Camera.hh

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/*
 * Copyright 2019 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 SDF_CAMERA_HH_
#define SDF_CAMERA_HH_

#include <string>
#include <ignition/math/Pose3.hh>

#include <sdf/Error.hh>
#include <sdf/Element.hh>
#include <sdf/Noise.hh>
#include <sdf/sdf_config.h>

namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  //
  // Forward declare private data class.
  class CameraPrivate;

  enum class PixelFormatType
  {
    UNKNOWN_PIXEL_FORMAT = 0,
    L_INT8,
    L_INT16,
    RGB_INT8,
    RGBA_INT8,
    BGRA_INT8,
    RGB_INT16,
    RGB_INT32,
    BGR_INT8,
    BGR_INT16,
    BGR_INT32,
    R_FLOAT16,
    RGB_FLOAT16,
    R_FLOAT32,
    RGB_FLOAT32,
    BAYER_RGGB8,
    BAYER_BGGR8,
    BAYER_GBRG8,
    BAYER_GRBG8,
  };

  class SDFORMAT_VISIBLE Camera
  {
    public: Camera();

    public: Camera(const Camera &_camera);

    public: Camera(Camera &&_camera) noexcept;

    public: virtual ~Camera();

    public: Camera &operator=(const Camera &_camera);

    public: Camera &operator=(Camera &&_camera) noexcept;

    public: bool operator==(const Camera &_alt) const;

    public: bool operator!=(const Camera &_alt) const;

    public: Errors Load(ElementPtr _sdf);

    public: sdf::ElementPtr Element() const;

    public: std::string Name() const;

    public: void SetName(const std::string &_name);

    public: ignition::math::Angle HorizontalFov() const;

    public: void SetHorizontalFov(const ignition::math::Angle &_hfov);

    public: uint32_t ImageWidth() const;

    public: void SetImageWidth(uint32_t _width);

    public: uint32_t ImageHeight() const;

    public: void SetImageHeight(uint32_t _height);

    public: PixelFormatType PixelFormat() const;

    public: void SetPixelFormat(PixelFormatType _format);

    public: std::string PixelFormatStr() const;

    public: void SetPixelFormatStr(const std::string &_fmt);

    public: double DepthNearClip() const;

    public: void SetDepthNearClip(double _near);

    public: double DepthFarClip() const;

    public: void SetDepthFarClip(double _far);

    public: double NearClip() const;

    public: void SetNearClip(double _near);

    public: void SetHasDepthCamera(bool _camera);

    public: bool HasDepthCamera() const;

    public: void SetHasDepthNearClip(bool _near);

    public: bool HasDepthNearClip() const;

    public: void SetHasDepthFarClip(bool _far);

    public: bool HasDepthFarClip() const;

    public: double FarClip() const;

    public: void SetFarClip(double _far);

    public: bool SaveFrames() const;

    public: void SetSaveFrames(bool _save);

    public: const std::string &SaveFramesPath() const;

    public: void SetSaveFramesPath(const std::string &_path);

    public: const Noise &ImageNoise() const;

    public: void SetImageNoise(const Noise &_noise);

    public: double DistortionK1() const;

    public: void SetDistortionK1(double _k1);

    public: double DistortionK2() const;

    public: void SetDistortionK2(double _k2);

    public: double DistortionK3() const;

    public: void SetDistortionK3(double _k3);

    public: double DistortionP1() const;

    public: void SetDistortionP1(double _p1);

    public: double DistortionP2() const;

    public: void SetDistortionP2(double _p2);

    public: const ignition::math::Vector2d &DistortionCenter() const;

    public: void SetDistortionCenter(
                const ignition::math::Vector2d &_center) const;

    public: const ignition::math::Pose3d &RawPose() const;

    public: void SetRawPose(const ignition::math::Pose3d &_pose);

    public: const std::string &PoseRelativeTo() const;

    public: void SetPoseRelativeTo(const std::string &_frame);

    public: std::string LensType() const;

    public: void SetLensType(const std::string &_type);

    public: bool LensScaleToHfov() const;

    public: void SetLensScaleToHfov(bool _scale);

    public: double LensC1() const;

    public: void SetLensC1(double _c1);

    public: double LensC2() const;

    public: void SetLensC2(double _c2);

    public: double LensC3() const;

    public: void SetLensC3(double _c3);

    public: double LensFocalLength() const;

    public: void SetLensFocalLength(double _f);

    public: const std::string &LensFunction() const;

    public: void SetLensFunction(const std::string &_fun);

    public: ignition::math::Angle LensCutoffAngle() const;

    public: void SetLensCutoffAngle(const ignition::math::Angle &_angle);

    public: int LensEnvironmentTextureSize() const;

    public: void SetLensEnvironmentTextureSize(int _size);

    public: double LensIntrinsicsFx() const;

    public: void SetLensIntrinsicsFx(double _fx);

    public: double LensIntrinsicsFy() const;

    public: void SetLensIntrinsicsFy(double _fy);

    public: double LensIntrinsicsCx() const;

    public: void SetLensIntrinsicsCx(double _cx);

    public: double LensIntrinsicsCy() const;

    public: void SetLensIntrinsicsCy(double _cy);

    public: double LensIntrinsicsSkew() const;

    public: void SetLensIntrinsicsSkew(double _s);

    public: static PixelFormatType ConvertPixelFormat(
                const std::string &_format);

    public: static std::string ConvertPixelFormat(PixelFormatType _type);

    public: uint32_t VisibilityMask() const;

    public: void SetVisibilityMask(uint32_t _mask);

    private: CameraPrivate *dataPtr = nullptr;
  };
  }
}

#endif