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LibMultiSense
LibMultiSense Documentation
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37 #ifndef LibMultiSense_MultiSenseTypes_hh
38 #define LibMultiSense_MultiSenseTypes_hh
45 #if defined (CRL_HAVE_CONSTEXPR)
46 #define CRL_CONSTEXPR constexpr
48 #define CRL_CONSTEXPR const
53 #if !defined(MULTISENSE_API)
54 #if defined (_MSC_VER)
55 #if defined (MultiSense_STATIC)
56 #define MULTISENSE_API __declspec(dllexport)
57 #elif defined (MultiSense_EXPORTS)
58 #define MULTISENSE_API __declspec(dllexport)
60 #define MULTISENSE_API __declspec(dllimport)
64 #define MULTISENSE_API
69 #if defined (_MSC_VER)
76 #pragma warning (push)
77 #pragma warning (disable: 4251)
81 namespace multisense {
238 const std::string& addr,
239 uint16_t p=DFL_UDP_PORT,
244 fpsDecimation(dec) {};
501 m_exposure(10000), m_aeEnabled(true), m_aeMax(5000000), m_aeDecay(7), m_aeThresh(0.75f),
502 m_autoExposureRoiX(0), m_autoExposureRoiY(0),
574 m_autoExposureRoiX = start_x;
575 m_autoExposureRoiY = start_y;
576 m_autoExposureRoiWidth = width;
577 m_autoExposureRoiHeight = height;
691 float gain()
const {
return m_gain; };
810 uint32_t h) { m_width=w;m_height=h; };
887 void setExposure (uint32_t e) { m_primary_exposure.setExposure(e); };
940 float b) { m_wbRed=r;m_wbBlue=b; };
988 void setHdr (
bool e) { m_hdrEnabled = e; };
1018 m_primary_exposure.setAutoExposureRoi(start_x, start_y, width, height);
1036 m_profile = profile;
1075 uint32_t
width ()
const {
return m_width; };
1083 uint32_t
height ()
const {
return m_height; };
1116 float fps ()
const {
return m_fps; };
1124 float gain ()
const {
return m_gain; };
1133 uint32_t
exposure ()
const {
return m_primary_exposure.exposure(); };
1305 float gamma()
const {
return m_gamma; };
1321 float fx()
const {
return m_fx; };
1332 float fy()
const {
return m_fy; };
1344 float cx()
const {
return m_cx; };
1356 float cy()
const {
return m_cy; };
1366 float tx()
const {
return m_tx; };
1377 float ty()
const {
return m_ty; };
1388 float tz()
const {
return m_tz; };
1398 float roll()
const {
return m_roll; };
1408 float pitch()
const {
return m_pitch; };
1418 float yaw()
const {
return m_yaw; };
1425 m_primary_exposure(),
1426 m_wbBlue(1.0f), m_wbRed(1.0f), m_wbEnabled(true), m_wbDecay(3), m_wbThresh(0.5f),
1427 m_width(1024), m_height(544), m_disparities(128), m_cam_mode(0), m_offset(-1), m_spfStrength(0.5f),
1428 m_hdrEnabled(false), m_storeSettingsInFlash(false),
1430 m_secondary_exposures(),
1432 m_fx(0), m_fy(0), m_cx(0), m_cy(0),
1433 m_tx(0), m_ty(0), m_tz(0), m_roll(0), m_pitch(0), m_yaw(0) {};
1657 uint8_t adc_gain[2];
1661 int16_t bl_offset[2];
1887 float laserToSpindle[4][4];
1890 float cameraToSpindleFixed[4][4];
1896 namespace lighting {
2021 std::fill(m_dutyCycle.begin(),
2044 m_dutyCycle[i] = percent;
2060 return m_dutyCycle[i];
2071 bool m_flashEnabled;
2215 return (
static_cast<double>(timeSeconds) +
2216 1e-6 *
static_cast<double>(timeMicroSeconds));
2441 namespace compressed_image {
2496 namespace ground_surface {
2520 float xzCellOrigin[2];
2522 float xzCellSize[2];
2526 float minMaxAzimuthAngle[2];
2530 float extrinsics[6];
2534 float quadraticParams[6];
2600 supportedDataSources(d),
2665 sensorFirmwareVersion(0),
2666 sensorHardwareVersion(0),
2667 sensorHardwareMagic(0),
2668 sensorFpgaDna(0) {};
2734 static CRL_CONSTEXPR uint32_t HARDWARE_REV_MULTISENSE_S = HARDWARE_REV_MULTISENSE_S7;
2812 hardwareRevision(0),
2817 nominalBaseline(0.0),
