multisense::ImageFrame Struct Reference

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

#include <MultiSenseTypes.hh>

Collaboration diagram for multisense::ImageFrame:

Public Member Functions
void	add_image (const Image &image)
	Add an image to the frame, keyed by the image's DataSource.
const Image &	get_image (const DataSource &source) const
	Retrieve image by DataSource.
bool	has_image (const DataSource &source) const
	Check if we have an image for a given data source.

Public Attributes
int64_t	frame_id = 0
	The unique monotonically increasing ID for each frame populated by the MultiSense.
std::map< DataSource, Image >	images {}
	The images associated with each source in the frame.
StereoCalibration	calibration {}
	The scaled calibration for the entire camera.
TimeT	frame_time {}
	The MultiSense timestamp associated with the frame.
TimeT	ptp_frame_time {}
	The MultiSense ptp timestamp associated with the frame.
ColorImageEncoding	aux_color_encoding = ColorImageEncoding::NONE
	The encoding of the aux color image(s) in the frame.
std::optional< ImageHistogram >	stereo_histogram = std::nullopt
	Corresponding histogram from the main stereo pair.
std::chrono::microseconds	capture_exposure_time {0}
	The exposure time which was used to capture this frame.
float	capture_gain = 0.0
	The gain that was used to capture the stereo images in this frame.

Detailed Description

A frame containing multiple images (indexed by DataSource).

Definition at line 322 of file MultiSenseTypes.hh.

Member Function Documentation

add_image()

void multisense::ImageFrame::add_image ( const Image &  image )

inline

Add an image to the frame, keyed by the image's DataSource.

Definition at line 327 of file MultiSenseTypes.hh.

get_image()

const Image & multisense::ImageFrame::get_image ( const DataSource &  source ) const

inline

Retrieve image by DataSource.

Throws if not found.

Definition at line 335 of file MultiSenseTypes.hh.

has_image()

bool multisense::ImageFrame::has_image ( const DataSource &  source ) const

inline

Check if we have an image for a given data source.

Definition at line 348 of file MultiSenseTypes.hh.

Member Data Documentation

aux_color_encoding

ColorImageEncoding multisense::ImageFrame::aux_color_encoding = ColorImageEncoding::NONE

The encoding of the aux color image(s) in the frame.

Definition at line 381 of file MultiSenseTypes.hh.

calibration

StereoCalibration multisense::ImageFrame::calibration {}

The scaled calibration for the entire camera.

Definition at line 366 of file MultiSenseTypes.hh.

capture_exposure_time

std::chrono::microseconds multisense::ImageFrame::capture_exposure_time {0}

The exposure time which was used to capture this frame.

Definition at line 391 of file MultiSenseTypes.hh.

capture_gain

float multisense::ImageFrame::capture_gain = 0.0

The gain that was used to capture the stereo images in this frame.

Definition at line 396 of file MultiSenseTypes.hh.

frame_id

int64_t multisense::ImageFrame::frame_id = 0

The unique monotonically increasing ID for each frame populated by the MultiSense.

Definition at line 356 of file MultiSenseTypes.hh.

frame_time

TimeT multisense::ImageFrame::frame_time {}

The MultiSense timestamp associated with the frame.

Definition at line 371 of file MultiSenseTypes.hh.

images

std::map<DataSource, Image> multisense::ImageFrame::images {}

The images associated with each source in the frame.

Definition at line 361 of file MultiSenseTypes.hh.

ptp_frame_time

TimeT multisense::ImageFrame::ptp_frame_time {}

The MultiSense ptp timestamp associated with the frame.

Definition at line 376 of file MultiSenseTypes.hh.

stereo_histogram

std::optional<ImageHistogram> multisense::ImageFrame::stereo_histogram = std::nullopt

Corresponding histogram from the main stereo pair.

Definition at line 386 of file MultiSenseTypes.hh.

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

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