Classes
struct	CameraCalibration

class	Channel

struct	Image
	Represents a single image plus metadata. More...

struct	ImageFrame
	A frame containing multiple images (indexed by DataSource). More...

struct	ImageHistogram
	A object containing histogram data for a image. More...

struct	ImuFrame
	A collection of IMU samples from the camera. More...

struct	ImuRange
	The range for each sensor along with the corresponding sampling resolution. More...

struct	ImuRate
	A sample rate, and what impact it has on bandwidth. More...

struct	ImuSample
	A single IMU sample from the camera. More...

class	MultiChannelSynchronizer
	Helper class which provides a interface to synchronize data across multiple channels. More...

struct	MultiSenseConfig
	Complete configuration object for configuring the MultiSense. More...

struct	MultiSenseInfo
	Static status info for the MultiSense. More...

struct	MultiSenseStatus
	Consolidated status information which can be queried on demand from the MultiSense. More...

struct	Pixel
	Pixel coordinates in a image. More...

struct	Point
	Make sure our Points and point clouds are packed for applications which might need to handle the underlying raw data. More...

struct	Point< void >
	Single point definition with no color. More...

struct	PointCloud
	A pointcloud containing a collection of colorized points. More...

class	QMatrix

struct	StereoCalibration

Typedefs
using	TimeT = std::chrono::time_point< std::chrono::system_clock, std::chrono::nanoseconds >

Enumerations
enum class	Status : uint8_t { UNKNOWN , OK , TIMEOUT , INTERNAL_ERROR , FAILED , UNSUPPORTED , EXCEPTION , UNINITIALIZED , INCOMPLETE_APPLICATION }

enum class	DataSource : uint16_t { UNKNOWN , ALL , LEFT_MONO_RAW , RIGHT_MONO_RAW , LEFT_MONO_COMPRESSED , RIGHT_MONO_COMPRESSED , LEFT_RECTIFIED_RAW , RIGHT_RECTIFIED_RAW , LEFT_RECTIFIED_COMPRESSED , RIGHT_RECTIFIED_COMPRESSED , LEFT_DISPARITY_RAW , LEFT_DISPARITY_COMPRESSED , AUX_COMPRESSED , AUX_RECTIFIED_COMPRESSED , AUX_LUMA_RAW , AUX_LUMA_RECTIFIED_RAW , AUX_CHROMA_RAW , AUX_CHROMA_RECTIFIED_RAW , AUX_RAW , AUX_RECTIFIED_RAW , COST_RAW , IMU }
	Identifies which camera or data source the image is from. More...

enum class	ColorImageEncoding : uint16_t { NONE , YCBCR420 }

Functions
MULTISENSE_API bool	frames_synchronized (const std::vector< ImageFrame > &frames, const std::chrono::nanoseconds &tolerance)
	Free function which determines if a collection of frames are synchronized within a given tolerance.

	NLOHMANN_JSON_SERIALIZE_ENUM (Status, { {Status::UNKNOWN, "UNKNOWN"}, {Status::OK, "OK"}, {Status::TIMEOUT, "TIMEOUT"}, {Status::INTERNAL_ERROR, "INTERNAL_ERROR"}, {Status::FAILED, "FAILED"}, {Status::UNSUPPORTED, "UNSUPPORTED"}, {Status::EXCEPTION, "EXCEPTION"}, {Status::UNINITIALIZED, "UNINITIALIZED"}, {Status::INCOMPLETE_APPLICATION, "INCOMPLETE_APPLICATION"} }) NLOHMANN_JSON_SERIALIZE_ENUM(DataSource

MULTISENSE_API std::string	to_string (const Status &status)
	Convert a status object to a user readable string.

MULTISENSE_API bool	write_image (const Image &image, const std::filesystem::path &path)
	Write a image to a specific path on disk.

MULTISENSE_API std::optional< Image >	create_depth_image (const ImageFrame &frame, const Image::PixelFormat &depth_format, const DataSource &disparity_source=DataSource::LEFT_DISPARITY_RAW, bool compute_in_aux_frame=false, float invalid_value=0)
	Create a depth image from a image frame.

MULTISENSE_API std::optional< Point< void > >	get_aux_3d_point (const ImageFrame &frame, const Pixel &rectified_aux_pixel, size_t max_pixel_search_window, double pixel_epsilon, const DataSource &disparity_source=DataSource::LEFT_DISPARITY_RAW)
	for a given pixel in the aux image, return the corresponding 3D point associated with the aux pixel

MULTISENSE_API std::optional< Image >	create_bgr_from_ycbcr420 (const Image &luma, const Image &chroma, const DataSource &output_source)
	Convert a YCbCr420 luma + chroma image into a BGR color image.