2818 nominalFocalLength(0.0),
2819 nominalRelativeAperture(0.0),
2824 motorGearReduction(0.0) {};
2908 ipv4Address(
"10.66.171.21"),
2909 ipv4Gateway(
"10.66.171.1"),
2910 ipv4Netmask(
"255.255.240.0") {};
2922 const std::string& g,
2923 const std::string& n) :
3033 laserMotorOk(false),
3036 externalLedsOk(false),
3037 processingPipelineOk(false),
3038 powerSupplyTemperature(0.),
3039 fpgaTemperature(0.),
3040 leftImagerTemperature(0.),
3041 rightImagerTemperature(0.),
3169 #if defined (_MSC_VER)
3170 #pragma warning (pop)
3173 #endif // LibMultiSense_MultiSenseTypes_hh
static CRL_CONSTEXPR TriggerSource Trigger_PTP
Syncronize cameras on integer timestamps when using PTP.
float ty() const
Query the current camera calibrations stereo baseline.
static CRL_CONSTEXPR Status Status_Failed
Class used to store a specific IMU configuration.
bool enabled
A boolean flag indicating whether the given IMU source is currently enabled.
uint16_t m_autoExposureRoiY
DeviceInfo()
Default constructor.
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.
std::string address
IPv4 Address dotted quad.
float y
The external y translation of the MultiSense in meters.
static CRL_CONSTEXPR Status Status_Ok
static CRL_CONSTEXPR DataSource Source_Compressed_Aux
uint32_t autoWhiteBalanceDecay() const
Query the current image configuration's white-balance decay rate.
float whiteBalanceBlue() const
Query the current image configuration's blue white-balance setting.
PTP status data associated with a specific stamped MultiSense message.
uint32_t motorType
The type of the sensor's motor.
float inputCurrent
The current drawn from the input power supply by the MultiSense.
static CRL_CONSTEXPR DataSource Source_Compressed_Rectified_Aux
float autoExposureTargetIntensity() const
Query the current image configuration's auto-exposure target Intensity.
std::string buildDate
The date the device was manufactured.
static CRL_CONSTEXPR Status Status_Error
int delay
Delay between completing a frame and actually sending it over the network (in ms)
float roll() const
Query the current camera calibrations roll value.
Class used For querying/setting camera calibration.
static CRL_CONSTEXPR DataSource Source_Luma_Rectified_Right
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.
float pitch() const
Query the current camera calibrations pitch value.
static CRL_CONSTEXPR DataSource Source_Disparity_Aux
Data right
Full resolution camera calibration corresponding to the right camera.
uint32_t autoExposureDecay() const
Query the current image configuration's auto-exposure decay rate.
std::string name
The name of a given device.
void(* Callback)(const Header &header, void *userDataP)
Function pointer for receiving callbacks of image data.
static CRL_CONSTEXPR DataSource Source_Raw_Aux
StatusMessage()
Default constructor for a single StatusMessage object.
void setAutoWhiteBalanceDecay(uint32_t d)
Set the white-balance decay rate.
uint32_t VersionType
Sensor version typedef used to store a given version number.
static CRL_CONSTEXPR DataSource Source_Compressed_Left
uint32_t autoExposureDecay() const
Query the current image configuration's auto-exposure decay rate.
bool autoWhiteBalance() const
Query the current image configuration's white-balance enable setting.
uint32_t DataSource
Data sources typedef representing the various data sources available from sensors in the MultiSense-S...
std::vector< RangeEntry > ranges
The various ranges and resolutions available for a specific IMU source.
