LibMultiSense
LibMultiSense Documentation
crl::multisense::image::Config Class Reference

Class used to store a specific camera configuration. More...

#include <MultiSenseTypes.hh>

Public Member Functions

void setResolution (uint32_t w, uint32_t h)
 Set a desired output resolution. More...
 
void setDisparities (uint32_t d)
 For stereo sensors, set the desired number of disparities used to search for matching features between the left and right images when computing the output disparity image. More...
 
void setCamMode (int m)
 Set a desired output mode. More...
 
void setOffset (int o)
 Set a desired crop offset between 0 and 960 px. More...
 
void setWidth (uint32_t w)
 Set the width of the desired output resolution. More...
 
void setHeight (uint32_t h)
 Set the height of the desired output resolution. More...
 
void setFps (float f)
 Set the desired output frames per second. More...
 
void setGain (float g)
 Set the desired output image's gain. More...
 
void setExposure (uint32_t e)
 Set the exposure time used to capture images. More...
 
void setAutoExposure (bool e)
 Set auto-exposure enable flag. More...
 
void setAutoExposureMax (uint32_t m)
 Set the desired maximum auto-exposure value. More...
 
void setAutoExposureDecay (uint32_t d)
 Set the desired auto-exposure decay rate. More...
 
void setAutoExposureThresh (float t)
 Set the desired auto-exposure threshold. More...
 
void setWhiteBalance (float r, float b)
 Set the desired image white-balance. More...
 
void setAutoWhiteBalance (bool e)
 Set the white-balance enable flag. More...
 
void setAutoWhiteBalanceDecay (uint32_t d)
 Set the white-balance decay rate. More...
 
void setAutoWhiteBalanceThresh (float t)
 Set the white-balance threshold. More...
 
void setStereoPostFilterStrength (float s)
 Set the desired stereo post-filter strength. More...
 
void setHdr (bool e)
 Set the HDR enable flag. More...
 
void setStoreSettingsInFlash (bool e)
 Set the flag to write the image configuration to flash. More...
 
void setAutoExposureRoi (uint16_t start_x, uint16_t start_y, uint16_t width, uint16_t height)
 Set the desired ROI to use when computing the auto-exposure. More...
 
uint32_t width () const
 Query the current image configuration's width. More...
 
uint32_t height () const
 Query the current image configuration's height. More...
 
uint32_t disparities () const
 Query the current image configuration's number of disparities. More...
 
int camMode () const
 Query the current image configuration's mode. More...
 
int offset () const
 Query the current image configuration's offset. More...
 
float fps () const
 Query the current image configuration's frames-per-second setting. More...
 
float gain () const
 Query the current image configuration's gain setting. More...
 
uint32_t exposure () const
 Query the current image configuration's exposure setting. More...
 
bool autoExposure () const
 Query the current image configuration's auto-exposure enable setting. More...
 
uint32_t autoExposureMax () const
 Query the current image configuration's maximum auto-exposure value. More...
 
uint32_t autoExposureDecay () const
 Query the current image configuration's auto-exposure decay rate. More...
 
float autoExposureThresh () const
 Query the current image configuration's auto-exposure threshold. More...
 
float whiteBalanceRed () const
 Query the current image configuration's red white-balance setting. More...
 
float whiteBalanceBlue () const
 Query the current image configuration's blue white-balance setting. More...
 
bool autoWhiteBalance () const
 Query the current image configuration's white-balance enable setting. More...
 
uint32_t autoWhiteBalanceDecay () const
 Query the current image configuration's white-balance decay rate. More...
 
float autoWhiteBalanceThresh () const
 Query the current image configuration's white-balance threshold. More...
 
float stereoPostFilterStrength () const
 Query the current image configuration's stereo post-filter strength. More...
 
bool hdrEnabled () const
 Query the current image configuration's HDR enable flag. More...
 
bool storeSettingsInFlash () const
 Query the current image configuration's flag to write parameters to flash. More...
 
uint16_t autoExposureRoiX () const
 Query the current image configuration's auto-exposure ROI X value. More...
 
