#include <MultiSenseTypes.hh>

Collaboration diagram for crl::multisense::image::AuxConfig:

Public Member Functions
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	setHdr (bool e)
	Set the HDR enable flag. 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	setCameraProfile (const CameraProfile &profile)
	Set the operation profile for the camera to use. More...

void	setGamma (const float g)
	Set the gamma correction factor. More...

void	enableSharpening (const bool &s)
	Enable sharpening for the aux luma channel. More...

void	setSharpeningPercentage (const float &s)
	Set the sharpening percentage for the aux luma channel. More...

void	setSharpeningLimit (const uint8_t &s)
	Set the sharpening limit. More...

float	fx () const
	Query the current aux camera calibration rectified projection focal length in the x dimension. More...

float	fy () const
	Query the current aux camera calibration rectified projection focal length in the y dimension. More...

float	cx () const
	Query the current aux camera calibration aux rectified image center in the x dimension. More...

float	cy () const
	Query the current aux camera calibration aux rectified image center in the y dimension. 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...

bool	hdrEnabled () const
	Query the current image configuration's HDR enable flag. 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...

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

float	gamma () const
	Query the gamma correction factor. More...

bool	enableSharpening () const
	Query whether sharpening is enabled or not on the aux camera. More...

float	sharpeningPercentage () const
	Query the percentage of sharpening applied to the aux luma image. More...

uint8_t	sharpeningLimit () const
	Query the limit of sharpening applied to the aux luma image. More...

	AuxConfig ()
	Default constructor for a image configuration. More...

Protected Attributes
float	m_fx

float	m_fy

float	m_cx

float	m_cy

Private Attributes
float	m_gain

ExposureConfig	m_exposure

float	m_wbBlue

float	m_wbRed

bool	m_wbEnabled

uint32_t	m_wbDecay

float	m_wbThresh

bool	m_hdrEnabled

CameraProfile	m_profile

float	m_gamma

bool	m_sharpeningEnable

float	m_sharpeningPercentage

uint8_t	m_sharpeningLimit

Detailed Description

Definition at line 1348 of file MultiSenseTypes.hh.

Constructor & Destructor Documentation

◆ AuxConfig()

crl::multisense::image::AuxConfig::AuxConfig ( )

inline

Default constructor for a image configuration.

Initializes all image configuration members to their default values

Definition at line 1756 of file MultiSenseTypes.hh.

Member Function Documentation

◆ autoExposure()

bool crl::multisense::image::AuxConfig::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 1603 of file MultiSenseTypes.hh.

◆ autoExposureDecay()

uint32_t crl::multisense::image::AuxConfig::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 1619 of file MultiSenseTypes.hh.

◆ autoExposureMax()

uint32_t crl::multisense::image::AuxConfig::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 1611 of file MultiSenseTypes.hh.

◆ autoExposureRoiHeight()

uint16_t crl::multisense::image::AuxConfig::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 1714 of file MultiSenseTypes.hh.

◆ autoExposureRoiWidth()

uint16_t crl::multisense::image::AuxConfig::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 1705 of file MultiSenseTypes.hh.

◆ autoExposureRoiX()

uint16_t crl::multisense::image::AuxConfig::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 1689 of file MultiSenseTypes.hh.

◆ autoExposureRoiY()

uint16_t crl::multisense::image::AuxConfig::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 1696 of file MultiSenseTypes.hh.

◆ autoExposureTargetIntensity()

float crl::multisense::image::AuxConfig::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 1627 of file MultiSenseTypes.hh.

◆ autoExposureThresh()

float crl::multisense::image::AuxConfig::autoExposureThresh ( ) const

inline

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

Returns: The current image configuration's auto-exposure threshold

Definition at line 1635 of file MultiSenseTypes.hh.

◆ autoWhiteBalance()

bool crl::multisense::image::AuxConfig::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 1659 of file MultiSenseTypes.hh.

◆ autoWhiteBalanceDecay()

uint32_t crl::multisense::image::AuxConfig::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 1667 of file MultiSenseTypes.hh.

◆ autoWhiteBalanceThresh()

float crl::multisense::image::AuxConfig::autoWhiteBalanceThresh ( ) const

inline

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

Returns: The current image configuration's white-balance threshold

Definition at line 1675 of file MultiSenseTypes.hh.

◆ cameraProfile()

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

inline

Query the current image configurations camera profile.

