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# Representations/Perception/CameraInfo.h File Reference

Declaration of class CameraInfo. More...

`#include "Tools/RobotConfiguration.h"`
`#include "Tools/Streams/InOut.h"`
`#include "Tools/Streams/Streamable.h"`
`#include "Tools/Math/Vector2.h"`

Include dependency graph for CameraInfo.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

## Classes
class | CameraInfo
| Matrix describing transformation from neck joint to camera. More...
## camera resolution (currently used mode rather then all modes)
const int | cameraResolutionWidth_ERS210 = 176
const int | cameraResolutionHeight_ERS210 = 144
const int | cameraResolutionWidth_ERS7 = 208
const int | cameraResolutionHeight_ERS7 = 160
## opening angles of the camera
const double | openingAngleWidth_ERS210 = 1.012290966
const double | openingAngleHeight_ERS210 = 0.837758041
const double | openingAngleWidth_ERS7 = 0.993092344
const double | openingAngleHeight_ERS7 = 0.788888822
## camera intrinsic parameters
const double | focalLength_ERS210 = 159.1
const double | focalLengthMM_ERS210 = 2.18
const double | pixelPerMM_ERS210 = 72.98
const double | opticalCenterX_ERS210 = 87.56
const double | opticalCenterY_ERS210 = 73.82
const double | secondOrderRadialDistortion_ERS210 = 0.0927
const double | fourthOrderRadialDistortion_ERS210 = -0.451
const double | focalLength_ERS7 = 201.75
const double | focalLengthMM_ERS7 = 3.27
const double | pixelPerMM_ERS7 = 61.7
const double | opticalCenterX_ERS7 = 102.1
const double | opticalCenterY_ERS7 = 82.4
const double | secondOrderRadialDistortion_ERS7 = -0.1538
const double | fourthOrderRadialDistortion_ERS7 = 0.2591

## Detailed Description

Declaration of class CameraInfo.

Author:
  Matthias Juengel

  Walter Nistico

Definition in file CameraInfo.h.

## Variable Documentation

const int cameraResolutionWidth_ERS210 = 176

| Definition at line 21 of file CameraInfo.h. Referenced by CameraInfo::CameraInfo(), Image::setCameraInfo(), JPEGImage2::toImage(), and JPEGImage::toImage().

const int cameraResolutionHeight_ERS210 = 144

| Definition at line 22 of file CameraInfo.h. Referenced by CameraInfo::CameraInfo(), JPEGImage2::toImage(), and JPEGImage::toImage().

const int cameraResolutionWidth_ERS7 = 208

| Definition at line 23 of file CameraInfo.h. Referenced by ColorCorrector::calcRadius(), CameraInfo::CameraInfo(), VLCColorCorrector::disable(), SlamColorCorrector::disable(), ColorCorrector::disable(), GT2005ColorCorrector::disable(), VLCImageProcessor::getCoords(), SlamImageProcessor::getCoords(), GT2005ImageProcessor::getCoords(), VLCColorCorrector::getRadius(), SlamColorCorrector::getRadius(), GT2005ColorCorrector::getRadius(), VLCColorCorrector::init(), SlamColorCorrector::init(), GT2005ColorCorrector::init(), ColorCorrector::load(), AutoShutter::makeHistogram(), JPEGImage2::operator=(), Image::setCameraInfo(), and MSH2004ColorCorrector::setupRadiusLUT().

const int cameraResolutionHeight_ERS7 = 160

| Definition at line 24 of file CameraInfo.h. Referenced by ColorCorrector::calcRadius(), CameraInfo::CameraInfo(), VLCColorCorrector::disable(), SlamColorCorrector::disable(), ColorCorrector::disable(), GT2005ColorCorrector::disable(), VLCColorCorrector::getRadius(), SlamColorCorrector::getRadius(), GT2005ColorCorrector::getRadius(), VLCColorCorrector::init(), SlamColorCorrector::init(), GT2005ColorCorrector::init(), ColorCorrector::load(), AutoShutter::makeHistogram(), JPEGImage2::operator=(), and MSH2004ColorCorrector::setupRadiusLUT().

const double openingAngleWidth_ERS210 = 1.012290966

| Definition at line 29 of file CameraInfo.h. Referenced by CameraInfo::CameraInfo(), and Image::setCameraInfo().

const double openingAngleHeight_ERS210 = 0.837758041

| Definition at line 30 of file CameraInfo.h. Referenced by CameraInfo::CameraInfo(), and Image::setCameraInfo().

const double openingAngleWidth_ERS7 = 0.993092344

| Definition at line 31 of file CameraInfo.h. Referenced by CameraInfo::CameraInfo(), and Image::setCameraInfo().

const double openingAngleHeight_ERS7 = 0.788888822

| Definition at line 32 of file CameraInfo.h. Referenced by CameraInfo::CameraInfo(), and Image::setCameraInfo().

const double focalLength_ERS210 = 159.1

| Definition at line 43 of file CameraInfo.h. Referenced by CameraInfo::CameraInfo(), and Image::setCameraInfo().

const double focalLengthMM_ERS210 = 2.18

| Definition at line 44 of file CameraInfo.h. Referenced by CameraInfo::CameraInfo().

const double pixelPerMM_ERS210 = 72.98

| Definition at line 45 of file CameraInfo.h. Referenced by CameraInfo::CameraInfo().

const double opticalCenterX_ERS210 = 87.56

| Definition at line 46 of file CameraInfo.h. Referenced by CameraInfo::CameraInfo(), and Image::setCameraInfo().

const double opticalCenterY_ERS210 = 73.82

| Definition at line 47 of file CameraInfo.h. Referenced by CameraInfo::CameraInfo(), and Image::setCameraInfo().

const double secondOrderRadialDistortion_ERS210 = 0.0927

| Definition at line 48 of file CameraInfo.h. Referenced by CameraInfo::CameraInfo(), and Image::setCameraInfo().

const double fourthOrderRadialDistortion_ERS210 = -0.451

| Definition at line 49 of file CameraInfo.h. Referenced by CameraInfo::CameraInfo(), and Image::setCameraInfo().

const double focalLength_ERS7 = 201.75

| Definition at line 51 of file CameraInfo.h. Referenced by CameraInfo::CameraInfo(), and Image::setCameraInfo().

const double focalLengthMM_ERS7 = 3.27

| Definition at line 52 of file CameraInfo.h. Referenced by CameraInfo::CameraInfo().

const double pixelPerMM_ERS7 = 61.7

| Definition at line 53 of file CameraInfo.h. Referenced by CameraInfo::CameraInfo().

const double opticalCenterX_ERS7 = 102.1

| Definition at line 54 of file CameraInfo.h. Referenced by CameraInfo::CameraInfo(), and Image::setCameraInfo().

const double opticalCenterY_ERS7 = 82.4

| Definition at line 55 of file CameraInfo.h. Referenced by CameraInfo::CameraInfo(), and Image::setCameraInfo().

const double secondOrderRadialDistortion_ERS7 = -0.1538

| Definition at line 56 of file CameraInfo.h. Referenced by CameraInfo::CameraInfo(), and Image::setCameraInfo().

const double fourthOrderRadialDistortion_ERS7 = 0.2591

| Definition at line 57 of file CameraInfo.h. Referenced by CameraInfo::CameraInfo(), and Image::setCameraInfo().