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	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...

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	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

struct	StereoCalibration

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

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

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

enum	ColorImageEncoding : uint16_t { ColorImageEncoding::NONE, ColorImageEncoding::YCBCR420 }

Functions
	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. More...

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

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

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. More...

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. More...

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. More...

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. More...

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 ASCII ply file. More...

Typedef Documentation

◆ TimeT

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

Definition at line 65 of file MultiSenseTypes.hh.

Enumeration Type Documentation

◆ ColorImageEncoding

enum multisense::ColorImageEncoding : uint16_t

strong

Enumerator
NONE
YCBCR420

Definition at line 109 of file MultiSenseTypes.hh.

◆ DataSource

enum 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 83 of file MultiSenseTypes.hh.

◆ Status

enum multisense::Status : uint8_t

strong

Enumerator
UNKNOWN
OK
TIMEOUT
INTERNAL_ERROR
FAILED
UNSUPPORTED
EXCEPTION
UNINITIALIZED
INCOMPLETE_APPLICATION

Definition at line 67 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.

◆ 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.

◆ 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.

Definition at line 126 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.

Definition at line 240 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`,
		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)
invalid_value	The value to set invalid depth measurements to. (i.e. points where disparity = 0)

◆ 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`
	)

◆ 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

◆ 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 ASCII ply file.

Definition at line 276 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()

◆ NLOHMANN_JSON_SERIALIZE_ENUM()

◆ to_string()

◆ write_image()

◆ write_pointcloud_ply()