DataSource exposureSource() const
Query the image source which the exposure parameters correspond with.
uint32_t exposure() const
Query the current image configuration's exposure setting.
CameraProfile cameraProfile() const
Query the current image configurations camera profile.
DirectedStream()
Default constructor.
uint32_t ImageCompressionCodec
Image compression codec typedef indicating the compression scheme which was used on the compressed ou...
uint16_t autoExposureRoiX() const
Query the current image configuration's auto-exposure ROI X value.
std::string device
The device name for a specific IMU source.
static CRL_CONSTEXPR DataSource Source_Compressed_Rectified_Right
float resolution
The resolution setting for a given IMU source.
uint32_t laserType
The type of the sensor's laser.
float pitch
The external pitch translation of the MultiSense in degrees.
uint16_t autoExposureRoiY() const
Query the current image configuration's auto-exposure ROI Y value.
static CRL_CONSTEXPR DataSource Source_Luma_Left
uint32_t imagerHeight
The maximum height of the sensor's imager.
void setAutoExposure(bool e)
Set auto-exposure enable flag.
void setSecondaryExposures(const std::vector< ExposureConfig > &c)
Set the secondary exposures configurations.
void(* Callback)(const Header &header, void *userDataP)
Function pointer for receiving callbacks of lidar data.
static CRL_CONSTEXPR DataSource Source_Imu
Config()
Default constructor for a image configuration.
std::vector< ExposureConfig > secondaryExposures() const
Query the collection of secondary exposures.
void setAutoExposureMax(uint32_t m)
Set the desired maximum auto-exposure value.
Histogram()
Default constructor.
std::vector< PcbInfo > pcbs
The information for all the PCBs in the device.
std::string ipv4Address
An Ipv4 address corresponding to a sensor.
Data aux
Full resolution camera calibration corresponding to aux color camera.
void setResolution(uint32_t w, uint32_t h)
Set a desired output resolution.
static CRL_CONSTEXPR DataSource Source_Disparity
std::string name
The name of a specific IMU source.
uint32_t rateTableIndex
The index into the rate table for a given IMU source specified in crl::multisense::imu::Info::rates.
bool storeSettingsInFlash() const
Query the current image configuration's flag to write parameters to flash.
uint32_t lensType
The type of the sensor's lens.
float nominalFocalLength
The nominal focal length for the lens in meters.
static CRL_CONSTEXPR CameraProfile Full_Res_Aux_Cam
User would like full resolution images from the aux camera regardless of the requested resolution of ...
void setAutoWhiteBalanceThresh(float t)
Set the white-balance threshold.
static CRL_CONSTEXPR CameraProfile Detail_Disparity
User would like more detail in the disparity image.
bool setDutyCycle(float percent)
Set a sensors duty cycle in terms of percent for all the on-board lights.
std::string laserName
The name of the sensor's laser.
std::string apiBuildDate
The build date of libMultiSense.
void setAutoExposureTargetIntensity(float d)
Set the desired auto-exposure target Intensity .
Class used to store device information specific to a sensor.
void setFlash(bool onOff)
Turn on/off light flashing.
static CRL_CONSTEXPR DataSource Source_Ground_Surface_Spline_Data
NetworkConfig(const std::string &a, const std::string &g, const std::string &n)
Constructor to initialize the Ipv4 parameters.
Class used query the device modes for a given sensor.
