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

#include <MultiSenseTypes.hh>

Collaboration diagram for crl::multisense::image::Config:

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	setAutoExposureTargetIntensity (float d)
	Set the desired auto-exposure target Intensity. 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...

void	setExposureSource (const DataSource &s)
	Set the stream source which these exposure parameters should apply to. More...

void	setCameraProfile (const CameraProfile &profile)
	Set the operation profile for the camera to use. More...

void	setPrimaryExposure (const ExposureConfig &c)
	Set the primary exposure configuration. More...

void	setSecondaryExposures (const std::vector< ExposureConfig > &c)
	Set the secondary exposures configurations. More...

void	setGamma (const float g)
	Set the secondary exposures gamma correction factor. 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	autoExposureTargetIntensity () const
	Query the current image configuration's auto-exposure target intensity. 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...

DataSource	exposureSource () const
	Query the image source which the exposure parameters correspond with. More...

CameraProfile	cameraProfile () const
	Query the current image configurations camera profile. More...

ExposureConfig	primaryExposure () const
	Query the primary exposure config. More...

std::vector< ExposureConfig >	secondaryExposures () const
	Query the collection of secondary exposures. More...

float	gamma () const
	Query the gamma correction factor. 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

ExposureConfig	m_primary_exposure

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

CameraProfile	m_profile

std::vector< ExposureConfig >	m_secondary_exposures

float	m_gamma

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
crl::multisense::Channel* channel;
channel = crl::multisense::Channel::Create("10.66.171.21");
 
channel->setMtu(7200);
 
//
// Create a imageConfig instance to store the queried configuration
crl::multisense::image::Config imageConfig;
 
//
// Query the image configuration from the Channel instance
crl::multisense::Status status = channel->getImageConfig(imageConfig);
 
//
// Check to see if the configuration query succeeded
if(crl::multisense::Status_Ok != status) {
     throw std::runtime_error("Unable to query image configuration");
}
 
//
// Use the image configuration...
 
//
// Destroy the channel instance
crl::multisense::Channel::Destroy(channel);

Example code to set an image configurations:

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

Definition at line 795 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 1424 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 1141 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 1157 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 1149 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 1267 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 1258 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 1242 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 1249 of file MultiSenseTypes.hh.

◆ autoExposureTargetIntensity()

float crl::multisense::image::Config::autoExposureTargetIntensity ( ) const

inline

Query the current image configuration's auto-exposure target intensity.

Returns: The current image configuration's auto-exposure target intensity

Definition at line 1165 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 1173 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 1197 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 1205 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 1213 of file MultiSenseTypes.hh.

◆ cameraProfile()

CameraProfile crl::multisense::image::Config::cameraProfile ( ) const

inline

Query the current image configurations camera profile.

Returns: The current image configurations camera profile

Definition at line 1281 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 1100 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 1344 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 1356 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 1092 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 1133 of file MultiSenseTypes.hh.

◆ exposureSource()

DataSource crl::multisense::image::Config::exposureSource ( ) const

inline

Query the image source which the exposure parameters correspond with.

Returns: Return the image source associated with the exposure parameters

Definition at line 1274 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 1116 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 1321 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 1332 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 1124 of file MultiSenseTypes.hh.

◆ gamma()

float crl::multisense::image::Config::gamma ( ) const

inline

Query the gamma correction factor.

Gamma correction factor will be applied to all images.

Returns: Return the gamma factor applied to images

Definition at line 1305 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 1228 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 1083 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 1108 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 1408 of file MultiSenseTypes.hh.

◆ primaryExposure()

ExposureConfig crl::multisense::image::Config::primaryExposure ( ) const

inline

Query the primary exposure config.

Returns: Return the primary exposure config

Definition at line 1288 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 1398 of file MultiSenseTypes.hh.

◆ secondaryExposures()

std::vector<ExposureConfig> crl::multisense::image::Config::secondaryExposures ( ) const

inline

Query the collection of secondary exposures.

These are independent exposure configurations which are used for alternate image streams. Secondary exposure configs will be subsumed by the primary exposure configuration

Returns: Return the collection of secondary exposure configurations

Definition at line 1297 of file MultiSenseTypes.hh.

◆ setAutoExposure()

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

inline

Set auto-exposure enable flag.

Default value: true

Parameters

e	A boolean used to enable or disable auto-exposure

Definition at line 895 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

d	The auto-exposure decay rate [0, 20]

Definition at line 911 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

m	The maximum auto-exposure value in microseconds

Definition at line 903 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_x	The X coordinate where the ROI starts
start_y	The Y coordinate where the ROI starts
width	The width of the ROI
height	The height of the ROI

Definition at line 1016 of file MultiSenseTypes.hh.

◆ setAutoExposureTargetIntensity()

void crl::multisense::image::Config::setAutoExposureTargetIntensity ( float d )

inline

Set the desired auto-exposure target Intensity.

Default value: 0.95

Parameters

d	The auto-exposure target intensity [0.0, 1.0]

Definition at line 919 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

t	The desired auto-exposure threshold [0.0, 1.0]

Definition at line 928 of file MultiSenseTypes.hh.

◆ setAutoWhiteBalance()

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

inline

Set the white-balance enable flag.

Default value: true

Parameters

e	A boolean used to enable or disable white-balance

Definition at line 948 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

d	The white-balance decay rate [0, 20]

Definition at line 956 of file MultiSenseTypes.hh.

