Representations/Perception/CameraInfo.h File Reference

Declaration of class CameraInfo. More...

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

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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	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	opticalCenterX_ERS7 = 102.1
const double	opticalCenterY_ERS7 = 82.4
const double	secondOrderRadialDistortion_ERS7 = -0.1538
const double	fourthOrderRadialDistortion_ERS7 = 0.2591
Functions
In &	operator>> (In &stream, CameraInfo &cameraInfo)
	Streaming operator that reads a CameraInfo from a stream.
Out &	operator<< (Out &stream, const CameraInfo &cameraInfo)
	Streaming operator that writes a CameraInfo to a stream.

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Detailed Description

Declaration of class CameraInfo.

Author:

Matthias Juengel

Walter Nistico

Definition in file CameraInfo.h.

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Function Documentation

In& operator>> (  In &  stream, CameraInfo &  cameraInfo )

Streaming operator that reads a CameraInfo from a stream. Parameters: stream  The stream from which is read. cameraInfo  The CameraInfo object. Returns: The stream. Definition at line 45 of file CameraInfo.cpp. References CameraInfo::focalLength, CameraInfo::focalLengthInv, CameraInfo::focalLenPow2, CameraInfo::focalLenPow4, CameraInfo::fourthOrderRadialDistortion, CameraInfo::openingAngleHeight, CameraInfo::openingAngleWidth, CameraInfo::opticalCenter, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, CameraInfo::secondOrderRadialDistortion, and CameraInfo::simulated.

Out& operator<< (  Out &  stream, const CameraInfo &  cameraInfo )

Streaming operator that writes a CameraInfo to a stream. Parameters: stream  The stream to write on. cameraInfo  The CameraInfo object. Returns: The stream. Definition at line 64 of file CameraInfo.cpp. References CameraInfo::focalLength, CameraInfo::focalLenPow2, CameraInfo::focalLenPow4, CameraInfo::fourthOrderRadialDistortion, CameraInfo::openingAngleHeight, CameraInfo::openingAngleWidth, CameraInfo::opticalCenter, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, CameraInfo::secondOrderRadialDistortion, and CameraInfo::simulated.

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Variable Documentation

const int cameraResolutionWidth_ERS210 = 176

Definition at line 19 of file CameraInfo.h. Referenced by CameraInfo::CameraInfo(), Image::setCameraInfo(), and JPEGImage::toImage().

const int cameraResolutionHeight_ERS210 = 144

Definition at line 20 of file CameraInfo.h. Referenced by CameraInfo::CameraInfo(), and JPEGImage::toImage().

const int cameraResolutionWidth_ERS7 = 208

Definition at line 21 of file CameraInfo.h. Referenced by ColorCorrector::calcRadius(), CameraInfo::CameraInfo(), ColorCorrector::disable(), GT2004ImageProcessor::getCoords(), ColorCorrector::load(), AutoShutter::makeHistogram(), RasterSpecialist::RasterSpecialist(), and Image::setCameraInfo().

const int cameraResolutionHeight_ERS7 = 160

Definition at line 22 of file CameraInfo.h. Referenced by ColorCorrector::calcRadius(), CameraInfo::CameraInfo(), ColorCorrector::disable(), ColorCorrector::load(), AutoShutter::makeHistogram(), and RasterSpecialist::RasterSpecialist().

const double openingAngleWidth_ERS210 = 1.012290966

Definition at line 27 of file CameraInfo.h. Referenced by CameraInfo::CameraInfo(), and Image::setCameraInfo().

const double openingAngleHeight_ERS210 = 0.837758041

Definition at line 28 of file CameraInfo.h. Referenced by CameraInfo::CameraInfo(), GT2004BallLocator::execute(), and Image::setCameraInfo().

const double openingAngleWidth_ERS7 = 0.993092344

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

const double openingAngleHeight_ERS7 = 0.788888822

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

const double focalLength_ERS210 = 159.1

Definition at line 41 of file CameraInfo.h. Referenced by CameraInfo::CameraInfo(), and Image::setCameraInfo().

const double opticalCenterX_ERS210 = 87.56

Definition at line 42 of file CameraInfo.h. Referenced by CameraInfo::CameraInfo(), and Image::setCameraInfo().

const double opticalCenterY_ERS210 = 73.82

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

const double secondOrderRadialDistortion_ERS210 = 0.0927

Definition at line 44 of file CameraInfo.h. Referenced by CameraInfo::CameraInfo(), and Image::setCameraInfo().

const double fourthOrderRadialDistortion_ERS210 = -0.451

Definition at line 45 of file CameraInfo.h. Referenced by CameraInfo::CameraInfo(), and Image::setCameraInfo().

const double focalLength_ERS7 = 201.75

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

const double opticalCenterX_ERS7 = 102.1

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

const double opticalCenterY_ERS7 = 82.4

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

const double secondOrderRadialDistortion_ERS7 = -0.1538

Definition at line 50 of file CameraInfo.h. Referenced by CameraInfo::CameraInfo(), and Image::setCameraInfo().

const double fourthOrderRadialDistortion_ERS7 = 0.2591

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

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