Distortion Class Reference

Camera distortion based on the Brown-Conrady model. More...

#include <rendering/rendering.hh>

Public Member Functions
	Distortion ()
	Constructor. More...
virtual	~Distortion ()
	Destructor. More...
ignition::math::Vector2d	Center () const
	Get the distortion center. More...
bool	Crop () const
	Get whether or not the camera is being cropped to account for black borders created by barrel distortion. More...
math::Vector2d	GetCenter () const GAZEBO_DEPRECATED(8.0)
	Get the distortion center. More...
double	GetK1 () const GAZEBO_DEPRECATED(8.0)
	Get the radial distortion coefficient k1. More...
double	GetK2 () const GAZEBO_DEPRECATED(8.0)
	Get the radial distortion coefficient k2. More...
double	GetK3 () const GAZEBO_DEPRECATED(8.0)
	Get the radial distortion coefficient k3. More...
double	GetP1 () const GAZEBO_DEPRECATED(8.0)
	Get the tangential distortion coefficient p1. More...
double	GetP2 () const GAZEBO_DEPRECATED(8.0)
	Get the tangential distortion coefficient p2. More...
double	K1 () const
	Get the radial distortion coefficient k1. More...
double	K2 () const
	Get the radial distortion coefficient k2. More...
double	K3 () const
	Get the radial distortion coefficient k3. More...
virtual void	Load (sdf::ElementPtr _sdf)
	Load the camera with a set of parmeters. More...
double	P1 () const
	Get the tangential distortion coefficient p1. More...
double	P2 () const
	Get the tangential distortion coefficient p2. More...
void	SetCamera (CameraPtr _camera)
	Set the camera which distortion will be applied to. More...
void	SetCrop (const bool _crop)
	Set whether to crop the black border around the distorted image points. More...

Static Public Member Functions
static math::Vector2d	Distort (const math::Vector2d &_in, const math::Vector2d &_center, double _k1, double _k2, double _k3, double _p1, double _p2) GAZEBO_DEPRECATED(8.0)
	Apply distortion model. More...
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...

Protected Member Functions
void	CalculateAndApplyDistortionScale ()
	calculate the correct scale factor to "zoom" the render, cutting off black borders caused by distortion (only if the crop flag has been set). More...
ignition::math::Vector2d	DistortionMapValueClamped (const int x, const int y) const
	get the distortion map value. More...

Detailed Description

Camera distortion based on the Brown-Conrady model.

Constructor & Destructor Documentation

Distortion

(

)

Constructor.

virtual ~Distortion ( )

virtual

Destructor.

Member Function Documentation

void CalculateAndApplyDistortionScale ( )

protected

calculate the correct scale factor to "zoom" the render, cutting off black borders caused by distortion (only if the crop flag has been set).

ignition::math::Vector2d Center

(

)

const

Get the distortion center.

Returns

Distortion center.

bool Crop

(

)

const

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

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

static

Apply distortion model.

Parameters

[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.

Deprecated:

See version that accepts and returns ignition math objects.

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  )

static

Apply distortion model.

Parameters

[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.

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

protected

get the distortion map value.

Returns

the distortion map value at the specified index, or (-1, -1) if the index is out of bounds.

math::Vector2d GetCenter

(

)

const

Get the distortion center.

Returns

Distortion center.

Deprecated:

See ignition::math::Vector2d Center() const.

double GetK1

(

)

const

Get the radial distortion coefficient k1.

Returns

Distortion coefficient k1.

Deprecated:

See double K1() const

double GetK2

(

)

const

Get the radial distortion coefficient k2.

Returns

Distortion coefficient k2.

Deprecated:

See double K2() const

double GetK3

(

)

const

Get the radial distortion coefficient k3.

Returns

Distortion coefficient k3.

Deprecated:

See double K3() const

double GetP1

(

)

const

Get the tangential distortion coefficient p1.

Returns

Distortion coefficient p1.

Deprecated:

See double P1() const

double GetP2

(

)

const

Get the tangential distortion coefficient p2.

Returns

Distortion coefficient p2.

Deprecated:

See double P2() const

double K1

(

)

const

Get the radial distortion coefficient k1.

Returns

Distortion coefficient k1.

double K2

(

)

const

Get the radial distortion coefficient k2.

Returns

Distortion coefficient k2.

double K3

(

)

const

Get the radial distortion coefficient k3.

Returns

Distortion coefficient k3.

virtual void Load ( sdf::ElementPtr  _sdf )

virtual

Load the camera with a set of parmeters.

Parameters

[in]

_sdf

The SDF camera info

double P1

(

)

const

Get the tangential distortion coefficient p1.

Returns

Distortion coefficient p1.

double P2

(

)

const

Get the tangential distortion coefficient p2.

Returns

Distortion coefficient p2.

void SetCamera

(

CameraPtr

_camera

)

Set the camera which distortion will be applied to.

Parameters

[in]

_camera

Camera to be distorted

void SetCrop

(

const bool

_crop

)

Set whether to crop the black border around the distorted image points.

Parameters

[in]

_crop

True to crop the black border

See Also

Crop

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

• Distortion.hh