Distortion Camera Sensor (#192)

Signed-off-by: William Lew <WilliamMilesLew@gmail.com>
Co-authored-by: Ian Chen <ichen@osrfoundation.org>

CMakeLists.txt

@@ -66,7 +66,7 @@ if ((NOT ${CMAKE_VERSION} VERSION_LESS 3.11) AND (NOT OpenGL_GL_PREFERENCE))
   set(OpenGL_GL_PREFERENCE "GLVND")
 endif()
 
-ign_find_package(ignition-rendering6 REQUIRED OPTIONAL_COMPONENTS ogre ogre2)
+ign_find_package(ignition-rendering6 REQUIRED VERSION 6.2 OPTIONAL_COMPONENTS ogre ogre2)
 set(IGN_RENDERING_VER ${ignition-rendering6_VERSION_MAJOR})
 
 if (TARGET ignition-rendering${IGN_RENDERING_VER}::ogre)

include/ignition/sensors/BrownDistortionModel.hh

@@ -0,0 +1,87 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef IGNITION_SENSORS_BROWNDISTORTIONMODEL_HH_
+#define IGNITION_SENSORS_BROWNDISTORTIONMODEL_HH_
+
+#include <sdf/sdf.hh>
+
+#include "ignition/sensors/Distortion.hh"
+#include "ignition/sensors/Export.hh"
+#include "ignition/sensors/config.hh"
+#include "ignition/utils/ImplPtr.hh"
+
+namespace ignition
+{
+  namespace sensors
+  {
+    // Inline bracket to help doxygen filtering.
+    inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
+    //
+    // Forward declarations
+    class BrownDistortionModelPrivate;
+
+    /** \class BrownDistortionModel BrownDistortionModel.hh \
+    ignition/sensors/BrownDistortionModel.hh
+    **/
+    /// \brief Brown Distortion Model class
+    class IGNITION_SENSORS_VISIBLE BrownDistortionModel : public Distortion
+    {
+      /// \brief Constructor.
+      public: BrownDistortionModel();
+
+      /// \brief Destructor.
+      public: virtual ~BrownDistortionModel();
+
+      // Documentation inherited.
+      public: virtual void Load(const sdf::Camera &_sdf) override;
+
+      /// \brief Get the radial distortion coefficient k1.
+      /// \return Distortion coefficient k1.
+      public: double K1() const;
+
+      /// \brief Get the radial distortion coefficient k2.
+      /// \return Distortion coefficient k2.
+      public: double K2() const;
+
+      /// \brief Get the radial distortion coefficient k3.
+      /// \return Distortion coefficient k3.
+      public: double K3() const;
+
+      /// \brief Get the tangential distortion coefficient p1.
+      /// \return Distortion coefficient p1.
+      public: double P1() const;
+
+      /// \brief Get the tangential distortion coefficient p2.
+      /// \return Distortion coefficient p2.
+      public: double P2() const;
+
+      /// \brief Get the distortion center.
+      /// \return Distortion center.
+      public: math::Vector2d Center() const;
+
+      /// Documentation inherited
+      public: virtual void Print(std::ostream &_out) const override;
+
+      /// \brief Private data pointer.
+      IGN_UTILS_IMPL_PTR(dataPtr)
+    };
+  }
+  }
+}
+
+#endif

include/ignition/sensors/Distortion.hh

@@ -0,0 +1,108 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef IGNITION_SENSORS_DISTORTION_HH_
+#define IGNITION_SENSORS_DISTORTION_HH_
+
+#include <functional>
+#include <string>
+#include <vector>
+
+#include <ignition/sensors/Export.hh>
+#include <ignition/sensors/SensorTypes.hh>
+#include <ignition/sensors/config.hh>
+#include <ignition/utils/ImplPtr.hh>
+
+#include <sdf/sdf.hh>
+
+namespace ignition
+{
+  namespace sensors
+  {
+    // Inline bracket to help doxygen filtering.
+    inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
+    // Forward declarations
+    class DistortionPrivate;
+
+    /// \class DistortionFactory Distortion.hh ignition/sensors/Distortion.hh
+    /// \brief Use this distortion manager for creating and loading distortion
+    /// models.
+    class IGNITION_SENSORS_VISIBLE DistortionFactory
+    {
+      /// \brief Load a distortion model based on the input sdf parameters and
+      /// sensor type.
+      /// \param[in] _sdf Distortion sdf parameters.
+      /// \param[in] _sensorType Type of sensor. This is currently used to
+      /// distinguish between image and non image sensors in order to create
+      /// the appropriate distortion model.
+      /// \return Pointer to the distortion model created.
+      public: static DistortionPtr NewDistortionModel(sdf::ElementPtr _sdf,
+          const std::string &_sensorType = "");
+
+      /// \brief Load a distortion model based on the input sdf parameters and
+      /// sensor type.
+      /// \param[in] _sdf Distortion sdf parameters.
+      /// \param[in] _sensorType Type of sensor. This is currently used to
+      /// distinguish between image and non image sensors in order to create
+      /// the appropriate distortion model.
+      /// \return Pointer to the distortion model created.
+      public: static DistortionPtr NewDistortionModel(
+                  const sdf::Camera &_sdf,
+                  const std::string &_sensorType = "");
+    };
+
+    /// \brief Which distortion types we support
+    enum class IGNITION_SENSORS_VISIBLE DistortionType : int
+    {
+      NONE = 0,
+      CUSTOM = 1,
+      BROWN = 2
+    };
+
+    /// \class Distortion Distortion.hh ignition/sensors/Distortion.hh
+    /// \brief Distortion models for sensor output signals.
+    class IGNITION_SENSORS_VISIBLE Distortion
+    {
+      /// \brief Constructor. This should not be called directly unless creating
+      /// an empty distortion model. Use DistortionFactory::NewDistortionModel
+      /// to instantiate a new distortion model.
+      /// \param[in] _type Type of distortion model.
+      /// \sa DistortionFactory::NewDistortionModel
+      public: explicit Distortion(DistortionType _type);
+
+      /// \brief Destructor.
+      public: virtual ~Distortion();
+
+      /// \brief Load distortion parameters from sdf.
+      /// \param[in] _sdf SDF Distortion DOM object.
+      public: virtual void Load(const sdf::Camera &_sdf);
+
+      /// \brief Accessor for DistortionType.
+      /// \return Type of distortion currently in use.
+      public: DistortionType Type() const;
+
+      /// \brief Output information about the distortion model.
+      /// \param[in] _out Output stream
+      public: virtual void Print(std::ostream &_out) const;
+
+      /// \brief Private data pointer
+      IGN_UTILS_IMPL_PTR(dataPtr)
+    };
+    }
+  }
+}
+#endif

