21#include <ignition/math/Pose3.hh>
22#include <ignition/utils/ImplPtr.hh>
27#include <sdf/sdf_config.h>
32 inline namespace SDF_VERSION_NAMESPACE {
38 UNKNOWN_PIXEL_FORMAT = 0,
92 public: std::string
Name()
const;
96 public:
void SetName(
const std::string &_name);
308 public:
const ignition::math::Pose3d &
RawPose()
const;
313 public:
void SetRawPose(
const ignition::math::Pose3d &_pose);
456 const std::string &_format);
481 IGN_UTILS_IMPL_PTR(dataPtr)
Information about a monocular camera sensor.
Definition: Camera.hh:61
bool HasSegmentationType() const
Get whether the segmentation type was set.
double LensFocalLength() const
Get lens custom function focal length.
ignition::math::Angle HorizontalFov() const
Get the horizontal field of view in radians.
const Noise & ImageNoise() const
Get the image noise values.
uint32_t ImageHeight() const
Get the image height in pixels.
const std::string & BoundingBoxType() const
Get the boundingbox type.
double DepthFarClip() const
Get the far clip distance for the depth camera.
sdf::ElementPtr ToElement() const
Create and return an SDF element filled with data from this camera.
void SetLensEnvironmentTextureSize(int _size)
Set environment texture size.
bool HasDepthCamera() const
Get whether the depth camera was set.
double DistortionK3() const
Get the radial distortion coefficient k3.
void SetPoseRelativeTo(const std::string &_frame)
Set the name of the coordinate frame relative to which this object's pose is expressed.
void SetSaveFramesPath(const std::string &_path)
Set the path in which to save frames.
double DepthNearClip() const
Get the near clip distance for the depth camera.
void SetLensFunction(const std::string &_fun)
Set lens custom function.
const ignition::math::Vector2d & DistortionCenter() const
Get the distortion center or principal point.
void SetDistortionK2(double _k2)
Set the radial distortion coefficient k2.
bool LensScaleToHfov() const
Get lens scale to horizontal field of field.
static PixelFormatType ConvertPixelFormat(const std::string &_format)
Convert a string to a PixelFormatType.
void SetImageHeight(uint32_t _height)
Set the image height in pixels.
double LensIntrinsicsCy() const
Get the lens Y principal point in pixels.
void SetLensC3(double _c3)
Set lens custom function angle offset constant.
void SetLensIntrinsicsFy(double _fy)
Set the lens Y focal length in pixels.
void SetHasSegmentationType(bool _type)
Set whether the segmentation type has been specified.
void SetLensIntrinsicsFx(double _fx)
Set the lens X focal length in pixels.
const std::string & SaveFramesPath() const
Get the path in which to save frames.
void SetDistortionP1(double _p1)
Set the tangential distortion coefficient p1.
double FarClip() const
Get the far clip distance.
double DistortionP1() const
Get the tangential distortion coefficient p1.
double LensIntrinsicsSkew() const
Get the lens XY axis skew.
static std::string ConvertPixelFormat(PixelFormatType _type)
Convert a PixelFormatType to a string.
const ignition::math::Pose3d & RawPose() const
Get the pose of the camer.
void SetName(const std::string &_name)
Set the name of the camera.
double DistortionP2() const
Get the tangential distortion coefficient p2.
void SetLensCutoffAngle(const ignition::math::Angle &_angle)
Set lens cutoff angle.
bool HasLensIntrinsics() const
Get whether or not the camera has instrinsics values set.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
void SetDepthNearClip(double _near)
Set the near clip distance for the depth camera.
const std::string & LensFunction() const
Get lens custom function.
bool operator!=(const Camera &_alt) const
Return true this Camera object does not contain the same values as the passed in parameter.
int LensEnvironmentTextureSize() const
Get environment texture size.
void SetBoundingBoxType(const std::string &_type)
Set the boundingbox type.
void SetLensFocalLength(double _f)
Set lens custom function focal length.
void SetHorizontalFov(const ignition::math::Angle &_hfov)
Set the horizontal field of view in radians.
