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LibMultiSense
LibMultiSense Documentation
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Class used to store a specific camera configuration. More...
#include <MultiSenseTypes.hh>
Public Member Functions | |
void | setResolution (uint32_t w, uint32_t h) |
Set a desired output resolution. More... | |
void | setDisparities (uint32_t d) |
For stereo sensors, set the desired number of disparities used to search for matching features between the left and right images when computing the output disparity image. More... | |
void | setCamMode (int m) |
Set a desired output mode. More... | |
void | setOffset (int o) |
Set a desired crop offset between 0 and 960 px. More... | |
void | setWidth (uint32_t w) |
Set the width of the desired output resolution. More... | |
void | setHeight (uint32_t h) |
Set the height of the desired output resolution. More... | |
void | setFps (float f) |
Set the desired output frames per second. More... | |
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 | setStereoPostFilterStrength (float s) |
Set the desired stereo post-filter strength. More... | |
void | setHdr (bool e) |
Set the HDR enable flag. More... | |
void | setStoreSettingsInFlash (bool e) |
Set the flag to write the image configuration to flash. 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 | setExposureSource (const DataSource &s) |
Set the stream source which these exposure parameters should apply to. More... | |
void | setCameraProfile (const CameraProfile &profile) |
Set the operation profile for the camera to use. More... | |
void | setPrimaryExposure (const ExposureConfig &c) |
Set the primary exposure configuration. More... | |
void | setSecondaryExposures (const std::vector< ExposureConfig > &c) |
Set the secondary exposures configurations. More... | |
void | setGamma (const float g) |
Set the secondary exposures gamma correction factor. More... | |
uint32_t | width () const |
Query the current image configuration's width. More... | |
uint32_t | height () const |
Query the current image configuration's height. More... | |
uint32_t | disparities () const |
Query the current image configuration's number of disparities. More... | |
int | camMode () const |
Query the current image configuration's mode. More... | |
int | offset () const |
Query the current image configuration's offset. More... | |
float | fps () const |
Query the current image configuration's frames-per-second setting. 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... | |
float | stereoPostFilterStrength () const |
Query the current image configuration's stereo post-filter strength. More... | |
bool | hdrEnabled () const |
Query the current image configuration's HDR enable flag. More... | |
bool | storeSettingsInFlash () const |
Query the current image configuration's flag to write parameters to flash. 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... | |
DataSource | exposureSource () const |
Query the image source which the exposure parameters correspond with. More... | |
CameraProfile | cameraProfile () const |
Query the current image configurations camera profile. More... | |
ExposureConfig | primaryExposure () const |
Query the primary exposure config. More... | |
std::vector< ExposureConfig > | secondaryExposures () const |
Query the collection of secondary exposures. More... | |
float | gamma () const |
Query the gamma correction factor. More... | |
float | fx () const |
Query the current camera calibrations rectified projection focal length in the x dimension. More... | |
float | fy () const |
Query the current camera calibrations rectified projection focal length in the y dimension. More... | |
float | cx () const |
Query the current camera calibrations left rectified image center in the x dimension. More... | |
float | cy () const |
Query the current camera calibrations left rectified image center in the y dimension. More... | |
float | tx () const |
Query the current camera calibrations stereo baseline. More... | |
float | ty () const |
Query the current camera calibrations stereo baseline. More... | |
float | tz () const |
Query the current camera calibrations stereo baseline. More... | |
float | roll () const |
Query the current camera calibrations roll value. More... | |
float | pitch () const |
Query the current camera calibrations pitch value. More... | |
float | yaw () const |
Query the current camera calibrations yaw value. More... | |
Config () | |
Default constructor for a image configuration. More... | |
Protected Attributes | |
float | m_fx |
float | m_fy |
float | m_cx |
float | m_cy |
float | m_tx |
float | m_ty |
float | m_tz |
float | m_roll |
float | m_pitch |
float | m_yaw |
Private Attributes | |
float | m_fps |
float | m_gain |
ExposureConfig | m_primary_exposure |
float | m_wbBlue |
float | m_wbRed |
bool | m_wbEnabled |
uint32_t | m_wbDecay |
float | m_wbThresh |
uint32_t | m_width |
uint32_t | m_height |
uint32_t | m_disparities |
int | m_cam_mode |
int | m_offset |
float | m_spfStrength |
bool | m_hdrEnabled |
bool | m_storeSettingsInFlash |
CameraProfile | m_profile |
std::vector< ExposureConfig > | m_secondary_exposures |
float | m_gamma |
Class used to store a specific camera configuration.
Members in this class are set via get and set methods. The class is used as an input to a channel object to query or set camera parameters.
Example code to query an image configuration:
Example code to set an image configurations:
Definition at line 795 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 1424 of file MultiSenseTypes.hh.
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Query the current image configuration's auto-exposure enable setting.
Definition at line 1141 of file MultiSenseTypes.hh.