uint16_t autoExposureRoiY () const
 Query the current image configuration's auto-exposure ROI Y value. More...
 
uint16_t autoExposureRoiWidth () const
 Query the current image configuration's auto-exposure ROI width value Will return crl::multisense::Roi_Full_Image for the default setting, when the ROI covers the entire image regardless of current resolution. More...
 
uint16_t autoExposureRoiHeight () const
 Query the current image configuration's auto-exposure ROI height value Will return crl::multisense::Roi_Full_Image for the default setting, when the ROI covers the entire image regardless of current resolution. More...
 
float fx () const
 Query the current camera calibrations rectified projection focal length in the x dimension. More...
 
float fy () const
 Query the current camera calibrations rectified projection focal length in the y dimension. More...
 
float cx () const
 Query the current camera calibrations left rectified image center in the x dimension. More...
 
float cy () const
 Query the current camera calibrations left rectified image center in the y dimension. More...
 
float tx () const
 Query the current camera calibrations stereo baseline. More...
 
float ty () const
 Query the current camera calibrations stereo baseline. More...
 
float tz () const
 Query the current camera calibrations stereo baseline. More...
 
float roll () const
 Query the current camera calibrations roll value. More...
 
float pitch () const
 Query the current camera calibrations pitch value. More...
 
float yaw () const
 Query the current camera calibrations yaw value. More...
 
 Config ()
 Default constructor for a image configuration. More...
 

Protected Attributes

float m_fx
 
float m_fy
 
float m_cx
 
float m_cy
 
float m_tx
 
float m_ty
 
float m_tz
 
float m_roll
 
float m_pitch
 
float m_yaw
 

Private Attributes

float m_fps
 
float m_gain
 
uint32_t m_exposure
 
bool m_aeEnabled
 
uint32_t m_aeMax
 
uint32_t m_aeDecay
 
float m_aeThresh
 
float m_wbBlue
 
float m_wbRed
 
bool m_wbEnabled
 
uint32_t m_wbDecay
 
float m_wbThresh
 
uint32_t m_width
 
uint32_t m_height
 
uint32_t m_disparities
 
int m_cam_mode
 
int m_offset
 
float m_spfStrength
 
bool m_hdrEnabled
 
bool m_storeSettingsInFlash
 
uint16_t m_autoExposureRoiX
 
uint16_t m_autoExposureRoiY
 
uint16_t m_autoExposureRoiWidth
 
uint16_t m_autoExposureRoiHeight
 

Detailed Description

Class used to store a specific camera configuration.

Members in this class are set via get and set methods. The class is used as an input to a channel object to query or set camera parameters.

Example code to query an image configuration:

//
// Instantiate a channel connecting to a sensor at the factory default
// IP address
channel = crl::multisense::Channel::Create("10.66.171.21");
channel->setMtu(7200);
//
// Create a imageConfig instance to store the queried configuration
//
// Query the image configuration from the Channel instance
crl::multisense::Status status = channel->getImageConfig(imageConfig);
//
// Check to see if the configuration query succeeded
throw std::runtime_error("Unable to query image configuration");
}
//
// Use the image configuration...
//
// Destroy the channel instance

Example code to set an image configurations:

//
// Instantiate a channel connecting to a sensor at the factory default
// IP address
channel = crl::multisense::Channel::Create("10.66.171.21");
channel->setMtu(7200);
//
// Create a imageConfig instance to store the queried configuration
//
// Query the image configuration from the Channel instance
status = channel->getImageConfig(imageConfig);
//
// Check to see if the configuration query succeeded
throw std::runtime_error("Unable to query image configuration");
}
//
// Modify image configuration parameters
// Here we increase the frame rate to 30 FPS
imageConfig.setFps(30.0);
//
// Send the new image configuration to the sensor
status = channel->setImageConfig(imageConfig);
//
// Check to see if the configuration was successfully received by the
// sensor
throw std::runtime_error("Unable to set image configuration");
}
//
// Destroy the channel instance

Definition at line 529 of file MultiSenseTypes.hh.

