Distortion.hh

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/*
 * Copyright (C) 2014 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 GAZEBO_RENDERING_DISTORTION_HH_
#define GAZEBO_RENDERING_DISTORTION_HH_

#include <memory>
#include <ignition/math/Vector2.hh>
#include <sdf/Element.hh>

#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace rendering
  {
    class DistortionPrivate;


    class GZ_RENDERING_VISIBLE Distortion
    {
      public: Distortion();

      public: virtual ~Distortion();

      public: virtual void Load(sdf::ElementPtr _sdf);

      public: void SetCamera(CameraPtr _camera);

      public: void SetCrop(const bool _crop);

      public: bool Crop() const;

      public: double K1() const;

      public: double K2() const;

      public: double K3() const;

      public: double P1() const;

      public: double P2() const;

      public: ignition::math::Vector2d Center() const;

      public: static ignition::math::Vector2d Distort(
                  const ignition::math::Vector2d &_in,
                  const ignition::math::Vector2d &_center,
                  double _k1, double _k2, double _k3,
                  double _p1, double _p2);

      protected: ignition::math::Vector2d
        DistortionMapValueClamped(const int x, const int y) const;

      protected: void CalculateAndApplyDistortionScale();

      private: std::unique_ptr<DistortionPrivate> dataPtr;
    };
  }
}
#endif