Camera distortion based on the Brown-Conrady model.
More...
#include <rendering/rendering.hh>
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| Distortion () |
| Constructor. More...
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virtual | ~Distortion () |
| Destructor. More...
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ignition::math::Vector2d | Center () const |
| Get the distortion center. More...
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bool | Crop () const |
| Get whether or not the camera is being cropped to account for black borders created by barrel distortion. More...
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double | K1 () const |
| Get the radial distortion coefficient k1. More...
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double | K2 () const |
| Get the radial distortion coefficient k2. More...
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double | K3 () const |
| Get the radial distortion coefficient k3. More...
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virtual void | Load (sdf::ElementPtr _sdf) |
| Load the camera with a set of parmeters. More...
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double | P1 () const |
| Get the tangential distortion coefficient p1. More...
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double | P2 () const |
| Get the tangential distortion coefficient p2. More...
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void | SetCamera (CameraPtr _camera) |
| Set the camera which distortion will be applied to. More...
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void | SetCrop (const bool _crop) |
| Set whether to crop the black border around the distorted image points. More...
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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) |
| Apply distortion model. More...
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Camera distortion based on the Brown-Conrady model.
◆ Distortion()
◆ ~Distortion()
◆ CalculateAndApplyDistortionScale()
void CalculateAndApplyDistortionScale |
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calculate the correct scale factor to "zoom" the render, cutting off black borders caused by distortion (only if the crop flag has been set).
◆ Center()
ignition::math::Vector2d Center |
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const |
Get the distortion center.
- Returns
- Distortion center.
◆ Crop()
Get whether or not the camera is being cropped to account for black borders created by barrel distortion.
- Returns
- True if the black border is cropped
- See also
- SetCrop
◆ Distort()
static ignition::math::Vector2d Distort |
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const ignition::math::Vector2d & |
_in, |
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const ignition::math::Vector2d & |
_center, |
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double |
_k1, |
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double |
_k2, |
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double |
_k3, |
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double |
_p1, |
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double |
_p2 |
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Apply distortion model.
- Parameters
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[in] | _in | Input uv coordinate. |
[in] | _center | Normalized distortion center. |
[in] | _k1 | Radial distortion coefficient k1. |
[in] | _k2 | Radial distortion coefficient k2. |
[in] | _k3 | Radial distortion coefficient k3. |
[in] | _p1 | Tangential distortion coefficient p1. |
[in] | _p2 | Tangential distortion coefficient p2. |
- Returns
- Distorted coordinate.
◆ DistortionMapValueClamped()
ignition::math::Vector2d DistortionMapValueClamped |
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const int |
x, |
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const int |
y |
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get the distortion map value.
- Returns
- the distortion map value at the specified index, or (-1, -1) if the index is out of bounds.
◆ K1()
Get the radial distortion coefficient k1.
- Returns
- Distortion coefficient k1.
◆ K2()
Get the radial distortion coefficient k2.
- Returns
- Distortion coefficient k2.
◆ K3()
Get the radial distortion coefficient k3.
- Returns
- Distortion coefficient k3.
◆ Load()
virtual void Load |
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sdf::ElementPtr |
_sdf | ) |
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virtual |
Load the camera with a set of parmeters.
- Parameters
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[in] | _sdf | The SDF camera info |
◆ P1()
Get the tangential distortion coefficient p1.
- Returns
- Distortion coefficient p1.
◆ P2()
Get the tangential distortion coefficient p2.
- Returns
- Distortion coefficient p2.
◆ SetCamera()
Set the camera which distortion will be applied to.
- Parameters
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[in] | _camera | Camera to be distorted |
◆ SetCrop()
void SetCrop |
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const bool |
_crop | ) |
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Set whether to crop the black border around the distorted image points.
- Parameters
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[in] | _crop | True to crop the black border |
- See also
- Crop
The documentation for this class was generated from the following file: