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LibMultiSense
LibMultiSense Documentation
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#include <MultiSenseTypes.hh>
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... | |
void | setGainMax (const float g) |
Set the auto exposure gain max. 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... | |
float | gainMax () const |
Query the gain maximum allowed in the camera. 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 |
float | m_gainMax |
Definition at line 1373 of file MultiSenseTypes.hh.
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Default constructor for a image configuration.
Initializes all image configuration members to their default values
Definition at line 1798 of file MultiSenseTypes.hh.
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Query the current image configuration's auto-exposure enable setting.
Definition at line 1638 of file MultiSenseTypes.hh.
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Query the current image configuration's auto-exposure decay rate.
Definition at line 1654 of file MultiSenseTypes.hh.
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Query the current image configuration's maximum auto-exposure value.
Definition at line 1646 of file MultiSenseTypes.hh.
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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.
Definition at line 1749 of file MultiSenseTypes.hh.
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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.
Definition at line 1740 of file MultiSenseTypes.hh.
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Query the current image configuration's auto-exposure ROI X value.
Definition at line 1724 of file MultiSenseTypes.hh.
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Query the current image configuration's auto-exposure ROI Y value.
Definition at line 1731 of file MultiSenseTypes.hh.
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Query the current image configuration's auto-exposure target intensity.
Definition at line 1662 of file MultiSenseTypes.hh.
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Query the current image configuration's auto-exposure threshold.
Definition at line 1670 of file MultiSenseTypes.hh.
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Query the current image configuration's white-balance enable setting.
Definition at line 1694 of file MultiSenseTypes.hh.
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Query the current image configuration's white-balance decay rate.
Definition at line 1702 of file MultiSenseTypes.hh.
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Query the current image configuration's white-balance threshold.
Definition at line 1710 of file MultiSenseTypes.hh.
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Query the current image configurations camera profile.
Definition at line 1756 of file MultiSenseTypes.hh.
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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
Definition at line 1603 of file MultiSenseTypes.hh.
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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
Definition at line 1615 of file MultiSenseTypes.hh.
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Query whether sharpening is enabled or not on the aux camera.
Definition at line 1771 of file MultiSenseTypes.hh.
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Enable sharpening for the aux luma channel.
s | Set to the value of true to enable or false to disable aux luma sharpening. |
Definition at line 1532 of file MultiSenseTypes.hh.
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Query the current image configuration's exposure setting.
Definition at line 1630 of file MultiSenseTypes.hh.
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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
Definition at line 1580 of file MultiSenseTypes.hh.
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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
Definition at line 1591 of file MultiSenseTypes.hh.
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Query the current image configuration's gain setting.
Definition at line 1622 of file MultiSenseTypes.hh.
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Query the gain maximum allowed in the camera.
Definition at line 1792 of file MultiSenseTypes.hh.
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Query the gamma correction factor.
Gamma correction factor will be applied to all images.
Definition at line 1764 of file MultiSenseTypes.hh.
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Query the current image configuration's HDR enable flag.
Definition at line 1717 of file MultiSenseTypes.hh.
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Set auto-exposure enable flag.
Default value: true
e | A boolean used to enable or disable auto-exposure |
Definition at line 1403 of file MultiSenseTypes.hh.
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Set the desired auto-exposure decay rate.
Default value: 7
d | The auto-exposure decay rate [0, 20] |
Definition at line 1419 of file MultiSenseTypes.hh.
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Set the desired maximum auto-exposure value.
Default value: 5000000
m | The maximum auto-exposure value in microseconds |
Definition at line 1411 of file MultiSenseTypes.hh.
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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
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 1501 of file MultiSenseTypes.hh.
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Set the desired auto-exposure target Intensity.
Default value: 0.95
d | The auto-exposure target intensity [0.0, 1.0] |
Definition at line 1427 of file MultiSenseTypes.hh.
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Set the desired auto-exposure threshold.
This is the percentage of the image that should be white. Default value: 0.75
t | The desired auto-exposure threshold [0.0, 1.0] |
Definition at line 1436 of file MultiSenseTypes.hh.
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Set the white-balance enable flag.
Default value: true
e | A boolean used to enable or disable white-balance |
Definition at line 1456 of file MultiSenseTypes.hh.
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Set the white-balance decay rate.
Default value: 3
d | The white-balance decay rate [0, 20] |
Definition at line 1464 of file MultiSenseTypes.hh.
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Set the white-balance threshold.
Default value: 0.5
t | The desired white-balance threshold [0.0, 1.0] |
Definition at line 1472 of file MultiSenseTypes.hh.
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Set the operation profile for the camera to use.
Profile settings subsume other user settings.
profile | The operation profile to use on the camera |
Definition at line 1511 of file MultiSenseTypes.hh.
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Set the exposure time used to capture images.
Note auto exposure must be disabled for this to take effect. Default value: 10000
e | The output exposure time in microseconds [10, 5000000] |
Definition at line 1395 of file MultiSenseTypes.hh.
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Set the desired output image's gain.
Default value: 1
g | The output image gain |
Definition at line 1386 of file MultiSenseTypes.hh.
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Set the auto exposure gain max.
This can be used to add an additional clamp to auto exposure which would limit the maximum analog gain set by the auto exposure algorithm.
g | the max gain constant applied to the camera sources |
Definition at line 1560 of file MultiSenseTypes.hh.
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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.
g | the gamma constant applied to the camera sources |
Definition at line 1524 of file MultiSenseTypes.hh.
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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.
e | A boolean used to enable or disable HDR on the camera imagers |
Definition at line 1484 of file MultiSenseTypes.hh.
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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.
s | The percentage of sharpening to apply. In the range of 0 - 100 |
Definition at line 1550 of file MultiSenseTypes.hh.
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Set the sharpening percentage for the aux luma channel.
s | The percentage of sharpening to apply. In the range of 0 - 100 |
Definition at line 1540 of file MultiSenseTypes.hh.
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Set the desired image white-balance.
Default value: 1.0 for both r and b
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 1447 of file MultiSenseTypes.hh.
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Query the limit of sharpening applied to the aux luma image.
Definition at line 1785 of file MultiSenseTypes.hh.
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Query the percentage of sharpening applied to the aux luma image.
Definition at line 1778 of file MultiSenseTypes.hh.
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Query the current image configuration's blue white-balance setting.
Definition at line 1686 of file MultiSenseTypes.hh.
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Query the current image configuration's red white-balance setting.
Definition at line 1678 of file MultiSenseTypes.hh.
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Definition at line 1825 of file MultiSenseTypes.hh.
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Definition at line 1825 of file MultiSenseTypes.hh.
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Definition at line 1810 of file MultiSenseTypes.hh.
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Definition at line 1825 of file MultiSenseTypes.hh.
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Definition at line 1825 of file MultiSenseTypes.hh.
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Definition at line 1806 of file MultiSenseTypes.hh.
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Definition at line 1822 of file MultiSenseTypes.hh.
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Definition at line 1818 of file MultiSenseTypes.hh.
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Definition at line 1816 of file MultiSenseTypes.hh.
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Definition at line 1817 of file MultiSenseTypes.hh.
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Definition at line 1819 of file MultiSenseTypes.hh.
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Definition at line 1821 of file MultiSenseTypes.hh.
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Definition at line 1820 of file MultiSenseTypes.hh.
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Definition at line 1811 of file MultiSenseTypes.hh.
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Definition at line 1814 of file MultiSenseTypes.hh.
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Definition at line 1813 of file MultiSenseTypes.hh.
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Definition at line 1812 of file MultiSenseTypes.hh.
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Definition at line 1815 of file MultiSenseTypes.hh.