Returns: The current image configurations camera profile

Definition at line 1721 of file MultiSenseTypes.hh.

◆ cx()

float crl::multisense::image::AuxConfig::cx ( ) const

inline

Query the current aux camera calibration aux rectified image center in the x dimension.

Note this value is scaled based on the current image resolution

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

Definition at line 1568 of file MultiSenseTypes.hh.

◆ cy()

float crl::multisense::image::AuxConfig::cy ( ) const

inline

Query the current aux camera calibration aux rectified image center in the y dimension.

Note this value is scaled based on the current image resolution

Returns: The current aux camera calibration rectified image center in the y dimension

Definition at line 1580 of file MultiSenseTypes.hh.

◆ enableSharpening() [1/2]

bool crl::multisense::image::AuxConfig::enableSharpening ( ) const

inline

Query whether sharpening is enabled or not on the aux camera.

Returns: Return true if sharpening is enabled, false if sharpening is disabled.

Definition at line 1736 of file MultiSenseTypes.hh.

◆ enableSharpening() [2/2]

void crl::multisense::image::AuxConfig::enableSharpening ( const bool & s )

inline

Enable sharpening for the aux luma channel.

Parameters

s	Set to the value of true to enable or false to disable aux luma sharpening.

Definition at line 1508 of file MultiSenseTypes.hh.

◆ exposure()

uint32_t crl::multisense::image::AuxConfig::exposure ( ) const

inline

Query the current image configuration's exposure setting.

Returns: the current image exposure setting in microseconds

Definition at line 1595 of file MultiSenseTypes.hh.

◆ fx()

float crl::multisense::image::AuxConfig::fx ( ) const

inline

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

Note this value is scaled based on the current image resolution

Returns: The current aux camera calibrations focal length in the x dimension

Definition at line 1545 of file MultiSenseTypes.hh.

◆ fy()

float crl::multisense::image::AuxConfig::fy ( ) const

inline

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

Note this value is scaled based on the current image resolution

Returns: The current aux camera calibrations focal length in the y dimension

Definition at line 1556 of file MultiSenseTypes.hh.

◆ gain()

float crl::multisense::image::AuxConfig::gain ( ) const

inline

Query the current image configuration's gain setting.

Returns: The current image gain setting

Definition at line 1587 of file MultiSenseTypes.hh.

◆ gamma()

float crl::multisense::image::AuxConfig::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 1729 of file MultiSenseTypes.hh.

◆ hdrEnabled()

bool crl::multisense::image::AuxConfig::hdrEnabled ( ) const

inline

Query the current image configuration's HDR enable flag.

Returns: The current image configuration's HDR enable flag

Definition at line 1682 of file MultiSenseTypes.hh.

◆ setAutoExposure()

void crl::multisense::image::AuxConfig::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 1378 of file MultiSenseTypes.hh.

◆ setAutoExposureDecay()

void crl::multisense::image::AuxConfig::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 1394 of file MultiSenseTypes.hh.

◆ setAutoExposureMax()

void crl::multisense::image::AuxConfig::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 1386 of file MultiSenseTypes.hh.

◆ setAutoExposureRoi()

void crl::multisense::image::AuxConfig::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 1476 of file MultiSenseTypes.hh.

◆ setAutoExposureTargetIntensity()

void crl::multisense::image::AuxConfig::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 1402 of file MultiSenseTypes.hh.

◆ setAutoExposureThresh()

void crl::multisense::image::AuxConfig::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 1411 of file MultiSenseTypes.hh.

◆ setAutoWhiteBalance()

void crl::multisense::image::AuxConfig::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 1431 of file MultiSenseTypes.hh.

◆ setAutoWhiteBalanceDecay()

void crl::multisense::image::AuxConfig::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 1439 of file MultiSenseTypes.hh.

◆ setAutoWhiteBalanceThresh()

void crl::multisense::image::AuxConfig::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 1447 of file MultiSenseTypes.hh.

◆ setCameraProfile()

void crl::multisense::image::AuxConfig::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 1486 of file MultiSenseTypes.hh.

◆ setExposure()

void crl::multisense::image::AuxConfig::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 1370 of file MultiSenseTypes.hh.

◆ setGain()

void crl::multisense::image::AuxConfig::setGain ( float g )

inline

Set the desired output image's gain.