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Query the current image configuration's auto-exposure decay rate.
Definition at line 1157 of file MultiSenseTypes.hh.
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Query the current image configuration's maximum auto-exposure value.
Definition at line 1149 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 1267 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 1258 of file MultiSenseTypes.hh.
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Query the current image configuration's auto-exposure ROI X value.
Definition at line 1242 of file MultiSenseTypes.hh.
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Query the current image configuration's auto-exposure ROI Y value.
Definition at line 1249 of file MultiSenseTypes.hh.
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Query the current image configuration's auto-exposure target intensity.
Definition at line 1165 of file MultiSenseTypes.hh.
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Query the current image configuration's auto-exposure threshold.
Definition at line 1173 of file MultiSenseTypes.hh.
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Query the current image configuration's white-balance enable setting.
Definition at line 1197 of file MultiSenseTypes.hh.
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Query the current image configuration's white-balance decay rate.
Definition at line 1205 of file MultiSenseTypes.hh.
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Query the current image configuration's white-balance threshold.
Definition at line 1213 of file MultiSenseTypes.hh.
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Query the current image configurations camera profile.
Definition at line 1281 of file MultiSenseTypes.hh.
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Query the current image configuration's mode.
Definition at line 1100 of file MultiSenseTypes.hh.
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Query the current camera calibrations left rectified image center in the x dimension.
Note this value is scaled based on the current image resolution
Definition at line 1344 of file MultiSenseTypes.hh.
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Query the current camera calibrations left rectified image center in the y dimension.
Note this value is scaled based on the current image resolution
Definition at line 1356 of file MultiSenseTypes.hh.
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Query the current image configuration's number of disparities.
Definition at line 1092 of file MultiSenseTypes.hh.
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Query the current image configuration's exposure setting.
Definition at line 1133 of file MultiSenseTypes.hh.
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Query the image source which the exposure parameters correspond with.
Definition at line 1274 of file MultiSenseTypes.hh.
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Query the current image configuration's frames-per-second setting.
Definition at line 1116 of file MultiSenseTypes.hh.
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Query the current camera calibrations rectified projection focal length in the x dimension.
Note this value is scaled based on the current image resolution
Definition at line 1321 of file MultiSenseTypes.hh.
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Query the current camera calibrations rectified projection focal length in the y dimension.
Note this value is scaled based on the current image resolution
Definition at line 1332 of file MultiSenseTypes.hh.
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Query the current image configuration's gain setting.
Definition at line 1124 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 1305 of file MultiSenseTypes.hh.
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Query the current image configuration's HDR enable flag.
Definition at line 1228 of file MultiSenseTypes.hh.
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Query the current image configuration's height.
Definition at line 1083 of file MultiSenseTypes.hh.
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Query the current image configuration's offset.
Definition at line 1108 of file MultiSenseTypes.hh.
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Query the current camera calibrations pitch value.
This is the Euler pitch angle to rotate the right camera frame into the left camera frame. For rectified images this value will be 0.
Definition at line 1408 of file MultiSenseTypes.hh.
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Query the primary exposure config.
Definition at line 1288 of file MultiSenseTypes.hh.
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Query the current camera calibrations roll value.
This is the Euler roll angle to rotate the right camera frame into the left camera frame. For rectified images this value will be 0.
Definition at line 1398 of file MultiSenseTypes.hh.
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Query the collection of secondary exposures.
These are independent exposure configurations which are used for alternate image streams. Secondary exposure configs will be subsumed by the primary exposure configuration
Definition at line 1297 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 895 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 911 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 903 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 1016 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 919 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 928 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 948 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 956 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 964 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 1034 of file MultiSenseTypes.hh.
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Set a desired output mode.
Only valid for CMV4000 cameras. 4000 (default) : Set camera to act as a 4MP imager 2000 : Set camera to act as a 2MP imager
m | The new output mask for CMV4000 cameras |
Definition at line 831 of file MultiSenseTypes.hh.
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For stereo sensors, set the desired number of disparities used to search for matching features between the left and right images when computing the output disparity image.
Default value: 128
d | The number of disparities |
Definition at line 821 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 887 of file MultiSenseTypes.hh.
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Set the stream source which these exposure parameters should apply to.
s | The image stream to apply these exposure parameters to |
Definition at line 1027 of file MultiSenseTypes.hh.
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Set the desired output frames per second.
Default value: 5
f | The desired frames per second |
Definition at line 870 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 878 of file MultiSenseTypes.hh.
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Set the secondary exposures 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 1065 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 988 of file MultiSenseTypes.hh.
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Set the height of the desired output resolution.
Default value: 544
h | The new resolution's height |
Definition at line 859 of file MultiSenseTypes.hh.
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Set a desired crop offset between 0 and 960 px.
For the CMV2000 mode crop, default is 480 which positions the ROI in the center of the CMV4000's FOV.
o | The offset from the bottom of the imager's FOV. |
Definition at line 841 of file MultiSenseTypes.hh.
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Set the primary exposure configuration.
c | The primary exposure configuration to set |
Definition at line 1044 of file MultiSenseTypes.hh.
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Set a desired output resolution.
Default value: 1024x544
w | The new resolutions width |
h | The new resolutions height |
Definition at line 809 of file MultiSenseTypes.hh.
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Set the secondary exposures configurations.
These are independent exposure configurations which are used for alternate image streams. Secondary exposure configs will be subsumed by the primary exposure configuration.
A example use case includes specifying independent ROI based exposure control for the left and right camera
c | The collection of secondary exposure configs to set |
Definition at line 1055 of file MultiSenseTypes.hh.
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Set the desired stereo post-filter strength.
This is used to filter low confidence stereo data before it is sent to the host. Larger numbers indicate more aggressive filtering. This feature is only available on sensor firmware versions greater than 3.0. Default value: 0.5
s | The desired stereo post-filter strength [0.0, 1.0] |
Definition at line 976 of file MultiSenseTypes.hh.
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Set the flag to write the image configuration to flash.
This will result in the camera defaulting to these settings on boot. NOTE: This should be enabled sparingly. The MultiSense flash has a limited number of writes
e | A boolean used to enable or disable writing the camera configuration to flash |
Definition at line 999 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 939 of file MultiSenseTypes.hh.
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Set the width of the desired output resolution.
Default value: 1024
w | The new resolution's width |
Definition at line 850 of file MultiSenseTypes.hh.
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Query the current image configuration's stereo post-filter strength.
Definition at line 1221 of file MultiSenseTypes.hh.
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Query the current image configuration's flag to write parameters to flash.
Definition at line 1235 of file MultiSenseTypes.hh.
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Query the current camera calibrations stereo baseline.
This is the component of the vector in the x dimension which points from the right rectified camera frame to the left rectified camera frame
Definition at line 1366 of file MultiSenseTypes.hh.
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Query the current camera calibrations stereo baseline.
This is the component of the vector in the y dimension which points from the right rectified camera frame to the left rectified camera frame. For rectified images this value will be 0.
Definition at line 1377 of file MultiSenseTypes.hh.
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Query the current camera calibrations stereo baseline.
This is the component of the vector in the z dimension which points from the right rectified frame center to the left rectified camera frame. For rectified images this value will be 0.
Definition at line 1388 of file MultiSenseTypes.hh.
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Query the current image configuration's blue white-balance setting.
Definition at line 1189 of file MultiSenseTypes.hh.
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Query the current image configuration's red white-balance setting.
Definition at line 1181 of file MultiSenseTypes.hh.
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Query the current image configuration's width.
Definition at line 1075 of file MultiSenseTypes.hh.
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Query the current camera calibrations yaw value.
This is the Euler yaw angle to rotate the right camera frame into the left camera frame. For rectified images this value will be 0.
Definition at line 1418 of file MultiSenseTypes.hh.
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Definition at line 1445 of file MultiSenseTypes.hh.
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Definition at line 1456 of file MultiSenseTypes.hh.
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Definition at line 1456 of file MultiSenseTypes.hh.
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Definition at line 1444 of file MultiSenseTypes.hh.
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Definition at line 1433 of file MultiSenseTypes.hh.
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Definition at line 1456 of file MultiSenseTypes.hh.
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Definition at line 1456 of file MultiSenseTypes.hh.
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Definition at line 1436 of file MultiSenseTypes.hh.
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Definition at line 1452 of file MultiSenseTypes.hh.
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Definition at line 1448 of file MultiSenseTypes.hh.
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Definition at line 1443 of file MultiSenseTypes.hh.
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Definition at line 1446 of file MultiSenseTypes.hh.
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Definition at line 1458 of file MultiSenseTypes.hh.
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Definition at line 1437 of file MultiSenseTypes.hh.
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Definition at line 1450 of file MultiSenseTypes.hh.
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Definition at line 1458 of file MultiSenseTypes.hh.
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Definition at line 1451 of file MultiSenseTypes.hh.
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Definition at line 1447 of file MultiSenseTypes.hh.
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Definition at line 1449 of file MultiSenseTypes.hh.
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Definition at line 1457 of file MultiSenseTypes.hh.
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Definition at line 1457 of file MultiSenseTypes.hh.
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Definition at line 1457 of file MultiSenseTypes.hh.
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Definition at line 1438 of file MultiSenseTypes.hh.
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Definition at line 1441 of file MultiSenseTypes.hh.
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Definition at line 1440 of file MultiSenseTypes.hh.
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Definition at line 1439 of file MultiSenseTypes.hh.
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Definition at line 1442 of file MultiSenseTypes.hh.
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Definition at line 1443 of file MultiSenseTypes.hh.
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Definition at line 1458 of file MultiSenseTypes.hh.