MultiSense Docs

Introduction

• Overview
  • Quickstart
  • Advanced Bringup

Hardware

• Mechanical
• Electrical

Software

• Overview
• LibMultiSense
  • API Doccumentation
  • Building
  • Utilities
  • API Overview
• MultiSense Viewer
  • Installation
  • Connecting to the MultiSense
  • Viewing Live Data
• ROS 1 Driver
  • Prerequisites
  • Running ROS Driver
  • Reconfiguring Camera Via ROS
  • Running LibMultiSense Utils
  • MultiSense ROS Topics
• ROS2 Driver
  • Install ROS2
  • Build multisense_ros2
  • Launch
  • Configuration
• ARK

Network Configuration

• Network Setup
  • Host Network Configuration
• Network Details
  • Gigabit Networking Requirements
  • Multiple MultiSense Cameras on the Same Interface
  • Debugging Network Issues

Time Sync

• Time Synchronization
  • PTP (Precision Time Protocol)
  • LibMultiSense Network Time Synchronization
  • Legacy Time Synchronization

Stereo Configuration

• Manual Exposure
  • Exposure Time
  • Gain
• Autoexposure
  • Maximum Exposure Time
  • Decay Rate
  • Intensity and Threshold
  • Region of Interest
• Gamma
• Frame Rate
• Stereo Post-Filter
• Resolution

How Stereo Works (And Doesn't)

• Overview
• Texture
• Reflections
• Rectification

Data Sources

• Image Sources
  • Left Luma
  • Right Luma
  • Left Luma Rectified
  • Right Luma Rectified
  • Disparity
  • Aux Luma
  • Aux Chroma
  • Aux Luma Rectified
  • Aux Chroma Rectified
  • Left Compressed
  • Right Compressed
  • Left Rectified Compressed
  • Right Rectified Compressed
  • Aux Compressed
  • Aux Rectified Compressed
• IMU Sources
  • Accelerometer
  • Gyroscope
• Miscellaneous Sources
  • PPS
• ORB Features
  • Left ORB Features
  • Right ORB Features
  • Aux ORB Features
  • Left Rectified ORB Features
  • Right Rectified ORB Features
  • Aux Rectified ORB Features

Camera Calibration

• Stereo Calibration
  • Intrinsics
  • Extrinsics
• Natural Scene Calibration
  • Overview
  • Calibration Prep
  • Running the Calibration
  • Processing the Calibration
  • Loading the Calibration

MultiSense Cookbook

• Reproject Disparity Images to 3D Point Clouds
  • C++
  • Python
  • Point Clouds with Intensity
• Convert Disparity Images to Depth Images
• Create Color Images
  • C++
  • Python
• Create a Color 3D Point Cloud
  • Approximation For Execution Speed
• Decode a Compressed Image to RGB
  • C++
  • Python
• Rectify Images Using OpenCV
  • C++ OpenCV Rectification
  • Python OpenCV Rectification

Firmware Updates

• Firmware Update
  • Check Firmware Version
  • Update Firmware

Troubleshooting

• Troubleshooting
  • No images are streamed from the camera
  • MultiSense Viewer
  • LibMultiSense API
  • Download Debug Logs

Frequently Asked Questions

• Frequently Asked Questions
  • Why can I not connect to my MultiSense?
  • How do I keep the lenses clean?
  • Why are most of the pixels in my disparity image zero?
  • Why are there black regions at the top of Rectified Images?
  • Why are there green regions at the top of Aux Rectified Color Images?
  • LibMultiSense
  • ROS1
  • ROS2

Regulatory and Compliance

• RoHS
• REACH
• Export Control