Constructor & Destructor Documentation

◆ Config()

crl::multisense::image::Config::Config ( )
inline

Default constructor for a image configuration.

Initializes all image configuration members to their default values

Definition at line 1061 of file MultiSenseTypes.hh.

Member Function Documentation

◆ autoExposure()

bool crl::multisense::image::Config::autoExposure ( ) const
inline

Query the current image configuration's auto-exposure enable setting.

Returns
The current image configuration's auto-exposure enable flag

Definition at line 824 of file MultiSenseTypes.hh.

◆ autoExposureDecay()

uint32_t crl::multisense::image::Config::autoExposureDecay ( ) const
inline

Query the current image configuration's auto-exposure decay rate.

Returns
The current configuration's auto-exposure decay rate

Definition at line 840 of file MultiSenseTypes.hh.

◆ autoExposureMax()

uint32_t crl::multisense::image::Config::autoExposureMax ( ) const
inline

Query the current image configuration's maximum auto-exposure value.

Returns
The current image configuration's maximum auto-exposure value

Definition at line 832 of file MultiSenseTypes.hh.

◆ autoExposureRoiHeight()

uint16_t crl::multisense::image::Config::autoExposureRoiHeight ( ) const
inline

Query the current image configuration's auto-exposure ROI height value Will return crl::multisense::Roi_Full_Image for the default setting, when the ROI covers the entire image regardless of current resolution.

Returns
The current image configuration's auto-exposure ROI height value

Definition at line 942 of file MultiSenseTypes.hh.

◆ autoExposureRoiWidth()

uint16_t crl::multisense::image::Config::autoExposureRoiWidth ( ) const
inline

Query the current image configuration's auto-exposure ROI width value Will return crl::multisense::Roi_Full_Image for the default setting, when the ROI covers the entire image regardless of current resolution.

Returns
The current image configuration's auto-exposure ROI width value

Definition at line 933 of file MultiSenseTypes.hh.

◆ autoExposureRoiX()

uint16_t crl::multisense::image::Config::autoExposureRoiX ( ) const
inline

Query the current image configuration's auto-exposure ROI X value.

Returns
The current image configuration's auto-exposure ROI X value

Definition at line 917 of file MultiSenseTypes.hh.

◆ autoExposureRoiY()

uint16_t crl::multisense::image::Config::autoExposureRoiY ( ) const
inline

Query the current image configuration's auto-exposure ROI Y value.

Returns
The current image configuration's auto-exposure ROI Y value

Definition at line 924 of file MultiSenseTypes.hh.

◆ autoExposureThresh()

float crl::multisense::image::Config::autoExposureThresh ( ) const
inline

Query the current image configuration's auto-exposure threshold.

Returns
The current image configuration's auto-exposure threshold

Definition at line 848 of file MultiSenseTypes.hh.

◆ autoWhiteBalance()

bool crl::multisense::image::Config::autoWhiteBalance ( ) const
inline

Query the current image configuration's white-balance enable setting.

Returns
The current image configuration's white-balance enable flag

Definition at line 872 of file MultiSenseTypes.hh.

◆ autoWhiteBalanceDecay()

uint32_t crl::multisense::image::Config::autoWhiteBalanceDecay ( ) const
inline

Query the current image configuration's white-balance decay rate.

Returns
The current image configuration's white-balance decay rate

Definition at line 880 of file MultiSenseTypes.hh.

◆ autoWhiteBalanceThresh()

float crl::multisense::image::Config::autoWhiteBalanceThresh ( ) const
inline

Query the current image configuration's white-balance threshold.

Returns
The current image configuration's white-balance threshold

Definition at line 888 of file MultiSenseTypes.hh.

◆ camMode()

int crl::multisense::image::Config::camMode ( ) const
inline

Query the current image configuration's mode.

Returns
The current camera mode

Definition at line 783 of file MultiSenseTypes.hh.

◆ cx()

float crl::multisense::image::Config::cx ( ) const
inline

Query the current camera calibrations left rectified image center in the x dimension.

