LibMultiSense
LibMultiSense Documentation
Namespaces | Classes | Typedefs | Variables
crl::multisense Namespace Reference

Namespaces

 apriltag
 
 compressed_image
 
 feature_detector
 
 ground_surface
 
 image
 
 imu
 
 lidar
 
 lighting
 
 pps
 
 system
 

Classes

class  Channel
 Class which manages all communications with a MultiSense device. More...
 
class  HeaderBase
 Base Header class for sensor callbacks. More...
 
struct  RemoteHeadSyncGroup
 Remote head sync group defines a group of remote heads which will have their image captures synchronized. More...
 

Typedefs

typedef uint32_t VersionType
 Sensor version typedef used to store a given version number. More...
 
typedef int32_t Status
 General status typdef used as a return value for get/set crl::multisense::Channel methods. More...
 
typedef uint64_t DataSource
 Data sources typedef representing the various data sources available from sensors in the MultiSense-S line. More...
 
typedef uint32_t CameraProfile
 Camera profile typedef representing the various stereo profiles available from newer S27/S30 MultiSense variants. More...
 
typedef uint32_t ImageCompressionCodec
 Image compression codec typedef indicating the compression scheme which was used on the compressed output streams. More...
 
typedef int16_t RemoteHeadChannel
 Remote head channel defines which channel is used to communicate to a specific component in the Remote Head system. More...
 
typedef uint32_t TriggerSource
 

Variables

static CRL_CONSTEXPR Status Status_Ok = 0
 
static CRL_CONSTEXPR Status Status_TimedOut = -1
 
static CRL_CONSTEXPR Status Status_Error = -2
 
static CRL_CONSTEXPR Status Status_Failed = -3
 
static CRL_CONSTEXPR Status Status_Unsupported = -4
 
static CRL_CONSTEXPR Status Status_Unknown = -5
 
static CRL_CONSTEXPR Status Status_Exception = -6
 
static CRL_CONSTEXPR DataSource Source_Unknown = 0
 
static CRL_CONSTEXPR DataSource Source_All = 0xffffffffffffffff
 
static CRL_CONSTEXPR DataSource Source_Raw_Left = (1ull<<0)
 
static CRL_CONSTEXPR DataSource Source_Raw_Right = (1ull<<1)
 
static CRL_CONSTEXPR DataSource Source_Luma_Left = (1ull<<2)
 
static CRL_CONSTEXPR DataSource Source_Luma_Right = (1ull<<3)
 
static CRL_CONSTEXPR DataSource Source_Luma_Rectified_Left = (1ull<<4)
 
static CRL_CONSTEXPR DataSource Source_Luma_Rectified_Right = (1ull<<5)
 
static CRL_CONSTEXPR DataSource Source_Chroma_Left = (1ull<<6)
 
static CRL_CONSTEXPR DataSource Source_Chroma_Right = (1ull<<7)
 
static CRL_CONSTEXPR DataSource Source_Chroma_Rectified_Aux = (1ull<<8)
 
static CRL_CONSTEXPR DataSource Source_Disparity = (1ull<<10)
 
static CRL_CONSTEXPR DataSource Source_Disparity_Left = (1ull<<10)
 
static CRL_CONSTEXPR DataSource Source_Disparity_Right = (1ull<<11)
 
static CRL_CONSTEXPR DataSource Source_Disparity_Cost = (1ull<<12)
 
static CRL_CONSTEXPR DataSource Source_Jpeg_Left = (1ull<<16)
 
static CRL_CONSTEXPR DataSource Source_Rgb_Left = (1ull<<17)
 
static CRL_CONSTEXPR DataSource Source_Feature_Left = (1ull<<18)
 
static CRL_CONSTEXPR DataSource Source_Feature_Right = (1ull<<19)
 
static CRL_CONSTEXPR DataSource Source_Feature_Aux = (1ull<<32)
 
static CRL_CONSTEXPR DataSource Source_Ground_Surface_Spline_Data = (1ull<<20)
 
static CRL_CONSTEXPR DataSource Source_Ground_Surface_Class_Image = (1ull<<22)
 
static CRL_CONSTEXPR DataSource Source_AprilTag_Detections = (1ull<<23)
 
static CRL_CONSTEXPR DataSource Source_Lidar_Scan = (1ull<<24)
 
static CRL_CONSTEXPR DataSource Source_Imu = (1ull<<25)
 
static CRL_CONSTEXPR DataSource Source_Pps = (1ull<<26)
 
static CRL_CONSTEXPR DataSource Source_Raw_Aux = (1ull<<27)
 
static CRL_CONSTEXPR DataSource Source_Luma_Aux = (1ull<<28)
 
static CRL_CONSTEXPR DataSource Source_Luma_Rectified_Aux = (1ull<<29)
 
static CRL_CONSTEXPR DataSource Source_Chroma_Aux = (1ull<<30)
 
static CRL_CONSTEXPR DataSource Source_Disparity_Aux = (1ull<<31)
 
static CRL_CONSTEXPR DataSource Source_Compressed_Left = (1ull<<9)
 
static CRL_CONSTEXPR DataSource Source_Compressed_Right = (1ull<<13)
 
static CRL_CONSTEXPR DataSource Source_Compressed_Aux = (1ull<<14)
 
static CRL_CONSTEXPR DataSource Source_Compressed_Rectified_Left = (1ull<<15)
 
static CRL_CONSTEXPR DataSource Source_Compressed_Rectified_Right = (1ull<<16)
 
static CRL_CONSTEXPR DataSource Source_Compressed_Rectified_Aux = (1ull<<17)
 
static CRL_CONSTEXPR int Roi_Full_Image = 0
 Use Roi_Full_Image as the height and width when setting the autoExposureRoi to set the ROI to the full image regardless of the current resolution. More...
 
static CRL_CONSTEXPR DataSource Exposure_Default_Source = Source_Luma_Left
 
static CRL_CONSTEXPR float Exposure_Default_Target_Intensity = 0.5f
 
static CRL_CONSTEXPR float Exposure_Default_Gain = 1.0f
 
static CRL_CONSTEXPR CameraProfile User_Control = 0
 User has direct control over all settings in the image configuration. More...
 
static CRL_CONSTEXPR CameraProfile Detail_Disparity = (1U<<0)
 User would like more detail in the disparity image. More...
 
static CRL_CONSTEXPR CameraProfile High_Contrast = (1U<<1)
 User would like more contrast in images. More...
 
static CRL_CONSTEXPR CameraProfile Show_ROIs = (1U<<2)
 User would like see the auto exposure Regions of Interest drawn on the image. More...
 
static CRL_CONSTEXPR CameraProfile Ground_Surface = (1U<<3)
 User would like to run spline-based ground surface algorithm on the camera. More...
 
static CRL_CONSTEXPR CameraProfile Full_Res_Aux_Cam = (1U<<4)
 User would like full resolution images from the aux camera regardless of the requested resolution of the stereo pair. More...
 
static CRL_CONSTEXPR CameraProfile AprilTag = (1U<<5)
 User would like to run apriltag detector on the camera. More...
 
static CRL_CONSTEXPR ImageCompressionCodec H264 = 0
 Image data is compressed with the H.264 Codec. More...
 
static CRL_CONSTEXPR RemoteHeadChannel Remote_Head_VPB = -1
 The Remote Head Vision Processor Board. More...
 
static CRL_CONSTEXPR RemoteHeadChannel Remote_Head_0 = 0
 The Remote Head Camera at position 0. More...
 
static CRL_CONSTEXPR RemoteHeadChannel Remote_Head_1 = 1
 The Remote Head Camera at position 1. More...
 
static CRL_CONSTEXPR RemoteHeadChannel Remote_Head_2 = 2
 The Remote Head Camera at position 2. More...
 
static CRL_CONSTEXPR RemoteHeadChannel Remote_Head_3 = 3
 The Remote Head Camera at position 3. More...
 
static CRL_CONSTEXPR RemoteHeadChannel Remote_Head_Invalid = SHRT_MAX
 Invalid Remote Head position. More...
 
static CRL_CONSTEXPR TriggerSource Trigger_Internal = 0
 Default internal trigger source. More...
 
static CRL_CONSTEXPR TriggerSource Trigger_External = 1
 External OPTO_RX trigger input. More...
 
static CRL_CONSTEXPR TriggerSource Trigger_External_Inverted = 2
 External OPTO_RX trigger input with Inverted Polarity. More...
 
static CRL_CONSTEXPR TriggerSource Trigger_PTP = 3
 Syncronize cameras on integer timestamps when using PTP. More...
 

Typedef Documentation

◆ CameraProfile

typedef uint32_t crl::multisense::CameraProfile

Camera profile typedef representing the various stereo profiles available from newer S27/S30 MultiSense variants.

Camera profiles are used to augment and extend the standard set of user accessible camera controls. Multiple camera profiles can be requested at once using the bitwise OR operator.

Definition at line 169 of file MultiSenseTypes.hh.

◆ DataSource

typedef uint64_t crl::multisense::DataSource

Data sources typedef representing the various data sources available from sensors in the MultiSense-S line.

Variables of this type are used to query which data sources are supported by a given sensor, and to control the streaming of those datasources from the sensor. DataSource values can be combined using the bitwise OR operator to represent multiple sources.

Definition at line 114 of file MultiSenseTypes.hh.

◆ ImageCompressionCodec

typedef uint32_t crl::multisense::ImageCompressionCodec

Image compression codec typedef indicating the compression scheme which was used on the compressed output streams.

Compression is only supported on newer S27/S30 MultiSense variants.

Definition at line 191 of file MultiSenseTypes.hh.

◆ RemoteHeadChannel

typedef int16_t crl::multisense::RemoteHeadChannel

Remote head channel defines which channel is used to communicate to a specific component in the Remote Head system.

The possible components are: Remote_Head_VPB The Remote Head Vision Processor Board. Remote_Head_0 The Remote Head Camera located in position 0 Remote_Head_1 The Remote Head Camera located in position 1 Remote_Head_2 The Remote Head Camera located in position 2 Remote_Head_3 The Remote Head Camera located in position 3

Definition at line 206 of file MultiSenseTypes.hh.

◆ Status

typedef int32_t crl::multisense::Status

General status typdef used as a return value for get/set crl::multisense::Channel methods.

Definition at line 93 of file MultiSenseTypes.hh.

◆ TriggerSource

typedef uint32_t crl::multisense::TriggerSource

Definition at line 265 of file MultiSenseTypes.hh.

◆ VersionType

typedef uint32_t crl::multisense::VersionType

Sensor version typedef used to store a given version number.

Definition at line 87 of file MultiSenseTypes.hh.

Variable Documentation

◆ AprilTag

CRL_CONSTEXPR CameraProfile crl::multisense::AprilTag = (1U<<5)
static

User would like to run apriltag detector on the camera.

Definition at line 185 of file MultiSenseTypes.hh.

◆ Detail_Disparity

CRL_CONSTEXPR CameraProfile crl::multisense::Detail_Disparity = (1U<<0)
static

User would like more detail in the disparity image.

Definition at line 174 of file MultiSenseTypes.hh.

◆ Exposure_Default_Gain

CRL_CONSTEXPR float crl::multisense::Exposure_Default_Gain = 1.0f
static

Definition at line 161 of file MultiSenseTypes.hh.

◆ Exposure_Default_Source

CRL_CONSTEXPR DataSource crl::multisense::Exposure_Default_Source = Source_Luma_Left
static

Definition at line 159 of file MultiSenseTypes.hh.

◆ Exposure_Default_Target_Intensity

CRL_CONSTEXPR float crl::multisense::Exposure_Default_Target_Intensity = 0.5f
static

Definition at line 160 of file MultiSenseTypes.hh.

◆ Full_Res_Aux_Cam

CRL_CONSTEXPR CameraProfile crl::multisense::Full_Res_Aux_Cam = (1U<<4)
static

User would like full resolution images from the aux camera regardless of the requested resolution of the stereo pair.

Warning: This profile will be deprecated in future revisions of the software.

Definition at line 183 of file MultiSenseTypes.hh.

◆ Ground_Surface

CRL_CONSTEXPR CameraProfile crl::multisense::Ground_Surface = (1U<<3)
static

User would like to run spline-based ground surface algorithm on the camera.

Definition at line 180 of file MultiSenseTypes.hh.

◆ H264

CRL_CONSTEXPR ImageCompressionCodec crl::multisense::H264 = 0
static

Image data is compressed with the H.264 Codec.

