#include <stdint.h>
#include <climits>
#include <string>
#include <vector>
#include <iostream>

Include dependency graph for MultiSenseTypes.hh:

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

Classes
struct	crl::multisense::RemoteHeadSyncGroup
	Remote head sync group defines a group of remote heads which will have their image captures synchronized. More...

class	crl::multisense::HeaderBase
	Base Header class for sensor callbacks. More...

class	crl::multisense::image::Header
	Class containing image Header information common to all image types. More...

class	crl::multisense::image::ExposureConfig

class	crl::multisense::image::Config
	Class used to store a specific camera configuration. More...

class	crl::multisense::image::AuxConfig

class	crl::multisense::image::Calibration
	Class used For querying/setting camera calibration. More...

class	crl::multisense::image::Calibration::Data
	Class to store camera calibration matrices. More...

class	crl::multisense::image::TransmitDelay

class	crl::multisense::image::PacketDelay

class	crl::multisense::image::Histogram
	Class which stores a image histogram from a camera image. More...

class	crl::multisense::image::RemoteHeadConfig

class	crl::multisense::lidar::Header
	Class which stores Header information for a lidar scan. More...

class	crl::multisense::lidar::Calibration
	Class used to store a laser calibration. More...

class	crl::multisense::lighting::Config
	Class used to store a specific lighting configuration. More...

class	crl::multisense::lighting::SensorStatus
	A external sensor status. More...

class	crl::multisense::pps::Header
	Class containing Header information for a PPS event. More...

class	crl::multisense::imu::Sample
	Class containing a single IMU sample. More...

class	crl::multisense::imu::Header
	Class containing Header information for an IMU callback. More...

class	crl::multisense::imu::Info
	Class containing detailed information for the IMU. More...

struct	crl::multisense::imu::Info::RateEntry
	Class containing a one valid IMU rate configuration. More...

struct	crl::multisense::imu::Info::RangeEntry
	Class containing a one valid IMU range configuration. More...

class	crl::multisense::imu::Config
	Class used to store a specific IMU configuration. More...

class	crl::multisense::compressed_image::Header

class	crl::multisense::ground_surface::Header
	Class containing Header information for a Ground Surface Spline callback. More...

class	crl::multisense::apriltag::Header
	Class containing Header information for a apriltag callback. More...

struct	crl::multisense::apriltag::Header::ApriltagDetection

struct	crl::multisense::feature_detector::Feature

struct	crl::multisense::feature_detector::Descriptor

class	crl::multisense::feature_detector::Header

class	crl::multisense::system::DeviceMode
	Class used query the device modes for a given sensor. More...

class	crl::multisense::system::VersionInfo
	Class containing version info for a specific sensor. More...

class	crl::multisense::system::PcbInfo
	Class used to store PCB information for the various circuit boards in a sensor. More...

class	crl::multisense::system::DeviceInfo
	Class used to store device information specific to a sensor. More...

class	crl::multisense::system::NetworkConfig
	Class containing the network configuration for a specific sensor. More...

class	crl::multisense::system::StatusMessage
	Class containing status information for a particular device. More...

class	crl::multisense::system::ExternalCalibration
	A external calibration associated with the MultiSense. More...

class	crl::multisense::system::GroundSurfaceParams
	Class containing parameters for the ground surface modeling and obstacle detection application which may be running on the specifically commissioned MultiSenses. More...

class	crl::multisense::system::ApriltagParams
	Class containing parameters for the apriltag fiduciual detection algorithm application which may be running on the specifically commissioned MultiSenses. More...

class	crl::multisense::system::FeatureDetectorConfig
	Example code showing usage of the onboard feature detector. More...

class	crl::multisense::system::PtpStatus
	PTP status data associated with a specific stamped MultiSense message. More...

struct	crl::multisense::system::ChannelStatistics
	A struct for storing statistics for a channel object. More...

Namespaces
	crl

	crl::multisense

	crl::multisense::image

	crl::multisense::lidar

	crl::multisense::lighting

	crl::multisense::pps

	crl::multisense::imu

	crl::multisense::compressed_image

	crl::multisense::ground_surface

	crl::multisense::apriltag

	crl::multisense::feature_detector

	crl::multisense::system

Macros
#define	CRL_CONSTEXPR const

#define	MULTISENSE_API

Typedefs
typedef uint32_t	crl::multisense::VersionType
	Sensor version typedef used to store a given version number. More...

typedef int32_t	crl::multisense::Status
	General status typdef used as a return value for get/set crl::multisense::Channel methods. More...