Note this value is scaled based on the current image resolution

Returns
The current camera calibrations rectified image center in the x dimension

Definition at line 981 of file MultiSenseTypes.hh.

◆ cy()

float crl::multisense::image::Config::cy ( ) const
inline

Query the current camera calibrations left rectified image center in the y dimension.

Note this value is scaled based on the current image resolution

Returns
The current camera calibrations rectified image center in the y dimension

Definition at line 993 of file MultiSenseTypes.hh.

◆ disparities()

uint32_t crl::multisense::image::Config::disparities ( ) const
inline

Query the current image configuration's number of disparities.

Returns
The current number of disparities used when searching for stereo feature matches

Definition at line 775 of file MultiSenseTypes.hh.

◆ exposure()

uint32_t crl::multisense::image::Config::exposure ( ) const
inline

Query the current image configuration's exposure setting.

Returns
the current image exposure setting in microseconds

Definition at line 816 of file MultiSenseTypes.hh.

◆ fps()

float crl::multisense::image::Config::fps ( ) const
inline

Query the current image configuration's frames-per-second setting.

Returns
The current frames per second

Definition at line 799 of file MultiSenseTypes.hh.

◆ fx()

float crl::multisense::image::Config::fx ( ) const
inline

Query the current camera calibrations rectified projection focal length in the x dimension.

Note this value is scaled based on the current image resolution

Returns
The current camera calibrations focal length in the x dimension

Definition at line 958 of file MultiSenseTypes.hh.

◆ fy()

float crl::multisense::image::Config::fy ( ) const
inline

Query the current camera calibrations rectified projection focal length in the y dimension.

Note this value is scaled based on the current image resolution

Returns
The current camera calibrations focal length in the y dimension

Definition at line 969 of file MultiSenseTypes.hh.

◆ gain()

float crl::multisense::image::Config::gain ( ) const
inline

Query the current image configuration's gain setting.

Returns
The current image gain setting

Definition at line 807 of file MultiSenseTypes.hh.

◆ hdrEnabled()

bool crl::multisense::image::Config::hdrEnabled ( ) const
inline

Query the current image configuration's HDR enable flag.

Returns
The current image configuration's HDR enable flag

Definition at line 903 of file MultiSenseTypes.hh.

◆ height()

uint32_t crl::multisense::image::Config::height ( ) const
inline

Query the current image configuration's height.

Returns
The current image height

Definition at line 766 of file MultiSenseTypes.hh.

◆ offset()

int crl::multisense::image::Config::offset ( ) const
inline

Query the current image configuration's offset.

Returns
The current offset

Definition at line 791 of file MultiSenseTypes.hh.

◆ pitch()

float crl::multisense::image::Config::pitch ( ) const
inline

Query the current camera calibrations pitch value.

This is the Euler pitch angle to rotate the right camera frame into the left camera frame. For rectified images this value will be 0.

Returns
the current camera calibrations pitch value

Definition at line 1045 of file MultiSenseTypes.hh.

◆ roll()

float crl::multisense::image::Config::roll ( ) const
inline

Query the current camera calibrations roll value.

This is the Euler roll angle to rotate the right camera frame into the left camera frame. For rectified images this value will be 0.

Returns
the current camera calibrations roll value

Definition at line 1035 of file MultiSenseTypes.hh.

◆ setAutoExposure()

void crl::multisense::image::Config::setAutoExposure ( bool  e)
inline

Set auto-exposure enable flag.

Default value: true

Parameters
eA boolean used to enable or disable auto-exposure

Definition at line 629 of file MultiSenseTypes.hh.

◆ setAutoExposureDecay()

void crl::multisense::image::Config::setAutoExposureDecay ( uint32_t  d)
inline

Set the desired auto-exposure decay rate.

Default value: 7

Parameters
dThe auto-exposure decay rate [0, 20]

Definition at line 645 of file MultiSenseTypes.hh.

◆ setAutoExposureMax()

void crl::multisense::image::Config::setAutoExposureMax ( uint32_t  m)
inline

Set the desired maximum auto-exposure value.

