Class used to store a specific lighting configuration. More...

#include <MultiSenseTypes.hh>

Public Member Functions
void	setFlash (bool onOff)
	Turn on/off light flashing. More...

bool	getFlash () const
	Get the current lighting flash setting. More...

bool	setDutyCycle (float percent)
	Set a sensors duty cycle in terms of percent for all the on-board lights. More...

bool	setDutyCycle (uint32_t i, float percent)
	Set a sensors duty cycle in terms of percent for a specific light based off its index. More...

float	getDutyCycle (uint32_t i) const
	Get the current duty cycle in terms of percent for a specific light. More...

uint32_t	getNumberOfPulses () const
	Get the number of pulses of the light per a single exposure This is used to trigger the light or output signal multiple times after a single exposure. More...

bool	setNumberOfPulses (const uint32_t numPulses)
	Set the number of pulses of the light within a single exposure This is used to trigger the light or output signal multiple times after a single exposure. More...

uint32_t	getStartupTime () const
	Get the startup time offset of the led in microseconds The LED or output trigger is triggered this many microseconds before the start of the image exposure. More...

bool	setStartupTime (uint32_t ledTransientResponse_us)
	Set the transient startup time of the led, for better synchronization. More...

bool	getInvertPulse () const
	Get whether or not the LED pulse is inverted. More...

bool	setInvertPulse (const bool invert)
	Invert the output signal that drives lighting. More...

bool	enableRollingShutterLedSynchronization (const bool enabled)

bool	getRollingShutterLedSynchronizationStatus (void) const
	Get the setting of the rollingShutterSynchronization. More...

	Config ()
	Default constructor. More...

Private Attributes
bool	m_flashEnabled

std::vector< float >	m_dutyCycle

uint32_t	m_numberPulses

uint32_t	m_lightStartupOffset_us

bool	m_invertPulse

bool	m_rollingShutterLedEnabled

Detailed Description

Class used to store a specific lighting configuration.

Member of this class are set and queried via set and get methods. This class is used as an input to a channel object to query and set lighting parameters.

Example code to query a lighting configuration:

//
// Instantiate a channel connecting to a sensor at the factory default
// IP address
crl::multisense::Channel* channel;
channel = crl::multisense::Channel::Create("10.66.171.21");
 
channel->setMtu(7200);
 
//
// Create a lightingConfig instance to store our queried lighting configuration
crl::multisense::lighting::Config lightingConfig;
 
//
// Query the lighting configuration from the Channel instance
crl::multisense::Status status = channel->getLightingConfig(lightingConfig);
 
//
// Check to see if the lighting configuration query was successful
if(crl::multisense::Status_Ok != status) {
     throw std::runtime_error("Unable to query lighting configuration");
}
 
//
// Use the lighting configuration...
 
//
// Destroy the channel instance
crl::multisense::Channel::Destroy(channel);

Example code to set a lighting configuration:

//
// Instantiate a channel connecting to a sensor at the factory default
// IP address
crl::multisense::Channel* channel;
channel = crl::multisense::Channel::Create("10.66.171.21");
 
channel->setMtu(7200);
 
//
// Create a lightingConfig instance to store our queried lighting configuration
crl::multisense::lighting::Config lightingConfig;
 
crl::multisense::Status status;
 
//
// Query the lighting configuration from the Channel instance
status  = channel->getLightingConfig(lightingConfig);
 
//
// Check to see if the lighting configuration query was successful
if(crl::multisense::Status_Ok != status) {
     throw std::runtime_error("Unable to query lighting configuration");
}
 
//
// Change the duty cycle for all light to the max setting and enable
// light flashing
lightingConfig.setDutyCycle(crl::multisense::lighting::MAX_DUTY_CYCLE);
lightingConfig.setFlash(true);
 
//
// Set the new lighting configuration
status = channel->setLightingConfig(lightingConfig);
 
//
// Check to see if the new lighting configuration was successfully
// received
if(crl::multisense::Status_Ok != status) {
     throw std::runtime_error("Unable to set lighting configuration");
}
 
//
// Destroy the channel instance
crl::multisense::Channel::Destroy(channel);

Definition at line 2257 of file MultiSenseTypes.hh.

Constructor & Destructor Documentation

◆ Config()

crl::multisense::lighting::Config::Config ( )

inline

Default constructor.

Flashing is disabled and all lights are off

Definition at line 2441 of file MultiSenseTypes.hh.

Member Function Documentation

◆ enableRollingShutterLedSynchronization()

bool crl::multisense::lighting::Config::enableRollingShutterLedSynchronization ( const bool enabled )

inline

Definition at line 2422 of file MultiSenseTypes.hh.

◆ getDutyCycle()

float crl::multisense::lighting::Config::getDutyCycle ( uint32_t i ) const

inline

Get the current duty cycle in terms of percent for a specific light.

Parameters

i	The index of the light to query

Returns: The current duty cycle setting for the light corresponding to index i

Definition at line 2326 of file MultiSenseTypes.hh.

◆ getFlash()

bool crl::multisense::lighting::Config::getFlash ( ) const

inline

Get the current lighting flash setting.

Returns: A boolean flag corresponding to if flashing is enabled or disabled

Definition at line 2276 of file MultiSenseTypes.hh.

◆ getInvertPulse()

bool crl::multisense::lighting::Config::getInvertPulse ( ) const

inline

Get whether or not the LED pulse is inverted.

True means the output will be low during the exposure. False means the output will be high during the exposure.

Returns: True if the pulse is inverted

Definition at line 2393 of file MultiSenseTypes.hh.

◆ getNumberOfPulses()

uint32_t crl::multisense::lighting::Config::getNumberOfPulses ( ) const

inline

Get the number of pulses of the light per a single exposure This is used to trigger the light or output signal multiple times after a single exposure.

For values greater than 1, pulses will occur between the exposures, not during. This can be used to leverage human persistence of vision to make the light appear as though it is not flashing

Returns: The current number of pulses

Definition at line 2341 of file MultiSenseTypes.hh.

◆ getRollingShutterLedSynchronizationStatus()

bool crl::multisense::lighting::Config::getRollingShutterLedSynchronizationStatus ( void ) const

inline

Get the setting of the rollingShutterSynchronization.

Note: This feature is only available for Next Gen Stereo Cameras, with a rolling shutter imager.

Returns: True if enabled, False if disabled

Definition at line 2434 of file MultiSenseTypes.hh.

◆ getStartupTime()

uint32_t crl::multisense::lighting::Config::getStartupTime ( ) const

inline

Get the startup time offset of the led in microseconds The LED or output trigger is triggered this many microseconds before the start of the image exposure.

Returns: The current led startup time

Definition at line 2367 of file MultiSenseTypes.hh.

◆ setDutyCycle() [1/2]

bool crl::multisense::lighting::Config::setDutyCycle ( float percent )

inline

Set a sensors duty cycle in terms of percent for all the on-board lights.

Parameters

percent The percent "on" to set all the on-board LED's [0.0, 100.0]

Returns: If the given percent setting is valid

Definition at line 2286 of file MultiSenseTypes.hh.

◆ setDutyCycle() [2/2]

bool crl::multisense::lighting::Config::setDutyCycle	(	uint32_t	i,
		float	percent
	)

inline

Set a sensors duty cycle in terms of percent for a specific light based off its index.

Parameters

i	The index of the light to configure
percent	The percent "on" to set all the on-board LED's [0.0, 100.0]

Returns: If the given percent setting is valid

Definition at line 2307 of file MultiSenseTypes.hh.

◆ setFlash()

void crl::multisense::lighting::Config::setFlash ( bool onOff )

inline

Turn on/off light flashing.

During flashing lights are only on when the image sensor is exposing. This significantly reduces the sensor power consumption

Parameters

onOff A boolean flag to enable or disable flashing

Definition at line 2268 of file MultiSenseTypes.hh.

◆ setInvertPulse()

bool crl::multisense::lighting::Config::setInvertPulse ( const bool invert )

inline

Invert the output signal that drives lighting.

True means the output will be low during the exposure. False means the output will be high during the exposure. (Only supported for firmware >=5.21)

Parameters

invert Whether or not to invert the pulse signal

Returns: True on success, False on failure

Definition at line 2406 of file MultiSenseTypes.hh.

◆ setNumberOfPulses()

bool crl::multisense::lighting::Config::setNumberOfPulses ( const uint32_t numPulses )

inline

Set the number of pulses of the light within a single exposure This is used to trigger the light or output signal multiple times after a single exposure.

For values greater than 1, pulses will occur between the exposures, not during. This can be used to leverage human persistence of vision to make the light appear as though it is not flashing

Returns: True on success, False on failure

Definition at line 2354 of file MultiSenseTypes.hh.

◆ setStartupTime()

bool crl::multisense::lighting::Config::setStartupTime ( uint32_t ledTransientResponse_us )

inline

Set the transient startup time of the led, for better synchronization.

The LED or output trigger is triggered this many microseconds before the start of the image exposure

Parameters

ledTransientResponse_us The led transient time.

Returns: True on success, False on failure

Definition at line 2380 of file MultiSenseTypes.hh.

Member Data Documentation

◆ m_dutyCycle

std::vector<float> crl::multisense::lighting::Config::m_dutyCycle

private

Definition at line 2448 of file MultiSenseTypes.hh.

◆ m_flashEnabled

bool crl::multisense::lighting::Config::m_flashEnabled

private

Definition at line 2443 of file MultiSenseTypes.hh.

◆ m_invertPulse

bool crl::multisense::lighting::Config::m_invertPulse

private

Definition at line 2451 of file MultiSenseTypes.hh.

◆ m_lightStartupOffset_us

uint32_t crl::multisense::lighting::Config::m_lightStartupOffset_us

private

Definition at line 2450 of file MultiSenseTypes.hh.

◆ m_numberPulses

uint32_t crl::multisense::lighting::Config::m_numberPulses

private

Definition at line 2449 of file MultiSenseTypes.hh.

◆ m_rollingShutterLedEnabled

bool crl::multisense::lighting::Config::m_rollingShutterLedEnabled

private

Definition at line 2452 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

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Config()

Member Function Documentation

◆ enableRollingShutterLedSynchronization()

◆ getDutyCycle()

◆ getFlash()

◆ getInvertPulse()

◆ getNumberOfPulses()

◆ getRollingShutterLedSynchronizationStatus()

◆ getStartupTime()

◆ setDutyCycle() [1/2]

◆ setDutyCycle() [2/2]

◆ setFlash()

◆ setInvertPulse()

◆ setNumberOfPulses()

◆ setStartupTime()

Member Data Documentation

◆ m_dutyCycle

◆ m_flashEnabled

◆ m_invertPulse

◆ m_lightStartupOffset_us

◆ m_numberPulses

◆ m_rollingShutterLedEnabled