DistortionPrivate.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 #ifndef _GAZEBO_RENDERING_DISTORTION_PRIVATE_HH_
18 #define _GAZEBO_RENDERING_DISTORTION_PRIVATE_HH_
19 
20 #include <vector>
21 
22 #include "gazebo/math/Vector2d.hh"
23 
24 namespace gazebo
25 {
26  namespace rendering
27  {
30  {
32  public: double k1;
33 
35  public: double k2;
36 
38  public: double k3;
39 
41  public: double p1;
42 
44  public: double p2;
45 
48 
51 
54  public: bool distortionCrop;
55 
57  public: Ogre::CompositorInstance *lensDistortionInstance;
58 
61 
63  public: std::vector<math::Vector2d> distortionMap;
64  };
65  }
66 }
67 #endif
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:147
double k3
Radial distortion coefficient k3.
Definition: DistortionPrivate.hh:38
Generic double x, y vector.
Definition: Vector2d.hh:36
bool distortionCrop
True if the distorted image will be cropped to remove the black pixels at the corners of the image...
Definition: DistortionPrivate.hh:54
double k2
Radial distortion coefficient k2.
Definition: DistortionPrivate.hh:35
Ogre::CompositorInstance * lensDistortionInstance
Lens distortion compositor.
Definition: DistortionPrivate.hh:57
event::ConnectionPtr preRenderConnection
Connection for the pre render event.
Definition: DistortionPrivate.hh:60
std::vector< math::Vector2d > distortionMap
Mapping of distorted to undistorted normalized pixels.
Definition: DistortionPrivate.hh:63
double p1
Tangential distortion coefficient p1.
Definition: DistortionPrivate.hh:41
Private data for the Distortion class.
Definition: DistortionPrivate.hh:29
double p2
Tangential distortion coefficient p2.
Definition: DistortionPrivate.hh:44
math::Vector2d lensCenter
Lens center used for distortion.
Definition: DistortionPrivate.hh:47
math::Vector2d distortionScale
Scale applied to distorted image.
Definition: DistortionPrivate.hh:50
double k1
Radial distortion coefficient k1.
Definition: DistortionPrivate.hh:32