Default value: 5000000

Parameters
mThe maximum auto-exposure value in microseconds

Definition at line 637 of file MultiSenseTypes.hh.

◆ setAutoExposureRoi()

void crl::multisense::image::Config::setAutoExposureRoi ( uint16_t  start_x,
uint16_t  start_y,
uint16_t  width,
uint16_t  height 
)
inline

Set the desired ROI to use when computing the auto-exposure.

x axis is horizontal and y axis is vertical. (0,0) coordinate starts in the upper left corner of the image. If (x + w > image width) or (y + h > image height) the sensor will return an error Setting to default:(0,0,crl::multisense::Roi_Full_Image,crl::multisense::Roi_Full_Image) will use the entire image for the ROI regardless of the current resolution This feature is only available in sensor firmware version 4.3 and greater

Parameters
start_xThe X coordinate where the ROI starts
start_yThe Y coordinate where the ROI starts
widthThe width of the ROI
heightThe height of the ROI

Definition at line 742 of file MultiSenseTypes.hh.

◆ setAutoExposureThresh()

void crl::multisense::image::Config::setAutoExposureThresh ( float  t)
inline

Set the desired auto-exposure threshold.

This is the percentage of the image that should be white. Default value: 0.75

Parameters
tThe desired auto-exposure threshold [0.0, 1.0]

Definition at line 654 of file MultiSenseTypes.hh.

◆ setAutoWhiteBalance()

void crl::multisense::image::Config::setAutoWhiteBalance ( bool  e)
inline

Set the white-balance enable flag.

Default value: true

Parameters
eA boolean used to enable or disable white-balance

Definition at line 674 of file MultiSenseTypes.hh.

◆ setAutoWhiteBalanceDecay()

void crl::multisense::image::Config::setAutoWhiteBalanceDecay ( uint32_t  d)
inline

Set the white-balance decay rate.

Default value: 3

Parameters
dThe white-balance decay rate [0, 20]

Definition at line 682 of file MultiSenseTypes.hh.

◆ setAutoWhiteBalanceThresh()

void crl::multisense::image::Config::setAutoWhiteBalanceThresh ( float  t)
inline

Set the white-balance threshold.

Default value: 0.5

Parameters
tThe desired white-balance threshold [0.0, 1.0]

Definition at line 690 of file MultiSenseTypes.hh.

◆ setCamMode()

void crl::multisense::image::Config::setCamMode ( int  m)
inline

Set a desired output mode.

Only valid for CMV4000 cameras. 4000 (default) : Set camera to act as a 4MP imager 2000 : Set camera to act as a 2MP imager

Parameters
mThe new output mask for CMV4000 cameras

Definition at line 565 of file MultiSenseTypes.hh.

◆ setDisparities()

void crl::multisense::image::Config::setDisparities ( uint32_t  d)
inline

For stereo sensors, set the desired number of disparities used to search for matching features between the left and right images when computing the output disparity image.

Default value: 128

Parameters
dThe number of disparities

Definition at line 555 of file MultiSenseTypes.hh.

◆ setExposure()

void crl::multisense::image::Config::setExposure ( uint32_t  e)
inline

Set the exposure time used to capture images.

Note auto exposure must be disabled for this to take effect. Default value: 10000

Parameters
eThe output exposure time in microseconds [10, 5000000]

Definition at line 621 of file MultiSenseTypes.hh.

◆ setFps()

void crl::multisense::image::Config::setFps ( float  f)
inline

Set the desired output frames per second.

Default value: 5

Note
If an external trigger is selected, this value acts as an upper bounds to the framerate.
Parameters
fThe desired frames per second

Definition at line 604 of file MultiSenseTypes.hh.

◆ setGain()

void crl::multisense::image::Config::setGain ( float  g)
inline

Set the desired output image's gain.

Default value: 1

Parameters
gThe output image gain

Definition at line 612 of file MultiSenseTypes.hh.

◆ setHdr()

void crl::multisense::image::Config::setHdr ( bool  e)
inline

Set the HDR enable flag.