PixelFormatType PixelFormat() const
Get the pixel format.
void SetDistortionK3(double _k3)
Set the radial distortion coefficient k3.
uint32_t VisibilityMask() const
Get the visibility mask of a camera.
bool operator==(const Camera &_alt) const
Return true if both Camera objects contain the same values.
double LensC3() const
Get lens custom function angle offset constant.
void SetLensC2(double _c2)
Set lens custom function angular scaling constant.
bool HasDepthFarClip() const
Get whether the depth camera far clip distance was set.
void SetImageNoise(const Noise &_noise)
Set the noise values related to the image.
const std::string & PoseRelativeTo() const
Get the name of the coordinate frame relative to which this object's pose is expressed.
void SetFarClip(double _far)
Set the far clip distance.
void SetHasDepthFarClip(bool _far)
Set whether the depth camera far clip distance has been specified.
double DistortionK1() const
Get the radial distortion coefficient k1.
void SetHasBoundingBoxType(bool _type)
Set whether the boundingbox type has been specified.
void SetImageWidth(uint32_t _width)
Set the image width in pixels.
void SetPixelFormatStr(const std::string &_fmt)
Set the pixel format from a string.
double LensIntrinsicsFy() const
Get the lens Y focal length in pixels.
void SetSaveFrames(bool _save)
Set whether frames should be saved.
double LensIntrinsicsFx() const
Get the lens X focal length in pixels.
ignition::math::Angle LensCutoffAngle() const
Get lens cutoff angle.
bool HasDepthNearClip() const
Get whether the depth camera near clip distance was set.
double LensC2() const
Get lens custom function angular scaling constant.
std::string LensType() const
Get the lens type.
void SetDistortionK1(double _k1)
Set the radial distortion coefficient k1.
void SetVisibilityMask(uint32_t _mask)
Set the visibility mask of a camera.
double LensC1() const
Get lens custom function linear scaling constant.
void SetLensIntrinsicsCx(double _cx)
Set the lens X principal point in pixels.
double NearClip() const
Get the near clip distance.
void SetLensC1(double _c1)
Set lens custom function linear scaling constant.
void SetDepthFarClip(double _far)
Set the far clip distance for the depth camera.
bool SaveFrames() const
Get whether frames should be saved.
void SetHasDepthCamera(bool _camera)
Set whether the depth camera has been specified.
void SetNearClip(double _near)
Set the near clip distance.
const std::string & SegmentationType() const
Get the segmentation type.
void SetLensScaleToHfov(bool _scale)
Set lens scale to horizontal field of field.
Errors Load(ElementPtr _sdf)
Load the camera sensor based on an element pointer.
double DistortionK2() const
Get the radial distortion coefficient k2.
bool HasBoundingBoxType() const
Get whether the boundingbox type was set.
void SetDistortionP2(double _p2)
Set the tangential distortion coefficient p2.
double LensIntrinsicsCx() const
Get the lens X principal point in pixels.
void SetDistortionCenter(const ignition::math::Vector2d &_center)
Set the distortion center or principal point.
std::string PixelFormatStr() const
Get the pixel format as a string.
void SetHasDepthNearClip(bool _near)
Set whether the depth camera near clip distance has been specified.
void SetRawPose(const ignition::math::Pose3d &_pose)
Set the pose of the camera.
void SetLensIntrinsicsCy(double _cy)
Set the lens Y principal point in pixels.
void SetLensIntrinsicsSkew(double _s)
Set the lens XY axis skew.
void SetSegmentationType(const std::string &_type)
Set the segmentation type.
std::string Name() const
Get the name of the camera.
void SetLensType(const std::string &_type)
Set the lens type.
void SetPixelFormat(PixelFormatType _format)
Set the pixel format type.
uint32_t ImageWidth() const
Get the image width in pixels.
The Noise class contains information about a noise model, such as a Gaussian distribution.
Definition: Noise.hh:48
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:106
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:54
PixelFormatType
The set of pixel formats.
Definition: Camera.hh:37
namespace for Simulation Description Format parser
Definition: Actor.hh:34
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:41