typedef uint64_t	crl::multisense::DataSource
	Data sources typedef representing the various data sources available from sensors in the MultiSense-S line. More...

typedef uint32_t	crl::multisense::CameraProfile
	Camera profile typedef representing the various stereo profiles available from newer S27/S30 MultiSense variants. More...

typedef uint32_t	crl::multisense::ImageCompressionCodec
	Image compression codec typedef indicating the compression scheme which was used on the compressed output streams. More...

typedef int16_t	crl::multisense::RemoteHeadChannel
	Remote head channel defines which channel is used to communicate to a specific component in the Remote Head system. More...

typedef uint32_t	crl::multisense::TriggerSource

typedef void(*	crl::multisense::image::Callback) (const Header &header, void *userDataP)
	Function pointer for receiving callbacks of image data. More...

typedef uint32_t	crl::multisense::lidar::RangeType
	The type of a single laser range measurement More...

typedef uint32_t	crl::multisense::lidar::IntensityType
	The type of a single laser intensity measurement More...

typedef void(*	crl::multisense::lidar::Callback) (const Header &header, void *userDataP)
	Function pointer for receiving callbacks of lidar data. More...

typedef void(*	crl::multisense::pps::Callback) (const Header &header, void *userDataP)
	Function pointer for receiving callbacks for PPS events. More...

typedef void(*	crl::multisense::imu::Callback) (const Header &header, void *userDataP)
	Function pointer for receiving callbacks for IMU data. More...

typedef void(*	crl::multisense::compressed_image::Callback) (const Header &header, void *userDataP)
	Function pointer for receiving callbacks for compressed image data. More...

typedef void(*	crl::multisense::ground_surface::Callback) (const Header &header, void *userDataP)
	Function pointer for receiving callbacks for Ground Surface Spline data. More...

typedef void(*	crl::multisense::apriltag::Callback) (const Header &header, void *userDataP)
	Function pointer for receiving callbacks for apriltag data. More...

typedef void(*	crl::multisense::feature_detector::Callback) (const Header &header, void *userDataP)
	Function pointer for receiving callbacks for feature_detector data. More...

Variables
static CRL_CONSTEXPR Status	crl::multisense::Status_Ok = 0

static CRL_CONSTEXPR Status	crl::multisense::Status_TimedOut = -1

static CRL_CONSTEXPR Status	crl::multisense::Status_Error = -2

static CRL_CONSTEXPR Status	crl::multisense::Status_Failed = -3

static CRL_CONSTEXPR Status	crl::multisense::Status_Unsupported = -4

static CRL_CONSTEXPR Status	crl::multisense::Status_Unknown = -5

static CRL_CONSTEXPR Status	crl::multisense::Status_Exception = -6

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Unknown = 0

static CRL_CONSTEXPR DataSource	crl::multisense::Source_All = 0xffffffffffffffff

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Raw_Left = (1ull<<0)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Raw_Right = (1ull<<1)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Luma_Left = (1ull<<2)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Luma_Right = (1ull<<3)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Luma_Rectified_Left = (1ull<<4)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Luma_Rectified_Right = (1ull<<5)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Chroma_Left = (1ull<<6)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Chroma_Right = (1ull<<7)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Chroma_Rectified_Aux = (1ull<<8)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Disparity = (1ull<<10)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Disparity_Left = (1ull<<10)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Disparity_Right = (1ull<<11)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Disparity_Cost = (1ull<<12)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Jpeg_Left = (1ull<<16)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Rgb_Left = (1ull<<17)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Feature_Left = (1ull<<18)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Feature_Right = (1ull<<19)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Feature_Aux = (1ull<<32)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Ground_Surface_Spline_Data = (1ull<<20)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Ground_Surface_Class_Image = (1ull<<22)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_AprilTag_Detections = (1ull<<23)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Lidar_Scan = (1ull<<24)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Imu = (1ull<<25)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Pps = (1ull<<26)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Raw_Aux = (1ull<<27)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Luma_Aux = (1ull<<28)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Luma_Rectified_Aux = (1ull<<29)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Chroma_Aux = (1ull<<30)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Disparity_Aux = (1ull<<31)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Compressed_Left = (1ull<<9)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Compressed_Right = (1ull<<13)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Compressed_Aux = (1ull<<14)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Compressed_Rectified_Left = (1ull<<15)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Compressed_Rectified_Right = (1ull<<16)

static CRL_CONSTEXPR DataSource	crl::multisense::Source_Compressed_Rectified_Aux = (1ull<<17)

static CRL_CONSTEXPR int	crl::multisense::Roi_Full_Image = 0
	Use Roi_Full_Image as the height and width when setting the autoExposureRoi to set the ROI to the full image regardless of the current resolution. More...