Definition at line 194 of file MultiSenseTypes.hh.

◆ High_Contrast

CRL_CONSTEXPR CameraProfile crl::multisense::High_Contrast = (1U<<1)
static

User would like more contrast in images.

Definition at line 176 of file MultiSenseTypes.hh.

◆ Remote_Head_0

CRL_CONSTEXPR RemoteHeadChannel crl::multisense::Remote_Head_0 = 0
static

The Remote Head Camera at position 0.

Definition at line 210 of file MultiSenseTypes.hh.

◆ Remote_Head_1

CRL_CONSTEXPR RemoteHeadChannel crl::multisense::Remote_Head_1 = 1
static

The Remote Head Camera at position 1.

Definition at line 212 of file MultiSenseTypes.hh.

◆ Remote_Head_2

CRL_CONSTEXPR RemoteHeadChannel crl::multisense::Remote_Head_2 = 2
static

The Remote Head Camera at position 2.

Definition at line 214 of file MultiSenseTypes.hh.

◆ Remote_Head_3

CRL_CONSTEXPR RemoteHeadChannel crl::multisense::Remote_Head_3 = 3
static

The Remote Head Camera at position 3.

Definition at line 216 of file MultiSenseTypes.hh.

◆ Remote_Head_Invalid

CRL_CONSTEXPR RemoteHeadChannel crl::multisense::Remote_Head_Invalid = SHRT_MAX
static

Invalid Remote Head position.

Definition at line 218 of file MultiSenseTypes.hh.

◆ Remote_Head_VPB

CRL_CONSTEXPR RemoteHeadChannel crl::multisense::Remote_Head_VPB = -1
static

The Remote Head Vision Processor Board.

Definition at line 208 of file MultiSenseTypes.hh.

◆ Roi_Full_Image

CRL_CONSTEXPR int crl::multisense::Roi_Full_Image = 0
static

Use Roi_Full_Image as the height and width when setting the autoExposureRoi to set the ROI to the full image regardless of the current resolution.

Definition at line 158 of file MultiSenseTypes.hh.

◆ Show_ROIs

CRL_CONSTEXPR CameraProfile crl::multisense::Show_ROIs = (1U<<2)
static

User would like see the auto exposure Regions of Interest drawn on the image.

Definition at line 178 of file MultiSenseTypes.hh.

◆ Source_All

CRL_CONSTEXPR DataSource crl::multisense::Source_All = 0xffffffffffffffff
static

Definition at line 117 of file MultiSenseTypes.hh.

◆ Source_AprilTag_Detections

CRL_CONSTEXPR DataSource crl::multisense::Source_AprilTag_Detections = (1ull<<23)
static

Definition at line 138 of file MultiSenseTypes.hh.

◆ Source_Chroma_Aux

CRL_CONSTEXPR DataSource crl::multisense::Source_Chroma_Aux = (1ull<<30)
static

Definition at line 145 of file MultiSenseTypes.hh.

◆ Source_Chroma_Left

CRL_CONSTEXPR DataSource crl::multisense::Source_Chroma_Left = (1ull<<6)
static

Definition at line 124 of file MultiSenseTypes.hh.

◆ Source_Chroma_Rectified_Aux

CRL_CONSTEXPR DataSource crl::multisense::Source_Chroma_Rectified_Aux = (1ull<<8)
static

Definition at line 126 of file MultiSenseTypes.hh.

◆ Source_Chroma_Right

CRL_CONSTEXPR DataSource crl::multisense::Source_Chroma_Right = (1ull<<7)
static

Definition at line 125 of file MultiSenseTypes.hh.

◆ Source_Compressed_Aux

CRL_CONSTEXPR DataSource crl::multisense::Source_Compressed_Aux = (1ull<<14)
static

Definition at line 149 of file MultiSenseTypes.hh.

◆ Source_Compressed_Left

CRL_CONSTEXPR DataSource crl::multisense::Source_Compressed_Left = (1ull<<9)
static

Definition at line 147 of file MultiSenseTypes.hh.

◆ Source_Compressed_Rectified_Aux

CRL_CONSTEXPR DataSource crl::multisense::Source_Compressed_Rectified_Aux = (1ull<<17)
static

Definition at line 152 of file MultiSenseTypes.hh.

