Represents a single image plus metadata. More...

#include <MultiSenseTypes.hh>

Collaboration diagram for multisense::Image:

Public Types
enum class	PixelFormat : uint8_t { UNKNOWN , MONO8 , BGR8 , MONO16 , FLOAT32 , JPEG , H264 }
	Pixel formats. More...

Public Member Functions
template<typename T >
std::optional< T >	at (int w, int h) const
	Get a pixel at a certain width/height location in the image.

Public Attributes
std::shared_ptr< const std::vector< uint8_t > >	raw_data = nullptr
	A pointer to the raw image data sent from the camera.

int64_t	image_data_offset = 0
	An offset into the raw_data pointer where the image data starts.

size_t	image_data_length = 0
	The length of the image data after the image_data_offset has been applied.

PixelFormat	format = PixelFormat::UNKNOWN
	The format of the image data stored in the raw_data stored in the raw_data buffer.

int	width = -1
	Width of the image in pixels.

int	height = -1
	Height of the image in pixels.

TimeT	camera_timestamp {}
	The timestamp associated with the image based on the camera's clock.

TimeT	ptp_timestamp {}
	The timestamp associated with the image based using the camera's clock which is potentially PTP synchronized with a remote PTP master.

DataSource	source = DataSource::UNKNOWN
	The camera data source which this image corresponds to.

CameraCalibration	calibration {}
	The scaled calibration associated with the image.

Detailed Description

Represents a single image plus metadata.

Definition at line 188 of file MultiSenseTypes.hh.

Member Enumeration Documentation

◆ PixelFormat

enum class multisense::Image::PixelFormat : uint8_t

strong

Pixel formats.

Enumerator
UNKNOWN
MONO8
BGR8
MONO16
FLOAT32
JPEG
H264

Definition at line 193 of file MultiSenseTypes.hh.

Member Function Documentation

◆ at()

template<typename T >

std::optional< T > multisense::Image::at	(	int	w,
		int	h
	)		const

inline

Get a pixel at a certain width/height location in the image.

NOTE: This check is slower since it checks to make sure the request is safe. It should not be called repeatedly at high frequency

Definition at line 262 of file MultiSenseTypes.hh.

Member Data Documentation

◆ calibration

CameraCalibration multisense::Image::calibration {}

The scaled calibration associated with the image.

Definition at line 254 of file MultiSenseTypes.hh.

◆ camera_timestamp

TimeT multisense::Image::camera_timestamp {}

The timestamp associated with the image based on the camera's clock.

Starts at 0 on boot

Definition at line 238 of file MultiSenseTypes.hh.

◆ format

PixelFormat multisense::Image::format = PixelFormat::UNKNOWN

The format of the image data stored in the raw_data stored in the raw_data buffer.

Definition at line 222 of file MultiSenseTypes.hh.

◆ height

int multisense::Image::height = -1

Height of the image in pixels.

Definition at line 232 of file MultiSenseTypes.hh.

◆ image_data_length

size_t multisense::Image::image_data_length = 0

The length of the image data after the image_data_offset has been applied.

Definition at line 217 of file MultiSenseTypes.hh.

◆ image_data_offset

int64_t multisense::Image::image_data_offset = 0

An offset into the raw_data pointer where the image data starts.

Definition at line 212 of file MultiSenseTypes.hh.

◆ ptp_timestamp

TimeT multisense::Image::ptp_timestamp {}

The timestamp associated with the image based using the camera's clock which is potentially PTP synchronized with a remote PTP master.

Definition at line 244 of file MultiSenseTypes.hh.

◆ raw_data

std::shared_ptr<const std::vector<uint8_t> > multisense::Image::raw_data = nullptr

A pointer to the raw image data sent from the camera.

Definition at line 207 of file MultiSenseTypes.hh.

◆ source

DataSource multisense::Image::source = DataSource::UNKNOWN

The camera data source which this image corresponds to.

Definition at line 249 of file MultiSenseTypes.hh.

◆ width

int multisense::Image::width = -1

Width of the image in pixels.

Definition at line 227 of file MultiSenseTypes.hh.

The documentation for this struct was generated from the following file:

/home/malvarado/crl/LibMultiSense/source/LibMultiSense/include/MultiSense/MultiSenseTypes.hh

Public Types

Public Member Functions

Public Attributes