static CRL_CONSTEXPR DataSource	crl::multisense::Exposure_Default_Source = Source_Luma_Left

static CRL_CONSTEXPR float	crl::multisense::Exposure_Default_Target_Intensity = 0.5f

static CRL_CONSTEXPR float	crl::multisense::Exposure_Default_Gain = 1.0f

static CRL_CONSTEXPR CameraProfile	crl::multisense::User_Control = 0
	User has direct control over all settings in the image configuration. More...

static CRL_CONSTEXPR CameraProfile	crl::multisense::Detail_Disparity = (1U<<0)
	User would like more detail in the disparity image. More...

static CRL_CONSTEXPR CameraProfile	crl::multisense::High_Contrast = (1U<<1)
	User would like more contrast in images. More...

static CRL_CONSTEXPR CameraProfile	crl::multisense::Show_ROIs = (1U<<2)
	User would like see the auto exposure Regions of Interest drawn on the image. More...

static CRL_CONSTEXPR CameraProfile	crl::multisense::Ground_Surface = (1U<<3)
	User would like to run spline-based ground surface algorithm on the camera. More...

static CRL_CONSTEXPR CameraProfile	crl::multisense::Full_Res_Aux_Cam = (1U<<4)
	User would like full resolution images from the aux camera regardless of the requested resolution of the stereo pair. More...

static CRL_CONSTEXPR CameraProfile	crl::multisense::AprilTag = (1U<<5)
	User would like to run apriltag detector on the camera. More...

static CRL_CONSTEXPR ImageCompressionCodec	crl::multisense::H264 = 0
	Image data is compressed with the H.264 Codec. More...

static CRL_CONSTEXPR RemoteHeadChannel	crl::multisense::Remote_Head_VPB = -1
	The Remote Head Vision Processor Board. More...

static CRL_CONSTEXPR RemoteHeadChannel	crl::multisense::Remote_Head_0 = 0
	The Remote Head Camera at position 0. More...

static CRL_CONSTEXPR RemoteHeadChannel	crl::multisense::Remote_Head_1 = 1
	The Remote Head Camera at position 1. More...

static CRL_CONSTEXPR RemoteHeadChannel	crl::multisense::Remote_Head_2 = 2
	The Remote Head Camera at position 2. More...

static CRL_CONSTEXPR RemoteHeadChannel	crl::multisense::Remote_Head_3 = 3
	The Remote Head Camera at position 3. More...

static CRL_CONSTEXPR RemoteHeadChannel	crl::multisense::Remote_Head_Invalid = SHRT_MAX
	Invalid Remote Head position. More...

static CRL_CONSTEXPR TriggerSource	crl::multisense::Trigger_Internal = 0
	Default internal trigger source. More...

static CRL_CONSTEXPR TriggerSource	crl::multisense::Trigger_External = 1
	External OPTO_RX trigger input. More...

static CRL_CONSTEXPR TriggerSource	crl::multisense::Trigger_External_Inverted = 2
	External OPTO_RX trigger input with Inverted Polarity. More...

static CRL_CONSTEXPR TriggerSource	crl::multisense::Trigger_PTP = 3
	Syncronize cameras on integer timestamps when using PTP. More...

static CRL_CONSTEXPR uint32_t	crl::multisense::lighting::MAX_LIGHTS = 8
	The maximum number of lights for a given sensor. More...

static CRL_CONSTEXPR float	crl::multisense::lighting::MAX_DUTY_CYCLE = 100.0
	The maximum duty cycle for adjusting light intensity. More...

static CRL_CONSTEXPR int	crl::multisense::feature_detector::RECOMMENDED_MAX_FEATURES_FULL_RES = 5000
	The recommended maximum number of features for full resolution camera operation. More...

static CRL_CONSTEXPR int	crl::multisense::feature_detector::RECOMMENDED_MAX_FEATURES_QUARTER_RES = 1500
	The recommended maximum number of features for quarter resolution camera operation. More...

Macro Definition Documentation

◆ CRL_CONSTEXPR

#define CRL_CONSTEXPR const

Definition at line 49 of file MultiSenseTypes.hh.

◆ MULTISENSE_API

#define MULTISENSE_API

Definition at line 65 of file MultiSenseTypes.hh.

Classes

Namespaces

Macros

Typedefs

Variables

Macro Definition Documentation

◆ CRL_CONSTEXPR

◆ MULTISENSE_API