##

CameraLens Class Reference
Rendering

Describes a lens of a camera as amapping function of type r = c1*f*fun(theta/c2+c3) More...

`#include <rendering/rendering.hh>`

## Public Member Functions

| CameraLens ()
| Constructor. More...
virtual | ~CameraLens ()
| Destructor. More...
double | C1 () const
| Gets c1 parameter. More...
double | C2 () const
| Gets c2 parameter. More...
double | C3 () const
| Gets c3 parameter. More...
double | CutOffAngle () const
| Gets cut off angle. More...
double | F () const
| Gets f parameter. More...
std::string | Fun () const
| Gets angle transform function. More...
void | Init (const double _c1, const double _c2, const std::string &_fun, const double _f, const double _c3)
| Init custom camera lens with specified parameters. More...
void | Init (const std::string &_name)
| Init camera lens with standard mapping function. More...
bool | IsCustom () const
| Checks if lens type is of the custom type. More...
void | Load ()
| Load camera lens with default parameters. More...
void | Load (sdf::ElementPtr _sdf)
| Load camera lens from SDF file. More...
bool | ScaleToHFOV () const
| Checks if image should be scaled to fit horizontal FOV. More...
void | SetC1 (const double _c)
| Sets c1 parameter. More...
void | SetC2 (const double _c)
| Sets c2 parameter. More...
void | SetC3 (const double _c)
| Sets c3 parameter. More...
void | SetCutOffAngle (const double _angle)
| Sets cut-off angle. More...
void | SetF (const double _f)
| Sets f parameter. More...
void | SetFun (const std::string &_fun)
| Sets angle transform function. More...
void | SetScaleToHFOV (const bool _scale)
| Sets whether the image should be scaled to fit horizontal FOV If True, the projection will compute a new focal length for achieving the desired FOV. More...
void | SetType (const std::string &_type)
| Set lens projection type. More...
void | SetUniformVariables (Ogre::Pass *_pass, const float _ratio, const float _hfov)
| Set uniform variables of a shader for the provided material technique pass. More...
std::string | Type () const
| Get lens projection type. More...

## Detailed Description

Describes a lens of a camera as amapping function of type r = c1*f*fun(theta/c2+c3)

## Constructor & Destructor Documentation

## CameraLens()

CameraLens | ( |  | ) |

Constructor.

## ~CameraLens()

virtual ~CameraLens | ( |  | ) |

virtual

Destructor.

## Member Function Documentation

## C1()

double C1 | ( |  | ) | const

Gets c1 parameter.

Returns
  c1 parameter

## C2()

double C2 | ( |  | ) | const

Gets c2 parameter.

Returns
  c2 parameter

## C3()

double C3 | ( |  | ) | const

Gets c3 parameter.

Returns
  c3 parameter

## CutOffAngle()

double CutOffAngle | ( |  | ) | const

Gets cut off angle.

Returns
  Cut off angle

## F()

double F | ( |  | ) | const

Gets f parameter.

Returns
  f parameter

## Fun()

std::string Fun | ( |  | ) | const

Gets angle transform function.

Returns
  Angle transform function string

## Init() [1/2]

void Init | ( | const double | _c1,
|  | const double | _c2,
|  | const std::string & | _fun,
|  | const double | _f,
|  | const double | _c3
| ) |  |

Init custom camera lens with specified parameters.

Parameters

  [in] | _c1 | Image scaling factor
  [in] | _c2 | Angle scaling factor
  [in] | _fun | Angle transform function
  [in] | _f | Focal length of the optical system
  [in] | _c3 | Angle shift parameter, should be 0 in most cases

## Init() [2/2]

void Init | ( | const std::string & | _name | ) |

Init camera lens with standard mapping function.

Parameters

  [in] | _name | Mapping function name

## IsCustom()

bool IsCustom | ( |  | ) | const

Checks if lens type is of the custom type.

Returns
  True if this->Type() == "custom"

## Load() [1/2]

void Load | ( |  | ) |

Load camera lens with default parameters.

## Load() [2/2]

void Load | ( | sdf::ElementPtr | _sdf | ) |

Load camera lens from SDF file.

Parameters

  [in] | _sdf | SDF lens element

## ScaleToHFOV()

bool ScaleToHFOV | ( |  | ) | const

Checks if image should be scaled to fit horizontal FOV.

Returns
  True if the image will be scaled

## SetC1()

void SetC1 | ( | const double | _c | ) |

Sets c1 parameter.

Parameters

  [in] | _c | c1 parameter

## SetC2()

void SetC2 | ( | const double | _c | ) |

Sets c2 parameter.

Parameters

  [in] | _c | c2 parameter

## SetC3()

void SetC3 | ( | const double | _c | ) |

Sets c3 parameter.

Parameters

  [in] | _c | c3 parameter

## SetCutOffAngle()

void SetCutOffAngle | ( | const double | _angle | ) |

Sets cut-off angle.

Parameters

  [in] | _angle | cut-off angle

## SetF()

void SetF | ( | const double | _f | ) |

Sets f parameter.

Parameters

  [in] | _f | f parameter

## SetFun()

void SetFun | ( | const std::string & | _fun | ) |

Sets angle transform function.

Parameters

  [in] | _fun | Angle transform function string

## SetScaleToHFOV()

void SetScaleToHFOV | ( | const bool | _scale | ) |

Sets whether the image should be scaled to fit horizontal FOV If True, the projection will compute a new focal length for achieving the desired FOV.

Parameters

  [in] | _scale | true if it should, note: c1 and f parameters are ignored in this case

## SetType()

void SetType | ( | const std::string & | _type | ) |

Set lens projection type.

Parameters

  [in] | _type | Lens projection type string

## SetUniformVariables()

void SetUniformVariables | ( | Ogre::Pass * | _pass,
|  | const float | _ratio,
|  | const float | _hfov
| ) |  |

Set uniform variables of a shader for the provided material technique pass.

Parameters

  [in] | _pass | Ogre::Pass used for rendering
  [in] | _ratio | Frame aspect ratio
  [in] | _hfov | Horizontal field of view

## Type()

std::string Type | ( |  | ) | const

Get lens projection type.

Returns
  Lens projection type string

The documentation for this class was generated from the following file:

- WideAngleCamera.hh