MULTISENSE_API std::optional< Image >	create_bgr_image (const ImageFrame &frame, const DataSource &output_source)
	Convert a YCbCr420 luma + chroma image into a BGR color image.

template<typename Color >
MULTISENSE_API std::optional< PointCloud< Color > >	create_color_pointcloud (const Image &disparity, const std::optional< Image > &color, double max_range, const StereoCalibration &calibration)
	Create a point cloud from a image frame and a color source.

template<typename Color >
MULTISENSE_API std::optional< PointCloud< Color > >	create_color_pointcloud (const ImageFrame &frame, double max_range, const DataSource &color_source=DataSource::UNKNOWN, const DataSource &disparity_source=DataSource::LEFT_DISPARITY_RAW)
	Create a point cloud from a image frame and a color source.

MULTISENSE_API std::optional< PointCloud< void > >	create_pointcloud (const ImageFrame &frame, double max_range, const DataSource &disparity_source=DataSource::LEFT_DISPARITY_RAW)

template<typename Color >
MULTISENSE_API bool	write_pointcloud_ply (const PointCloud< Color > &point_cloud, const std::filesystem::path &path)
	Write a point cloud to a ply file.

Typedef Documentation

◆ TimeT

using multisense::TimeT = typedef std::chrono::time_point<std::chrono::system_clock, std::chrono::nanoseconds>

Definition at line 66 of file MultiSenseTypes.hh.

Enumeration Type Documentation

◆ ColorImageEncoding

enum class multisense::ColorImageEncoding : uint16_t

strong

Enumerator
NONE
YCBCR420

Definition at line 110 of file MultiSenseTypes.hh.

◆ DataSource

enum class multisense::DataSource : uint16_t

strong

Identifies which camera or data source the image is from.

Enumerator
UNKNOWN
ALL
LEFT_MONO_RAW
RIGHT_MONO_RAW
LEFT_MONO_COMPRESSED
RIGHT_MONO_COMPRESSED
LEFT_RECTIFIED_RAW
RIGHT_RECTIFIED_RAW
LEFT_RECTIFIED_COMPRESSED
RIGHT_RECTIFIED_COMPRESSED
LEFT_DISPARITY_RAW
LEFT_DISPARITY_COMPRESSED
AUX_COMPRESSED
AUX_RECTIFIED_COMPRESSED
AUX_LUMA_RAW
AUX_LUMA_RECTIFIED_RAW
AUX_CHROMA_RAW
AUX_CHROMA_RECTIFIED_RAW
AUX_RAW
AUX_RECTIFIED_RAW
COST_RAW
IMU

Definition at line 84 of file MultiSenseTypes.hh.

◆ Status

enum class multisense::Status : uint8_t

strong

Enumerator
UNKNOWN
OK
TIMEOUT
INTERNAL_ERROR
FAILED
UNSUPPORTED
EXCEPTION
UNINITIALIZED
INCOMPLETE_APPLICATION

Definition at line 68 of file MultiSenseTypes.hh.

Function Documentation

◆ create_bgr_from_ycbcr420()

MULTISENSE_API std::optional< Image > multisense::create_bgr_from_ycbcr420	(	const Image &	luma,
		const Image &	chroma,
		const DataSource &	output_source
	)

Convert a YCbCr420 luma + chroma image into a BGR color image.

Parameters

luma	The luma component (Y) of the YCbCr420 image
chroma	The chroma components (CbCr) of the YCbCr420 image
output_source	The source type to associate witht he image

Returns: Return a BGR image

◆ create_bgr_image()

MULTISENSE_API std::optional< Image > multisense::create_bgr_image	(	const ImageFrame &	frame,
		const DataSource &	output_source
	)

Convert a YCbCr420 luma + chroma image into a BGR color image.

Parameters

frame	The image frame containing the luma/chroma components of the YCbCr420 image
output_source	The source type to associate witht he image

Returns: Return a BGR image

◆ create_color_pointcloud() [1/2]

template<typename Color >

MULTISENSE_API std::optional< PointCloud< Color > > multisense::create_color_pointcloud	(	const Image &	disparity,
		const std::optional< Image > &	color,
		double	max_range,
		const StereoCalibration &	calibration
	)

Create a point cloud from a image frame and a color source.

Parameters

disparity	A disparity image to convert to a pointcloud
color	Optional color image to use for colorization
max_range	The max range in meters of a point from the camera origin to be considered valid
calibration	The stereo calibration used to convert disparity images to 3D, and project points into color images

Returns: Return a colorized point cloud

Definition at line 232 of file MultiSenseUtilities.hh.

◆ create_color_pointcloud() [2/2]

template<typename Color >

MULTISENSE_API std::optional< PointCloud< Color > > multisense::create_color_pointcloud	(	const ImageFrame &	frame,
		double	max_range,
		const DataSource &	color_source = `DataSource::UNKNOWN`,
		const DataSource &	disparity_source = `DataSource::LEFT_DISPARITY_RAW`
	)

Create a point cloud from a image frame and a color source.