◆ Source_Compressed_Rectified_Left

CRL_CONSTEXPR DataSource crl::multisense::Source_Compressed_Rectified_Left = (1ull<<15)
static

Definition at line 150 of file MultiSenseTypes.hh.

◆ Source_Compressed_Rectified_Right

CRL_CONSTEXPR DataSource crl::multisense::Source_Compressed_Rectified_Right = (1ull<<16)
static

Definition at line 151 of file MultiSenseTypes.hh.

◆ Source_Compressed_Right

CRL_CONSTEXPR DataSource crl::multisense::Source_Compressed_Right = (1ull<<13)
static

Definition at line 148 of file MultiSenseTypes.hh.

◆ Source_Disparity

CRL_CONSTEXPR DataSource crl::multisense::Source_Disparity = (1ull<<10)
static

Definition at line 127 of file MultiSenseTypes.hh.

◆ Source_Disparity_Aux

CRL_CONSTEXPR DataSource crl::multisense::Source_Disparity_Aux = (1ull<<31)
static

Definition at line 146 of file MultiSenseTypes.hh.

◆ Source_Disparity_Cost

CRL_CONSTEXPR DataSource crl::multisense::Source_Disparity_Cost = (1ull<<12)
static

Definition at line 130 of file MultiSenseTypes.hh.

◆ Source_Disparity_Left

CRL_CONSTEXPR DataSource crl::multisense::Source_Disparity_Left = (1ull<<10)
static

Definition at line 128 of file MultiSenseTypes.hh.

◆ Source_Disparity_Right

CRL_CONSTEXPR DataSource crl::multisense::Source_Disparity_Right = (1ull<<11)
static

Definition at line 129 of file MultiSenseTypes.hh.

◆ Source_Feature_Aux

CRL_CONSTEXPR DataSource crl::multisense::Source_Feature_Aux = (1ull<<32)
static

Definition at line 135 of file MultiSenseTypes.hh.

◆ Source_Feature_Left

CRL_CONSTEXPR DataSource crl::multisense::Source_Feature_Left = (1ull<<18)
static

Definition at line 133 of file MultiSenseTypes.hh.

◆ Source_Feature_Right

CRL_CONSTEXPR DataSource crl::multisense::Source_Feature_Right = (1ull<<19)
static

Definition at line 134 of file MultiSenseTypes.hh.

◆ Source_Ground_Surface_Class_Image

CRL_CONSTEXPR DataSource crl::multisense::Source_Ground_Surface_Class_Image = (1ull<<22)
static

Definition at line 137 of file MultiSenseTypes.hh.

◆ Source_Ground_Surface_Spline_Data

CRL_CONSTEXPR DataSource crl::multisense::Source_Ground_Surface_Spline_Data = (1ull<<20)
static

Definition at line 136 of file MultiSenseTypes.hh.

◆ Source_Imu

CRL_CONSTEXPR DataSource crl::multisense::Source_Imu = (1ull<<25)
static

Definition at line 140 of file MultiSenseTypes.hh.

◆ Source_Jpeg_Left

CRL_CONSTEXPR DataSource crl::multisense::Source_Jpeg_Left = (1ull<<16)
static

Definition at line 131 of file MultiSenseTypes.hh.

◆ Source_Lidar_Scan

CRL_CONSTEXPR DataSource crl::multisense::Source_Lidar_Scan = (1ull<<24)
static

Definition at line 139 of file MultiSenseTypes.hh.

◆ Source_Luma_Aux

CRL_CONSTEXPR DataSource crl::multisense::Source_Luma_Aux = (1ull<<28)
static

Definition at line 143 of file MultiSenseTypes.hh.

◆ Source_Luma_Left

CRL_CONSTEXPR DataSource crl::multisense::Source_Luma_Left = (1ull<<2)
static

Definition at line 120 of file MultiSenseTypes.hh.

◆ Source_Luma_Rectified_Aux

CRL_CONSTEXPR DataSource crl::multisense::Source_Luma_Rectified_Aux = (1ull<<29)
static

Definition at line 144 of file MultiSenseTypes.hh.

