77 lines
2.3 KiB
C++
77 lines
2.3 KiB
C++
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/*
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* Copyright (C) 2014 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_RENDERING_DISTORTION_PRIVATE_HH_
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#define _GAZEBO_RENDERING_DISTORTION_PRIVATE_HH_
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#include <vector>
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#include "gazebo/math/Vector2d.hh"
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namespace gazebo
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{
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namespace rendering
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{
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/// \brief Private data for the Distortion class
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class DistortionPrivate
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{
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/// \brief Radial distortion coefficient k1.
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public: double k1;
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/// \brief Radial distortion coefficient k2.
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public: double k2;
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/// \brief Radial distortion coefficient k3.
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public: double k3;
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/// \brief Tangential distortion coefficient p1.
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public: double p1;
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/// \brief Tangential distortion coefficient p2.
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public: double p2;
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/// \brief Lens center used for distortion
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public: ignition::math::Vector2d lensCenter;
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/// \brief Scale applied to distorted image.
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public: ignition::math::Vector2d distortionScale;
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/// \brief True if the distorted image will be cropped to remove the
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/// black pixels at the corners of the image.
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public: bool distortionCrop;
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/// \brief Lens distortion compositor
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public: Ogre::CompositorInstance *lensDistortionInstance;
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/// \brief Ogre Material that contains the distortion shader
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public: Ogre::MaterialPtr distortionMaterial;
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/// \brief Connection for the pre render event.
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public: event::ConnectionPtr preRenderConnection;
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/// \brief Mapping of distorted to undistorted normalized pixels
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public: std::vector<ignition::math::Vector2d> distortionMap;
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/// \brief Width of distortion texture map
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public: unsigned int distortionTexWidth;
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/// \brief Height of distortion texture map
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public: unsigned int distortionTexHeight;
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};
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}
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}
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#endif
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