Parameters

frame	A frame containing images to convert to a pointcloud
color_source	The datasorce of the color image in the input frame
max_range	The max range in meters of a point from the camera origin to be considered valid

Returns: Return a colorized point cloud

Definition at line 335 of file MultiSenseUtilities.hh.

◆ create_depth_image()

MULTISENSE_API std::optional< Image > multisense::create_depth_image	(	const ImageFrame &	frame,
		const Image::PixelFormat &	depth_format,
		const DataSource &	disparity_source = `DataSource::LEFT_DISPARITY_RAW`,
		bool	compute_in_aux_frame = `false`,
		float	invalid_value = `0`
	)

Create a depth image from a image frame.

Parameters

depth_format	Supported formats include MONO16 and FLOAT32. Note MONO16 will be quantized to millimeters)
compute_in_aux_frame	Compute the depth image so it's returned in the aux camera's image frame
invalid_value	The value to set invalid depth measurements to. (i.e. points where disparity = 0)

Returns: Return a depth image

◆ create_pointcloud()

MULTISENSE_API std::optional< PointCloud< void > > multisense::create_pointcloud	(	const ImageFrame &	frame,
		double	max_range,
		const DataSource &	disparity_source = `DataSource::LEFT_DISPARITY_RAW`
	)

◆ frames_synchronized()

MULTISENSE_API bool multisense::frames_synchronized	(	const std::vector< ImageFrame > &	frames,
		const std::chrono::nanoseconds &	tolerance
	)

Free function which determines if a collection of frames are synchronized within a given tolerance.

Parameters

frames	Frames to check for synchronization
tolerance	The max time difference between any frames for them to be considered valid

Returns: Return true if the frames are synchronized

◆ get_aux_3d_point()

MULTISENSE_API std::optional< Point< void > > multisense::get_aux_3d_point	(	const ImageFrame &	frame,
		const Pixel &	rectified_aux_pixel,
		size_t	max_pixel_search_window,
		double	pixel_epsilon,
		const DataSource &	disparity_source = `DataSource::LEFT_DISPARITY_RAW`
	)

for a given pixel in the aux image, return the corresponding 3D point associated with the aux pixel

Parameters

frame	The image frame which contains a disparity image
rectified_aux_pixel	The aux pixel to compute depth for
max_pixel_search_window	The maximum number of pixels to search for a corresponding valid disparity pixel. 256 is the max value
pixel_epsilon	The threshold, in pixels, for a disparity projection to match the aux pixel location. Values On the order of 0.5 pixels make sense here

Returns: Return a 3D point corresponding to the aux pixel

◆ NLOHMANN_JSON_SERIALIZE_ENUM()

multisense::NLOHMANN_JSON_SERIALIZE_ENUM	(	Status	,
		{ {Status::UNKNOWN, "UNKNOWN"}, {Status::OK, "OK"}, {Status::TIMEOUT, "TIMEOUT"}, {Status::INTERNAL_ERROR, "INTERNAL_ERROR"}, {Status::FAILED, "FAILED"}, {Status::UNSUPPORTED, "UNSUPPORTED"}, {Status::EXCEPTION, "EXCEPTION"}, {Status::UNINITIALIZED, "UNINITIALIZED"}, {Status::INCOMPLETE_APPLICATION, "INCOMPLETE_APPLICATION"} }
	)

◆ to_string()

MULTISENSE_API std::string multisense::to_string ( const Status & status )

Convert a status object to a user readable string.

◆ write_image()

MULTISENSE_API bool multisense::write_image	(	const Image &	image,
		const std::filesystem::path &	path
	)

Write a image to a specific path on disk.

The type of serialization is determined by the input path

Parameters

image	The image to write to disk
path	The path to write the image to

Returns: Return true if the image was successfully written to disk

◆ write_pointcloud_ply()

template<typename Color >

MULTISENSE_API bool multisense::write_pointcloud_ply	(	const PointCloud< Color > &	point_cloud,
		const std::filesystem::path &	path
	)

Write a point cloud to a ply file.

Parameters

point_cloud	The pointcloud to write to a ply file
path	The output path to save the ply file to

Returns: Return true if the pointcloud was written successfully

Definition at line 375 of file MultiSenseUtilities.hh.

Classes

Typedefs

Enumerations

Functions

Typedef Documentation

◆ TimeT

Enumeration Type Documentation

◆ ColorImageEncoding

◆ DataSource

◆ Status

Function Documentation

◆ create_bgr_from_ycbcr420()

◆ create_bgr_image()

◆ create_color_pointcloud() [1/2]

◆ create_color_pointcloud() [2/2]

◆ create_depth_image()

◆ create_pointcloud()

◆ frames_synchronized()

◆ get_aux_3d_point()

◆ NLOHMANN_JSON_SERIALIZE_ENUM()

◆ to_string()

◆ write_image()

◆ write_pointcloud_ply()