◆ setAutoWhiteBalanceThresh()

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

inline

Set the white-balance threshold.

Default value: 0.5

Parameters

t	The desired white-balance threshold [0.0, 1.0]

Definition at line 964 of file MultiSenseTypes.hh.

◆ setCameraProfile()

void crl::multisense::image::Config::setCameraProfile ( const CameraProfile & profile )

inline

Set the operation profile for the camera to use.

Profile settings subsume other user settings.

Parameters

profile The operation profile to use on the camera

Definition at line 1034 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

m	The new output mask for CMV4000 cameras

Definition at line 831 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

d	The number of disparities

Definition at line 821 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

e	The output exposure time in microseconds [10, 5000000]

Definition at line 887 of file MultiSenseTypes.hh.

◆ setExposureSource()

void crl::multisense::image::Config::setExposureSource ( const DataSource & s )

inline

Set the stream source which these exposure parameters should apply to.

Parameters

s	The image stream to apply these exposure parameters to

Definition at line 1027 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

f	The desired frames per second

Definition at line 870 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

g	The output image gain

Definition at line 878 of file MultiSenseTypes.hh.

◆ setGamma()

void crl::multisense::image::Config::setGamma ( const float g )

inline

Set the secondary exposures gamma correction factor.

Gamma is a nonlinear operation used to encode and decode luminance. Typical values for gamma range between 1 and 2.2.

Parameters

g	the gamma constant applied to the camera sources

Definition at line 1065 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

e	A boolean used to enable or disable HDR on the camera imagers

Definition at line 988 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

h	The new resolution's height

Definition at line 859 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

o	The offset from the bottom of the imager's FOV.

Definition at line 841 of file MultiSenseTypes.hh.

◆ setPrimaryExposure()

void crl::multisense::image::Config::setPrimaryExposure ( const ExposureConfig & c )

inline

Set the primary exposure configuration.

Parameters

c	The primary exposure configuration to set

Definition at line 1044 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

w	The new resolutions width
h	The new resolutions height

Definition at line 809 of file MultiSenseTypes.hh.

◆ setSecondaryExposures()

void crl::multisense::image::Config::setSecondaryExposures ( const std::vector< ExposureConfig > & c )

inline

Set the secondary exposures configurations.

These are independent exposure configurations which are used for alternate image streams. Secondary exposure configs will be subsumed by the primary exposure configuration.

A example use case includes specifying independent ROI based exposure control for the left and right camera

Parameters

c	The collection of secondary exposure configs to set

Definition at line 1055 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

s	The desired stereo post-filter strength [0.0, 1.0]

Definition at line 976 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

e	A boolean used to enable or disable writing the camera configuration to flash

Definition at line 999 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

r	The input read white-balance value [0.25, 4.0]
b	The input blue white-balance value [0.25, 4.0]

Definition at line 939 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

w	The new resolution's width

Definition at line 850 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 1221 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 1235 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 1366 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 1377 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 1388 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 1189 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 1181 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 1075 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

private

Definition at line 1442 of file MultiSenseTypes.hh.

◆ m_width

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

private

Definition at line 1443 of file MultiSenseTypes.hh.

◆ m_yaw

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

protected

Definition at line 1458 of file MultiSenseTypes.hh.

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

/home/malvarado/crl/LibMultiSense/source/LibMultiSense/include/MultiSense/MultiSenseTypes.hh

Public Member Functions

Protected Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Config()

Member Function Documentation

◆ autoExposure()

◆ autoExposureDecay()

◆ autoExposureMax()

◆ autoExposureRoiHeight()

◆ autoExposureRoiWidth()

◆ autoExposureRoiX()

◆ autoExposureRoiY()

◆ autoExposureTargetIntensity()

◆ autoExposureThresh()

◆ autoWhiteBalance()

◆ autoWhiteBalanceDecay()

◆ autoWhiteBalanceThresh()

◆ cameraProfile()

◆ camMode()

◆ cx()

◆ cy()

◆ disparities()

◆ exposure()

◆ exposureSource()

◆ fps()

◆ fx()

◆ fy()

◆ gain()

◆ gamma()

◆ hdrEnabled()

◆ height()

◆ offset()

◆ pitch()

◆ primaryExposure()

◆ roll()

◆ secondaryExposures()

◆ setAutoExposure()

◆ setAutoExposureDecay()

◆ setAutoExposureMax()

◆ setAutoExposureRoi()

◆ setAutoExposureTargetIntensity()

◆ setAutoExposureThresh()

◆ setAutoWhiteBalance()

◆ setAutoWhiteBalanceDecay()

◆ setAutoWhiteBalanceThresh()

◆ setCameraProfile()

◆ setCamMode()

◆ setDisparities()

◆ setExposure()

◆ setExposureSource()

◆ setFps()

◆ setGain()

◆ setGamma()

◆ setHdr()

◆ setHeight()

◆ setOffset()

◆ setPrimaryExposure()

◆ setResolution()

◆ setSecondaryExposures()

◆ setStereoPostFilterStrength()

◆ setStoreSettingsInFlash()

◆ setWhiteBalance()

◆ setWidth()

◆ stereoPostFilterStrength()

◆ storeSettingsInFlash()

◆ tx()

◆ ty()

◆ tz()

◆ whiteBalanceBlue()

◆ whiteBalanceRed()

◆ width()

◆ yaw()

Member Data Documentation

◆ m_cam_mode

◆ m_cx

◆ m_cy

◆ m_disparities

◆ m_fps