This feature is only available in sensor firmware version greater than 3.1. Default value: false. Note enabling HDR will disable image white balance. It may also degrade the stereo performance. It is advised to manually tune exposure and gain settings to achieve desired performance.

Parameters
eA boolean used to enable or disable HDR on the camera imagers

Definition at line 714 of file MultiSenseTypes.hh.

◆ setHeight()

void crl::multisense::image::Config::setHeight ( uint32_t  h)
inline

Set the height of the desired output resolution.

Default value: 544

Parameters
hThe new resolution's height

Definition at line 593 of file MultiSenseTypes.hh.

◆ setOffset()

void crl::multisense::image::Config::setOffset ( int  o)
inline

Set a desired crop offset between 0 and 960 px.

For the CMV2000 mode crop, default is 480 which positions the ROI in the center of the CMV4000's FOV.

Parameters
oThe offset from the bottom of the imager's FOV.

Definition at line 575 of file MultiSenseTypes.hh.

◆ setResolution()

void crl::multisense::image::Config::setResolution ( uint32_t  w,
uint32_t  h 
)
inline

Set a desired output resolution.

Default value: 1024x544

Parameters
wThe new resolutions width
hThe new resolutions height

Definition at line 543 of file MultiSenseTypes.hh.

◆ setStereoPostFilterStrength()

void crl::multisense::image::Config::setStereoPostFilterStrength ( float  s)
inline

Set the desired stereo post-filter strength.

This is used to filter low confidence stereo data before it is sent to the host. Larger numbers indicate more aggressive filtering. This feature is only available on sensor firmware versions greater than 3.0. Default value: 0.5

Parameters
sThe desired stereo post-filter strength [0.0, 1.0]

Definition at line 702 of file MultiSenseTypes.hh.

◆ setStoreSettingsInFlash()

void crl::multisense::image::Config::setStoreSettingsInFlash ( bool  e)
inline

Set the flag to write the image configuration to flash.

This will result in the camera defaulting to these settings on boot. NOTE: This should be enabled sparingly. The MultiSense flash has a limited number of writes

Parameters
eA boolean used to enable or disable writing the camera configuration to flash

Definition at line 725 of file MultiSenseTypes.hh.

◆ setWhiteBalance()

void crl::multisense::image::Config::setWhiteBalance ( float  r,
float  b 
)
inline

Set the desired image white-balance.

Default value: 1.0 for both r and b

Parameters
rThe input read white-balance value [0.25, 4.0]
bThe input blue white-balance value [0.25, 4.0]

Definition at line 665 of file MultiSenseTypes.hh.

◆ setWidth()

void crl::multisense::image::Config::setWidth ( uint32_t  w)
inline

Set the width of the desired output resolution.

Default value: 1024

Parameters
wThe new resolution's width

Definition at line 584 of file MultiSenseTypes.hh.

◆ stereoPostFilterStrength()

float crl::multisense::image::Config::stereoPostFilterStrength ( ) const
inline

Query the current image configuration's stereo post-filter strength.

Returns
The current image configuration's stereo post-filter strength

Definition at line 896 of file MultiSenseTypes.hh.

◆ storeSettingsInFlash()

bool crl::multisense::image::Config::storeSettingsInFlash ( ) const
inline

Query the current image configuration's flag to write parameters to flash.

Returns
The current image configuration's write to flash flag

Definition at line 910 of file MultiSenseTypes.hh.

◆ tx()

float crl::multisense::image::Config::tx ( ) const
inline

Query the current camera calibrations stereo baseline.

This is the component of the vector in the x dimension which points from the right rectified camera frame to the left rectified camera frame

Returns
The x component of the current calibrations stereo baseline

Definition at line 1003 of file MultiSenseTypes.hh.

◆ ty()

float crl::multisense::image::Config::ty ( ) const
inline

Query the current camera calibrations stereo baseline.

This is the component of the vector in the y dimension which points from the right rectified camera frame to the left rectified camera frame. For rectified images this value will be 0.

