17 #ifndef SDF_CAMERA_HH_
18 #define SDF_CAMERA_HH_
21 #include <ignition/math/Pose3.hh>
26 #include <sdf/sdf_config.h>
31 inline namespace SDF_VERSION_NAMESPACE {
41 UNKNOWN_PIXEL_FORMAT = 0,
116 public: std::string
Name()
const;
120 public:
void SetName(
const std::string &_name);
294 const ignition::math::Vector2d &_center)
const;
300 public:
const ignition::math::Pose3d &
Pose() const
307 public:
void SetPose(const ignition::math::Pose3d &_pose)
313 public: const ignition::math::Pose3d &RawPose() const;
318 public:
void SetRawPose(const ignition::math::Pose3d &_pose);
324 public: const std::
string &PoseRelativeTo() const;
330 public:
void SetPoseRelativeTo(const std::
string &_frame);
337 public: const std::
string &PoseFrame() const
345 public:
void SetPoseFrame(const std::
string &_frame)
354 public: std::
string LensType() const;
359 public:
void SetLensType(const std::
string &_type);
364 public:
bool LensScaleToHfov() const;
369 public:
void SetLensScaleToHfov(
bool _scale);
373 public:
double LensC1() const;
377 public:
void SetLensC1(
double _c1);
381 public:
double LensC2() const;
385 public:
void SetLensC2(
double _c2);
389 public:
double LensC3() const;
393 public:
void SetLensC3(
double _c3);
397 public:
double LensFocalLength() const;
401 public:
void SetLensFocalLength(
double _f);
406 public: const std::
string &LensFunction() const;
411 public:
void SetLensFunction(const std::
string &_fun);
416 public: ignition::math::Angle LensCutoffAngle() const;
421 public:
void SetLensCutoffAngle(const ignition::math::Angle &_angle);
426 public:
int LensEnvironmentTextureSize() const;
431 public:
void SetLensEnvironmentTextureSize(
int _size);
435 public:
double LensIntrinsicsFx() const;
439 public:
void SetLensIntrinsicsFx(
double _fx);
443 public:
double LensIntrinsicsFy() const;
447 public:
void SetLensIntrinsicsFy(
double _fy);
451 public:
double LensIntrinsicsCx() const;
455 public:
void SetLensIntrinsicsCx(
double _cx);
459 public:
double LensIntrinsicsCy() const;
463 public:
void SetLensIntrinsicsCy(
double _cy);
467 public:
double LensIntrinsicsSkew() const;
471 public:
void SetLensIntrinsicsSkew(
double _s);
477 const std::
string &_format);
486 public: uint32_t VisibilityMask() const;
490 public:
void SetVisibilityMask(uint32_t _mask);
493 private: CameraPrivate *dataPtr =
nullptr;
Information about a monocular camera sensor.
Definition: Camera.hh:64
bool SaveFrames() const
Get whether frames should be saved.
bool operator!=(const Camera &_alt) const
Return true this Camera object does not contain the same values as the passed in parameter.
const ignition::math::Pose3d & Pose() const SDF_DEPRECATED(9.0)
Get the pose of the camer.
Errors Load(ElementPtr _sdf)
Load the camera sensor based on an element pointer.
double DistortionP2() const
Get the tangential distortion coefficient p2.
void SetImageHeight(uint32_t _height)
Set the image height in pixels.
void SetHasDepthNearClip(bool _near)
Set whether the depth camera near clip distance has been specified.
void SetDistortionCenter(const ignition::math::Vector2d &_center) const
Set the distortion center or principal point.
double DistortionP1() const
Get the tangential distortion coefficient p1.
virtual ~Camera()
Destructor.
PixelFormatType PixelFormat() const
Get the pixel format.
double DistortionK1() const
Get the radial distortion coefficient k1.
double DepthFarClip() const
Get the far clip distance for the depth camera.
void SetDistortionP1(double _p1)
Set the tangential distortion coefficient p1.
bool HasDepthCamera() const
Get whether the depth camera was set.
Camera(Camera &&_camera) noexcept
Move constructor.
uint32_t ImageHeight() const
Get the image height in pixels.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
void SetHasDepthFarClip(bool _far)
Set whether the depth camera far clip distance has been specified.
double FarClip() const
Get the far clip distance.
void SetDistortionK2(double _k2)
Set the radial distortion coefficient k2.
const Noise & ImageNoise() const
Get the image noise values.
void SetHorizontalFov(const ignition::math::Angle &_hfov)
Set the horizontal field of view in radians.
void SetSaveFramesPath(const std::string &_path)
Set the path in which to save frames.
double DistortionK3() const
Get the radial distortion coefficient k3.
bool HasDepthNearClip() const
Get whether the depth camera near clip distance was set.
void SetPixelFormat(PixelFormatType _format)
Set the pixel format type.
double NearClip() const
Get the near clip distance.
void SetNearClip(double _near)
Set the near clip distance.
void SetDepthNearClip(double _near)
Set the near clip distance for the depth camera.
Camera & operator=(const Camera &_camera)
Assignment operator.
void SetFarClip(double _far)
Set the far clip distance.
Camera & operator=(Camera &&_camera) noexcept
Move assignment operator.
void SetImageNoise(const Noise &_noise)
Set the noise values related to the image.
uint32_t ImageWidth() const
Get the image width in pixels.
void SetDepthFarClip(double _far)
Set the far clip distance for the depth camera.
double DistortionK2() const
Get the radial distortion coefficient k2.
bool operator==(const Camera &_alt) const
Return true if both Camera objects contain the same values.
Camera(const Camera &_camera)
Copy constructor.
void SetHasDepthCamera(bool _camera)
Set whether the depth camera has been specified.
const std::string & SaveFramesPath() const
Get the path in which to save frames.
ignition::math::Angle HorizontalFov() const
Get the horizontal field of view in radians.
double DepthNearClip() const
Get the near clip distance for the depth camera.
const ignition::math::Vector2d & DistortionCenter() const
Get the distortion center or principal point.
void SetPixelFormatStr(const std::string &_fmt)
Set the pixel format from a string.
void SetSaveFrames(bool _save)
Set whether frames should be saved.
void SetDistortionK1(double _k1)
Set the radial distortion coefficient k1.
void SetImageWidth(uint32_t _width)
Set the image width in pixels.
void SetDistortionP2(double _p2)
Set the tangential distortion coefficient p2.
std::string PixelFormatStr() const
Get the pixel format as a string.
std::string Name() const
Get the name of the camera.
void SetName(const std::string &_name)
Set the name of the camera.
bool HasDepthFarClip() const
Get whether the depth camera far clip distance was set.
void SetDistortionK3(double _k3)
Set the radial distortion coefficient k3.
The Noise class contains information about a noise model, such as a Gaussian distribution.
Definition: Noise.hh:50
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:89
PixelFormatType
The set of pixel formats.
Definition: Camera.hh:40
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
class SDFORMAT_VISIBLE SDF_DEPRECATED(9.2) URDF2SDF
URDF to SDF converter.
Definition: parser_urdf.hh:40
namespace for Simulation Description Format parser
Definition: Actor.hh:33
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:48