Class which stores a image histogram from a camera image.
float cy() const
Query the current camera calibrations left rectified image center in the y dimension.
float fpgaTemperature
The temperature of the FPGA.
float fps() const
Query the current image configuration's frames-per-second setting.
static CRL_CONSTEXPR DataSource Source_Chroma_Aux
DataSource mask
The data source to stream to a given device.
float sampleRate
The sample rate of a given IMU source in Hz.
bool camerasOk
A boolean flag indicating if the imagers are functioning.
float y
y data for each sample
ExternalCalibration()
Default constructor.
VersionType sensorFirmwareVersion
The version type of the sensor firmware.
uint16_t m_autoExposureRoiHeight
void setAutoExposureMax(uint32_t m)
Set the desired maximum auto-exposure value.
float autoExposureThresh() const
Query the current image configuration's auto-exposure threshold.
static CRL_CONSTEXPR Status Status_Unsupported
static CRL_CONSTEXPR DataSource Source_Disparity_Right
bool hdrEnabled() const
Query the current image configuration's HDR enable flag.
void setWidth(uint32_t w)
Set the width of the desired output resolution.
static CRL_CONSTEXPR DataSource Source_Chroma_Left
void setAutoExposureThresh(float t)
Set the desired auto-exposure threshold.
static CRL_CONSTEXPR float MAX_DUTY_CYCLE
The maximum duty cycle for adjusting light intensity.
bool laserMotorOk
A boolean flag indicating if the laser motor controller is functioning.
static CRL_CONSTEXPR CameraProfile Active_Head_1
User would like to set the active head to remote head 0.
float powerSupplyTemperature
The temperature of the internal switching mode power supply.
Class used to store a laser calibration.
void setGain(const float &g)
Set the gain applied to the camera.
uint32_t imagerType
The type of the sensor's imager.
static CRL_CONSTEXPR DataSource Source_Compressed_Right
float x
x data for each sample
static CRL_CONSTEXPR DataSource Exposure_Default_Source
static CRL_CONSTEXPR DataSource Source_Compressed_Rectified_Left
static CRL_CONSTEXPR Status Status_Unknown
std::string sensorFirmwareBuildDate
The build date of the sensor firmware.
void setPrimaryExposure(const ExposureConfig &c)
Set the primary exposure configuration.
bool laserOk
A boolean flag indicating if the laser is functioning.
static CRL_CONSTEXPR CameraProfile User_Control
User has direct control over all settings in the image configuration.
PcbInfo()
Default constructor.
void(* Callback)(const Header &header, void *userDataP)
Function pointer for receiving callbacks for IMU data.
std::string ipv4Netmask
An Ipv4 netmask corresponding to a sensor.
uint32_t height() const
Query the current image configuration's height.
float ambientLightPercentage
This represents the percentage of light the ambient sensor currently sees.
static CRL_CONSTEXPR CameraProfile Active_Head_0
User would like to set the active head to remote head 0.
float gain() const
Query the current image configuration's gain setting.
float rightImagerTemperature
The temperature of the right imager.
uint32_t hardwareRevision
The hardware revision of the given sensor.
std::string ipv4Gateway
An Ipv4 gateway corresponding to a sensor.
static CRL_CONSTEXPR DataSource Source_Pps
bool setDutyCycle(uint32_t i, float percent)
Set a sensors duty cycle in terms of percent for a specific light based off its index.
Class containing status information for a particular device.
float cx() const
Query the current camera calibrations left rectified image center in the x dimension.
float x
The external x translation of the MultiSense in meters.
uint32_t IntensityType
The type of a single laser intensity measurement
uint32_t autoExposureMax() const
Query the current image configuration's maximum auto-exposure value.
int camMode() const
Query the current image configuration's mode.
std::string motorName
The name of the sensor's motor.
uint32_t autoExposureMax() const
Query the current image configuration's maximum auto-exposure value.
uint32_t imagerWidth
The maximum width of the sensor's imager.