Returns
The y component of the current calibrations stereo baseline

Definition at line 1014 of file MultiSenseTypes.hh.

◆ tz()

float crl::multisense::image::Config::tz ( ) const
inline

Query the current camera calibrations stereo baseline.

This is the component of the vector in the z dimension which points from the right rectified frame center to the left rectified camera frame. For rectified images this value will be 0.

Returns
The z component of the current calibrations stereo baseline

Definition at line 1025 of file MultiSenseTypes.hh.

◆ whiteBalanceBlue()

float crl::multisense::image::Config::whiteBalanceBlue ( ) const
inline

Query the current image configuration's blue white-balance setting.

Returns
The current image configuration's blue white-balance setting

Definition at line 864 of file MultiSenseTypes.hh.

◆ whiteBalanceRed()

float crl::multisense::image::Config::whiteBalanceRed ( ) const
inline

Query the current image configuration's red white-balance setting.

Returns
The current image configuration's red white-balance setting

Definition at line 856 of file MultiSenseTypes.hh.

◆ width()

uint32_t crl::multisense::image::Config::width ( ) const
inline

Query the current image configuration's width.

Returns
The current image width

Definition at line 758 of file MultiSenseTypes.hh.

◆ yaw()

float crl::multisense::image::Config::yaw ( ) const
inline

Query the current camera calibrations yaw value.

This is the Euler yaw angle to rotate the right camera frame into the left camera frame. For rectified images this value will be 0.

Returns
the current camera calibrations yaw value

Definition at line 1055 of file MultiSenseTypes.hh.

Member Data Documentation

◆ m_aeDecay

uint32_t crl::multisense::image::Config::m_aeDecay
private

Definition at line 1076 of file MultiSenseTypes.hh.

◆ m_aeEnabled

bool crl::multisense::image::Config::m_aeEnabled
private

Definition at line 1074 of file MultiSenseTypes.hh.

◆ m_aeMax

uint32_t crl::multisense::image::Config::m_aeMax
private

Definition at line 1075 of file MultiSenseTypes.hh.

◆ m_aeThresh

float crl::multisense::image::Config::m_aeThresh
private

Definition at line 1077 of file MultiSenseTypes.hh.

◆ m_autoExposureRoiHeight

uint16_t crl::multisense::image::Config::m_autoExposureRoiHeight
private

Definition at line 1093 of file MultiSenseTypes.hh.

◆ m_autoExposureRoiWidth

uint16_t crl::multisense::image::Config::m_autoExposureRoiWidth
private

Definition at line 1092 of file MultiSenseTypes.hh.

◆ m_autoExposureRoiX

uint16_t crl::multisense::image::Config::m_autoExposureRoiX
private

Definition at line 1090 of file MultiSenseTypes.hh.

◆ m_autoExposureRoiY

uint16_t crl::multisense::image::Config::m_autoExposureRoiY
private

Definition at line 1091 of file MultiSenseTypes.hh.

◆ m_cam_mode

int crl::multisense::image::Config::m_cam_mode
private

Definition at line 1085 of file MultiSenseTypes.hh.

◆ m_cx

float crl::multisense::image::Config::m_cx
protected

Definition at line 1097 of file MultiSenseTypes.hh.

◆ m_cy

float crl::multisense::image::Config::m_cy
protected

Definition at line 1097 of file MultiSenseTypes.hh.

◆ m_disparities

uint32_t crl::multisense::image::Config::m_disparities
private

Definition at line 1084 of file MultiSenseTypes.hh.

◆ m_exposure

uint32_t crl::multisense::image::Config::m_exposure
private

Definition at line 1073 of file MultiSenseTypes.hh.

◆ m_fps

float crl::multisense::image::Config::m_fps
private

Definition at line 1069 of file MultiSenseTypes.hh.

◆ m_fx

float crl::multisense::image::Config::m_fx
protected

Definition at line 1097 of file MultiSenseTypes.hh.

◆ m_fy

float crl::multisense::image::Config::m_fy
protected

Definition at line 1097 of file MultiSenseTypes.hh.