◆ Source_Luma_Rectified_Left

CRL_CONSTEXPR DataSource crl::multisense::Source_Luma_Rectified_Left = (1ull<<4)
static

Definition at line 122 of file MultiSenseTypes.hh.

◆ Source_Luma_Rectified_Right

CRL_CONSTEXPR DataSource crl::multisense::Source_Luma_Rectified_Right = (1ull<<5)
static

Definition at line 123 of file MultiSenseTypes.hh.

◆ Source_Luma_Right

CRL_CONSTEXPR DataSource crl::multisense::Source_Luma_Right = (1ull<<3)
static

Definition at line 121 of file MultiSenseTypes.hh.

◆ Source_Pps

CRL_CONSTEXPR DataSource crl::multisense::Source_Pps = (1ull<<26)
static

Definition at line 141 of file MultiSenseTypes.hh.

◆ Source_Raw_Aux

CRL_CONSTEXPR DataSource crl::multisense::Source_Raw_Aux = (1ull<<27)
static

Definition at line 142 of file MultiSenseTypes.hh.

◆ Source_Raw_Left

CRL_CONSTEXPR DataSource crl::multisense::Source_Raw_Left = (1ull<<0)
static

Definition at line 118 of file MultiSenseTypes.hh.

◆ Source_Raw_Right

CRL_CONSTEXPR DataSource crl::multisense::Source_Raw_Right = (1ull<<1)
static

Definition at line 119 of file MultiSenseTypes.hh.

◆ Source_Rgb_Left

CRL_CONSTEXPR DataSource crl::multisense::Source_Rgb_Left = (1ull<<17)
static

Definition at line 132 of file MultiSenseTypes.hh.

◆ Source_Unknown

CRL_CONSTEXPR DataSource crl::multisense::Source_Unknown = 0
static

Definition at line 116 of file MultiSenseTypes.hh.

◆ Status_Error

CRL_CONSTEXPR Status crl::multisense::Status_Error = -2
static

Definition at line 100 of file MultiSenseTypes.hh.

◆ Status_Exception

CRL_CONSTEXPR Status crl::multisense::Status_Exception = -6
static

Definition at line 104 of file MultiSenseTypes.hh.

◆ Status_Failed

CRL_CONSTEXPR Status crl::multisense::Status_Failed = -3
static

Definition at line 101 of file MultiSenseTypes.hh.

◆ Status_Ok

CRL_CONSTEXPR Status crl::multisense::Status_Ok = 0
static

Definition at line 98 of file MultiSenseTypes.hh.

◆ Status_TimedOut

CRL_CONSTEXPR Status crl::multisense::Status_TimedOut = -1
static

Definition at line 99 of file MultiSenseTypes.hh.

◆ Status_Unknown

CRL_CONSTEXPR Status crl::multisense::Status_Unknown = -5
static

Definition at line 103 of file MultiSenseTypes.hh.

◆ Status_Unsupported

CRL_CONSTEXPR Status crl::multisense::Status_Unsupported = -4
static

Definition at line 102 of file MultiSenseTypes.hh.

◆ Trigger_External

CRL_CONSTEXPR TriggerSource crl::multisense::Trigger_External = 1
static

External OPTO_RX trigger input.

Definition at line 270 of file MultiSenseTypes.hh.

◆ Trigger_External_Inverted

CRL_CONSTEXPR TriggerSource crl::multisense::Trigger_External_Inverted = 2
static

External OPTO_RX trigger input with Inverted Polarity.

Definition at line 272 of file MultiSenseTypes.hh.

◆ Trigger_Internal

CRL_CONSTEXPR TriggerSource crl::multisense::Trigger_Internal = 0
static

Default internal trigger source.

Corresponds to image::config.setFps()

Definition at line 268 of file MultiSenseTypes.hh.

◆ Trigger_PTP

CRL_CONSTEXPR TriggerSource crl::multisense::Trigger_PTP = 3
static

Syncronize cameras on integer timestamps when using PTP.

Definition at line 274 of file MultiSenseTypes.hh.

◆ User_Control

CRL_CONSTEXPR CameraProfile crl::multisense::User_Control = 0
static

User has direct control over all settings in the image configuration.

Definition at line 172 of file MultiSenseTypes.hh.