Default value: 1

Parameters

g	The output image gain

Definition at line 1361 of file MultiSenseTypes.hh.

◆ setGamma()

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

inline

Set the 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 1499 of file MultiSenseTypes.hh.

◆ setHdr()

void crl::multisense::image::AuxConfig::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 1459 of file MultiSenseTypes.hh.

◆ setSharpeningLimit()

void crl::multisense::image::AuxConfig::setSharpeningLimit ( const uint8_t & s )

inline

Set the sharpening limit.

The maximum difference in pixels that sharpening is is allowed to change between neighboring pixels. This is useful for clamping the sharpening percentage, while still maintaining a large gain.

Parameters

s	The percentage of sharpening to apply. In the range of 0 - 100

Definition at line 1526 of file MultiSenseTypes.hh.

◆ setSharpeningPercentage()

void crl::multisense::image::AuxConfig::setSharpeningPercentage ( const float & s )

inline

Set the sharpening percentage for the aux luma channel.

Parameters

s	The percentage of sharpening to apply. In the range of 0 - 100

Definition at line 1516 of file MultiSenseTypes.hh.

◆ setWhiteBalance()

void crl::multisense::image::AuxConfig::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 1422 of file MultiSenseTypes.hh.

◆ sharpeningLimit()

uint8_t crl::multisense::image::AuxConfig::sharpeningLimit ( ) const

inline

Query the limit of sharpening applied to the aux luma image.

Returns: A value within the range of 0 - 255 in

Definition at line 1750 of file MultiSenseTypes.hh.

◆ sharpeningPercentage()

float crl::multisense::image::AuxConfig::sharpeningPercentage ( ) const

inline

Query the percentage of sharpening applied to the aux luma image.

Returns: A value within the range of 0 - 100

Definition at line 1743 of file MultiSenseTypes.hh.

◆ whiteBalanceBlue()

float crl::multisense::image::AuxConfig::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 1651 of file MultiSenseTypes.hh.

◆ whiteBalanceRed()

float crl::multisense::image::AuxConfig::whiteBalanceRed ( ) const

inline

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

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

private

Definition at line 1770 of file MultiSenseTypes.hh.

◆ m_wbRed

float crl::multisense::image::AuxConfig::m_wbRed

private

Definition at line 1769 of file MultiSenseTypes.hh.

◆ m_wbThresh

float crl::multisense::image::AuxConfig::m_wbThresh

private

Definition at line 1772 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

◆ AuxConfig()

Member Function Documentation

◆ autoExposure()

◆ autoExposureDecay()

◆ autoExposureMax()

◆ autoExposureRoiHeight()

◆ autoExposureRoiWidth()

◆ autoExposureRoiX()

◆ autoExposureRoiY()

◆ autoExposureTargetIntensity()

◆ autoExposureThresh()

◆ autoWhiteBalance()

◆ autoWhiteBalanceDecay()

◆ autoWhiteBalanceThresh()

◆ cameraProfile()

◆ cx()

◆ cy()

◆ enableSharpening() [1/2]

◆ enableSharpening() [2/2]

◆ exposure()

◆ fx()

◆ fy()

◆ gain()

◆ gamma()

◆ hdrEnabled()

◆ setAutoExposure()

◆ setAutoExposureDecay()

◆ setAutoExposureMax()

◆ setAutoExposureRoi()

◆ setAutoExposureTargetIntensity()

◆ setAutoExposureThresh()

◆ setAutoWhiteBalance()

◆ setAutoWhiteBalanceDecay()

◆ setAutoWhiteBalanceThresh()

◆ setCameraProfile()

◆ setExposure()

◆ setGain()

◆ setGamma()

◆ setHdr()

◆ setSharpeningLimit()

◆ setSharpeningPercentage()

◆ setWhiteBalance()

◆ sharpeningLimit()

◆ sharpeningPercentage()

◆ whiteBalanceBlue()

◆ whiteBalanceRed()

Member Data Documentation

◆ m_cx

◆ m_cy

◆ m_exposure

◆ m_fx

◆ m_fy

◆ m_gain

◆ m_gamma

◆ m_hdrEnabled

◆ m_profile

◆ m_sharpeningEnable

◆ m_sharpeningLimit

◆ m_sharpeningPercentage

◆ m_wbBlue

◆ m_wbDecay

◆ m_wbEnabled

◆ m_wbRed

◆ m_wbThresh