Class used to store PCB information for the various circuit boards in a sensor.
uint16_t autoExposureRoiHeight() const
Query the current image configuration's auto-exposure ROI height value Will return crl::multisense::R...
static CRL_CONSTEXPR CameraProfile Show_ROIs
User would like see the auto exposure Regions of Interest drawn on the image.
static CRL_CONSTEXPR ImageCompressionCodec H264
Image data is compressed with the H.264 Codec.
static CRL_CONSTEXPR DataSource Source_Raw_Right
void setAutoExposure(bool e)
Set auto-exposure enable flag.
uint16_t m_autoExposureRoiX
void setExposure(uint32_t e)
Set the exposure time used to capture images.
static CRL_CONSTEXPR DataSource Source_All
bool processingPipelineOk
A boolean indicating if the processing pipeline is ok.
void setStoreSettingsInFlash(bool e)
Set the flag to write the image configuration to flash.
static CRL_CONSTEXPR DataSource Source_Ground_Surface_Class_Image
bool m_storeSettingsInFlash
uint16_t Type
Typedef used to determine which data source a sample came from.
float autoWhiteBalanceThresh() const
Query the current image configuration's white-balance threshold.
VersionInfo()
Default constructor which initialize all values to 0.
uint16_t m_autoExposureRoiWidth
static CRL_CONSTEXPR DataSource Source_Lidar_Scan
void setAutoExposureDecay(uint32_t d)
Set the desired auto-exposure decay rate.
float yaw() const
Query the current camera calibrations yaw value.
uint32_t lightingType
The lighting type supported by the sensor.
DataSource m_exposureSource
uint32_t bins
The number of possible pixel values for each color channel.
Data left
Full resolution camera calibration corresponding to the left camera.
static CRL_CONSTEXPR DataSource Source_Luma_Right
DataSource supportedDataSources
A listing of all the data sources available for a specific device mode.
DeviceMode(uint32_t w=0, uint32_t h=0, DataSource d=0, int32_t s=-1)
Constructor.
void setExposureSource(const DataSource &s)
Set the stream source which these exposure parameters should apply to.
static CRL_CONSTEXPR DataSource Source_Luma_Aux
int32_t disparities
The number of valid disparities for a given device mode.
static CRL_CONSTEXPR DataSource Source_Raw_Left
ExposureConfig primaryExposure() const
Query the primary exposure config.
static CRL_CONSTEXPR TriggerSource Trigger_Internal
Default internal trigger source.
uint32_t disparities() const
Query the current image configuration's number of disparities.
Class containing a one valid IMU range configuration.
std::string serialNumber
The serial number of the device.
Class used to store a specific lighting configuration.
float m_aeTargetIntensity
float nominalBaseline
The nominal sensor baseline in meters.
void(* Callback)(const Header &header, void *userDataP)
Function pointer for receiving callbacks for Ground Surface Spline data.
uint32_t rangeTableIndex
The index into the range table for a given IMU source specified in crl::multisense::imu::Info::ranges...
Class containing a one valid IMU rate configuration.
void setWhiteBalance(float r, float b)
Set the desired image white-balance.
float fx() const
Query the current camera calibrations rectified projection focal length in the x dimension.
static CRL_CONSTEXPR DataSource Source_Disparity_Left
static CRL_CONSTEXPR DataSource Source_Disparity_Cost
bool autoExposure() const
Query the current image configuration's auto-exposure enable setting.
uint32_t exposure() const
Query the current image configuration's exposure setting.
A external calibration associated with the MultiSense.
static CRL_CONSTEXPR CameraProfile Active_Head_2
User would like to set the active head to remote head 0.
uint32_t timeMicroSeconds
The time microseconds value corresponding to the specific sample.
void setCamMode(int m)
Set a desired output mode.
uint64_t sensorHardwareMagic
The hardware magic number.
bool autoExposure() const
Query the current image configuration's auto-exposure enable setting.