include/ignition/sensors/ImageBrownDistortionModel.hh

@@ -0,0 +1,76 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef IGNITION_SENSORS_IMAGEBROWNDISTORTIONMODEL_HH_
+#define IGNITION_SENSORS_IMAGEBROWNDISTORTIONMODEL_HH_
+
+#include <sdf/sdf.hh>
+
+// TODO(WilliamLewww): Remove these pragmas once ign-rendering is disabling the
+// warnings
+#ifdef _WIN32
+#pragma warning(push)
+#pragma warning(disable: 4251)
+#endif
+#include <ignition/rendering/Camera.hh>
+#ifdef _WIN32
+#pragma warning(pop)
+#endif
+
+#include "ignition/sensors/config.hh"
+#include "ignition/sensors/BrownDistortionModel.hh"
+#include "ignition/sensors/rendering/Export.hh"
+
+namespace ignition
+{
+  namespace sensors
+  {
+    // Inline bracket to help doxygen filtering.
+    inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
+    // Forward declarations
+    class ImageBrownDistortionModelPrivate;
+
+    /** \class ImageBrownDistortionModel ImageBrownDistortionModel.hh \
+    ignition/sensors/ImageBrownDistortionModel.hh
+    **/
+    /// \brief Distortion Model class for image sensors
+    class IGNITION_SENSORS_RENDERING_VISIBLE ImageBrownDistortionModel :
+      public BrownDistortionModel
+    {
+      /// \brief Constructor.
+      public: ImageBrownDistortionModel();
+
+      /// \brief Destructor.
+      public: virtual ~ImageBrownDistortionModel();
+
+      // Documentation inherited.
+      public: virtual void Load(const sdf::Camera &_sdf) override;
+
+      // Documentation inherited.
+      public: virtual void SetCamera(rendering::CameraPtr _camera);
+
+      /// Documentation inherited
+      public: virtual void Print(std::ostream &_out) const override;
+
+      /// \brief Private data pointer.
+      private: ImageBrownDistortionModelPrivate *dataPtr = nullptr;
+    };
+  }
+  }
+}
+
+#endif

include/ignition/sensors/ImageDistortion.hh

@@ -0,0 +1,67 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef IGNITION_SENSORS_IMAGEDISTORTION_HH_
+#define IGNITION_SENSORS_IMAGEDISTORTION_HH_
+
+#include <string>
+
+#include <sdf/sdf.hh>
+
+#include "ignition/sensors/config.hh"
+#include "ignition/sensors/SensorTypes.hh"
+#include "ignition/sensors/rendering/Export.hh"
+
+namespace ignition
+{
+  namespace sensors
+  {
+    // Inline bracket to help doxygen filtering.
+    inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
+    // Forward declarations
+    class DistortionPrivate;
+
+    /// \class ImageDistortionFactory ImageDistortion.hh
+    /// ignition/sensors/ImageDistortion.hh
+    /// \brief Use this distortion manager for creating and loading distortion
+    /// models.
+    class IGNITION_SENSORS_RENDERING_VISIBLE ImageDistortionFactory
+    {
+      /// \brief Load a distortion model based on the input sdf parameters and
+      /// sensor type.
+      /// \param[in] _sdf Distortion sdf parameters.
+      /// \param[in] _sensorType Type of sensor. This is currently used to
+      /// distinguish between image and non image sensors in order to create
+      /// the appropriate distortion model.
+      /// \return Pointer to the distortion model created.
+      public: static DistortionPtr NewDistortionModel(sdf::ElementPtr _sdf,
+          const std::string &_sensorType = "");
+
+      /// \brief Load a distortion model based on the input sdf parameters and
+      /// sensor type.
+      /// \param[in] _sdf Distortion sdf parameters.
+      /// \param[in] _sensorType Type of sensor. This is currently used to
+      /// distinguish between image and non image sensors in order to create
+      /// the appropriate distortion model.
+      /// \return Pointer to the distortion model created.
+      public: static DistortionPtr NewDistortionModel(const sdf::Camera &_sdf,
+                  const std::string &_sensorType = "");
+    };
+    }
+  }
+}
+#endif

include/ignition/sensors/Sensor.hh

@@ -229,5 +229,4 @@ namespace ignition
     }
   }
 }
-
 #endif