,
double _k3,
151 double _p1,
double _p2);
155 private: std::unique_ptr<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 Brown's model.
Definition: Distortion.hh:41
#define GAZEBO_DEPRECATED(version)
Definition: system.hh:302
boost::shared_ptr< Camera > CameraPtr
Definition: RenderTypes.hh:89