VersionType apiVersion
The version of libMultiSense.
double uptime
The system uptime of the MultiSense in seconds.
void setOffset(int o)
Set a desired crop offset between 0 and 960 px.
void(* Callback)(const Header &header, void *userDataP)
Function pointer for receiving callbacks for compressed image data.
int32_t Status
General status typdef used as a return value for get/set crl::multisense::Channel methods.
DirectedStream(DataSource m, const std::string &addr, uint16_t p=DFL_UDP_PORT, uint32_t dec=1)
Constructor to initialize a directed stream between a MultiSense device and a host machine.
float inputVoltage
The input voltage supplied to the MultiSense.
uint16_t autoExposureRoiX() const
Query the current image configuration's auto-exposure ROI X value.
static CRL_CONSTEXPR DataSource Source_Unknown
bool systemOk
A boolean flag indicating if the overall system status is good.
static CRL_CONSTEXPR float Exposure_Default_Target_Intensity
void setStereoPostFilterStrength(float s)
Set the desired stereo post-filter strength.
float logicPower
The power consumed by the MicroBlaze CPU.
uint32_t height
The image height configuration for a given device mode.
uint32_t numberOfLights
The number of lights supported by the sensor.
float whiteBalanceRed() const
Query the current image configuration's red white-balance setting.
static CRL_CONSTEXPR Status Status_Exception
static CRL_CONSTEXPR DataSource Source_Jpeg_Left
std::string name
The name of a specific IMU source corresponding to crl::multisense::imu::Info::name.
uint16_t autoExposureRoiWidth() const
Query the current image configuration's auto-exposure ROI width value Will return crl::multisense::Ro...
std::string name
The name of a PCB.
bool imuOk
A boolean flag indicating if the imu is functioning.
void setCameraProfile(const CameraProfile &profile)
Set the operation profile for the camera to use.
void setAutoExposureThresh(float t)
Set the desired auto-exposure threshold.
void(* Callback)(const Header &header, void *userDataP)
Function pointer for receiving callbacks for PPS events.
NetworkConfig()
Default constructor with the sensor factory default IP configuration.
float tz() const
Query the current camera calibrations stereo baseline.
uint32_t width
The image width configuration for a given device mode.
uint64_t sensorHardwareVersion
The hardware version of the sensor.
static CRL_CONSTEXPR DataSource Source_Chroma_Right
bool externalLedsOk
A boolean flag indicating if the external LEDs are OK.
Class containing the network configuration for a specific sensor.
static CRL_CONSTEXPR DataSource Source_Rgb_Left
int offset() const
Query the current image configuration's offset.
uint16_t autoExposureRoiHeight() const
Query the current image configuration's auto-exposure ROI height value Will return crl::multisense::R...
std::vector< uint32_t > data
The histogram data concatinated serially in GRBG order.
DataSource exposureSource() const
Query the image source which the exposure parameters correspond with.
uint64_t sensorFpgaDna
The FPGA DNA.
float motorGearReduction
The gear reduction for the sensor's laser assembly.
static CRL_CONSTEXPR int Roi_Full_Image
Use Roi_Full_Image as the height and width when setting the autoExposureRoi to set the ROI to the ful...
void setHdr(bool e)
Set the HDR enable flag.
static CRL_CONSTEXPR Status Status_TimedOut
Class to store sensor gains used to perform a DC level adjustment to calibrate the left imager to the...
float tx() const
Query the current camera calibrations stereo baseline.
Class containing a single IMU sample.
float nominalRelativeAperture
The nominal relative aperature for the sensor.
float bandwidthCutoff
The bandwith cutoff for a given IMU source in Hz.
static CRL_CONSTEXPR uint32_t MAX_LIGHTS
The maximum number of lights for a given sensor.
float imagerPower
The power consumed by the imager chips.
void setGain(float g)
Set the desired output image's gain.
void setGamma(const float g)
Set the secondary exposures gamma correction factor.
static CRL_CONSTEXPR TriggerSource Trigger_External
External OPTO_RX trigger input.
static CRL_CONSTEXPR float Exposure_Default_Gain
float fpgaPower
The power consumed by the FPGA.
void setFps(float f)
Set the desired output frames per second.
