gazebo::rendering::CameraLens Class Reference

Describes a lens of a camera as amapping function of type r = c1*f*fun(theta/c2+c3) More...

#include <rendering/rendering.hh>

Public Member Functions
	CameraLens ()
	Constructor. More...
	~CameraLens ()=default
	Destructor. More...
double	C1 () const
	Gets c1 parameter. More...
double	C2 () const
	Gets c2 parameter. More...
double	C3 () const
	Gets c3 parameter. More...
double	CutOffAngle () const
	Gets cut off angle. More...
double	F () const
	Gets f parameter. More...
std::string	Fun () const
	Gets angle transform function. More...
void	Init (const double _c1, const double _c2, const std::string &_fun, const double _f, const double _c3)
	Init custom camera lens with specified parameters. More...
void	Init (const std::string &_name)
	Init camera lens with standard mapping function. More...
bool	IsCustom () const
	Checks if lens type is of the custom type. More...
void	Load (sdf::ElementPtr _sdf)
	Load camera lens from SDF file. More...
void	Load ()
	Load camera lens with default parameters. More...
bool	ScaleToHFOV () const
	Checks if image should be scaled to fit horizontal FOV. More...
void	SetC1 (const double _c)
	Sets c1 parameter. More...
void	SetC2 (const double _c)
	Sets c2 parameter. More...
void	SetC3 (const double _c)
	Sets c3 parameter. More...
void	SetCutOffAngle (const double _angle)
	Sets cut-off angle. More...
void	SetF (const double _f)
	Sets f parameter. More...
void	SetFun (const std::string &_fun)
	Sets angle transform function. More...
void	SetScaleToHFOV (const bool _scale)
	Sets whether the image should be scaled to fit horizontal FOV. More...
void	SetType (const std::string &_type)
	Set lens projection type. More...
void	SetUniformVariables (Ogre::Pass *_pass, const float _ratio, const float _hfov)
	Set uniform variables of a shader for the provided material technique pass. More...
std::string	Type () const
	Get lens projection type. More...

Detailed Description

Describes a lens of a camera as amapping function of type r = c1*f*fun(theta/c2+c3)

Constructor & Destructor Documentation

gazebo::rendering::CameraLens::CameraLens

(

)

Constructor.

gazebo::rendering::CameraLens::~CameraLens ( )

default

Destructor.

Member Function Documentation

double gazebo::rendering::CameraLens::C1

(

)

const

Gets c1 parameter.

Returns

c1 parameter

double gazebo::rendering::CameraLens::C2

(

)

const

Gets c2 parameter.

Returns

c2 parameter

double gazebo::rendering::CameraLens::C3

(

)

const

Gets c3 parameter.

Returns

c3 parameter

double gazebo::rendering::CameraLens::CutOffAngle

(

)

const

Gets cut off angle.

Returns

Cut off angle

double gazebo::rendering::CameraLens::F

(

)

const

Gets f parameter.

Returns

f parameter

std::string gazebo::rendering::CameraLens::Fun

(

)

const

Gets angle transform function.

Returns

Angle transform function string

void gazebo::rendering::CameraLens::Init	(	const double	_c1,
		const double	_c2,
		const std::string &	_fun,
		const double	_f,
		const double	_c3
	)

Init custom camera lens with specified parameters.

Parameters

[in]	_c1	Image scaling factor
[in]	_c2	Angle scaling factor
[in]	_fun	Angle transform function
[in]	_f	Focal length of the optical system
[in]	_c3	Angle shift parameter, should be 0 in most cases

void gazebo::rendering::CameraLens::Init

(

const std::string &

_name

)

Init camera lens with standard mapping function.

Parameters

[in]

_name

Mapping function name

bool gazebo::rendering::CameraLens::IsCustom

(

)

const

Checks if lens type is of the custom type.

Returns

True if this->Type() == "custom"

void gazebo::rendering::CameraLens::Load

(

sdf::ElementPtr

_sdf

)

Load camera lens from SDF file.

Parameters

[in]

_sdf

SDF lens element

void gazebo::rendering::CameraLens::Load

(

)

Load camera lens with default parameters.

bool gazebo::rendering::CameraLens::ScaleToHFOV

(

)

const

Checks if image should be scaled to fit horizontal FOV.

Returns

True if the image will be scaled

void gazebo::rendering::CameraLens::SetC1

(

const double

_c

)

Sets c1 parameter.

Parameters

[in]

_c

c1 parameter

void gazebo::rendering::CameraLens::SetC2

(

const double

_c

)

Sets c2 parameter.

Parameters

[in]

_c

c2 parameter

void gazebo::rendering::CameraLens::SetC3

(

const double

_c

)

Sets c3 parameter.

Parameters

[in]

_c

c3 parameter

void gazebo::rendering::CameraLens::SetCutOffAngle

(

const double

_angle

)

Sets cut-off angle.

Parameters

[in]

_angle

cut-off angle

void gazebo::rendering::CameraLens::SetF

(

const double

_f

)

Sets f parameter.

Parameters

[in]

_f

f parameter

void gazebo::rendering::CameraLens::SetFun

(

const std::string &

_fun

)

Sets angle transform function.

Parameters

[in]

_fun

Angle transform function string

void gazebo::rendering::CameraLens::SetScaleToHFOV

(

const bool

_scale

)

Sets whether the image should be scaled to fit horizontal FOV.

Parameters

[in]

_scale

true if it should, note: c1 and f parameters are ignored in this case

void gazebo::rendering::CameraLens::SetType

(

const std::string &

_type

)

Set lens projection type.

Parameters

[in]

_type

Lens projection type string

void gazebo::rendering::CameraLens::SetUniformVariables	(	Ogre::Pass *	_pass,
		const float	_ratio,
		const float	_hfov
	)

Set uniform variables of a shader for the provided material technique pass.

Parameters

[in]	_pass	Ogre::Pass used for rendering
[in]	_ratio	Frame aspect ratio
[in]	_hfov	Horizontal field of view

std::string gazebo::rendering::CameraLens::Type

(

)

const

Get lens projection type.

Returns

Lens projection type string

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The documentation for this class was generated from the following file:

• WideAngleCamera.hh