◆ m_gain

float crl::multisense::image::Config::m_gain
private

Definition at line 1072 of file MultiSenseTypes.hh.

◆ m_hdrEnabled

bool crl::multisense::image::Config::m_hdrEnabled
private

Definition at line 1088 of file MultiSenseTypes.hh.

◆ m_height

uint32_t crl::multisense::image::Config::m_height
private

Definition at line 1083 of file MultiSenseTypes.hh.

◆ m_offset

int crl::multisense::image::Config::m_offset
private

Definition at line 1086 of file MultiSenseTypes.hh.

◆ m_pitch

float crl::multisense::image::Config::m_pitch
protected

Definition at line 1099 of file MultiSenseTypes.hh.

◆ m_roll

float crl::multisense::image::Config::m_roll
protected

Definition at line 1099 of file MultiSenseTypes.hh.

◆ m_spfStrength

float crl::multisense::image::Config::m_spfStrength
private

Definition at line 1087 of file MultiSenseTypes.hh.

◆ m_storeSettingsInFlash

bool crl::multisense::image::Config::m_storeSettingsInFlash
private

Definition at line 1089 of file MultiSenseTypes.hh.

◆ m_tx

float crl::multisense::image::Config::m_tx
protected

Definition at line 1098 of file MultiSenseTypes.hh.

◆ m_ty

float crl::multisense::image::Config::m_ty
protected

Definition at line 1098 of file MultiSenseTypes.hh.

◆ m_tz

float crl::multisense::image::Config::m_tz
protected

Definition at line 1098 of file MultiSenseTypes.hh.

◆ m_wbBlue

float crl::multisense::image::Config::m_wbBlue
private

Definition at line 1078 of file MultiSenseTypes.hh.

◆ m_wbDecay

uint32_t crl::multisense::image::Config::m_wbDecay
private

Definition at line 1081 of file MultiSenseTypes.hh.

◆ m_wbEnabled

bool crl::multisense::image::Config::m_wbEnabled
private

Definition at line 1080 of file MultiSenseTypes.hh.

◆ m_wbRed

float crl::multisense::image::Config::m_wbRed
private

Definition at line 1079 of file MultiSenseTypes.hh.

◆ m_wbThresh

float crl::multisense::image::Config::m_wbThresh
private

Definition at line 1082 of file MultiSenseTypes.hh.

◆ m_width

uint32_t crl::multisense::image::Config::m_width
private

Definition at line 1083 of file MultiSenseTypes.hh.

◆ m_yaw

float crl::multisense::image::Config::m_yaw
protected

Definition at line 1099 of file MultiSenseTypes.hh.


The documentation for this class was generated from the following file:
crl::multisense::Channel
Class which manages all communications with a MultiSense device.
Definition: MultiSenseChannel.hh:69
crl::multisense::Status_Ok
static CRL_CONSTEXPR Status Status_Ok
Definition: MultiSenseTypes.hh:98
crl::multisense::Channel::setImageConfig
virtual Status setImageConfig(const image::Config &c)=0
Set the image configuration.
crl::multisense::Channel::Destroy
static void Destroy(Channel *instanceP)
Destroy a channel instance that was created using the static member function Channel::Create().
crl::multisense::Status
int32_t Status
General status typdef used as a return value for get/set crl::multisense::Channel methods.
Definition: MultiSenseTypes.hh:93
crl::multisense::Channel::setMtu
virtual Status setMtu(int32_t mtu)=0
Set the current sensor's MTU.
crl::multisense::image::Config::setFps
void setFps(float f)
Set the desired output frames per second.
Definition: MultiSenseTypes.hh:604
crl::multisense::Channel::getImageConfig
virtual Status getImageConfig(image::Config &c)=0
Query the image configuration.
crl::multisense::image::Config
Class used to store a specific camera configuration.
Definition: MultiSenseTypes.hh:529
crl::multisense::Channel::Create
static Channel * Create(const std::string &sensorAddress)
Create a Channel instance, used to manage all communications with a sensor.