Class containing detailed information for the IMU.
float getDutyCycle(uint32_t i) const
Get the current duty cycle in terms of percent for a specific light.
void setExposure(uint32_t e)
Set the exposure time used to capture images.
void setHeight(uint32_t h)
Set the height of the desired output resolution.
bool getFlash() const
Get the current lighting flash setting.
std::vector< ExposureConfig > m_secondary_exposures
float leftImagerTemperature
The temperature of the left imager.
std::string imagerName
The name of the sensor's imager.
static CRL_CONSTEXPR CameraProfile High_Contrast
User would like more contrast in images.
std::vector< float > m_dutyCycle
float autoExposureTargetIntensity() const
Query the current image configuration's auto-exposure target intensity.
Class to store camera calibration matrices.
Class containing version info for a specific sensor.
uint32_t fpsDecimation
Every Nth image to send.
std::vector< RateEntry > rates
The various rates available for a specific IMU source.
void setAutoExposureTargetIntensity(float d)
Set the desired auto-exposure target Intensity.
void setExposureSource(const DataSource &s)
Set the stream source which these exposure parameters should apply to.
static CRL_CONSTEXPR DataSource Source_Chroma_Rectified_Aux
Type type
The type of data contained in the instance of imu::Sample.
uint32_t CameraProfile
Camera profile typedef representing the various stereo profiles available from newer S27/S30 MultiSen...
void setDisparities(uint32_t d)
For stereo sensors, set the desired number of disparities used to search for matching features betwee...
uint16_t udpPort
default=10001
std::string lensName
The name of the sensor's lens.
uint32_t RangeType
The type of a single laser range measurement
static CRL_CONSTEXPR TriggerSource Trigger_External_Inverted
External OPTO_RX trigger input with Inverted Polarity.
float yaw
The external yaw translation of the MultiSense in degrees.
void setAutoWhiteBalance(bool e)
Set the white-balance enable flag.
float z
The external z translation of the MultiSense in meters.
static CRL_CONSTEXPR CameraProfile Ground_Surface
User would like to run spline-based ground surface algorithm on the camera.
float stereoPostFilterStrength() const
Query the current image configuration's stereo post-filter strength.
void setAutoExposureDecay(uint32_t d)
Set the desired auto-exposure decay rate.
float autoExposureThresh() const
Query the current image configuration's auto-exposure threshold.
float roll
The external roll translation of the MultiSense in degrees.
float gamma() const
Query the gamma correction factor.
A external sensor status.
Class used to store a specific camera configuration.
float range
The range of valid sample readings for a IMU source.
uint32_t timeSeconds
The time seconds value corresponding to the specific sample.
double time() const
A convenience function used for getting the time of the specific sample.
Class used to request that MultiSense data be sent to a 3rd-party stream destination (UDP port),...
static CRL_CONSTEXPR CameraProfile Active_Head_3
User would like to set the active head to remote head 0.
float fy() const
Query the current camera calibrations rectified projection focal length in the y dimension.
ExposureConfig m_primary_exposure
std::string units
The units of for a specific IMU source.
uint16_t autoExposureRoiY() const
Query the current image configuration's auto-exposure ROI Y value.
static CRL_CONSTEXPR DataSource Source_Luma_Rectified_Left
uint32_t revision
The revision number of a PCB.
uint16_t autoExposureRoiWidth() const
Query the current image configuration's auto-exposure ROI width value Will return crl::multisense::Ro...
uint32_t width() const
Query the current image configuration's width.
float z
z data for each sample
static CRL_CONSTEXPR DataSource Source_Luma_Rectified_Aux