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

#include <MultiSenseTypes.hh>

Collaboration diagram for multisense::MultiSenseConfig:

[legend]

Classes
struct	AutoExposureConfig
	Auto-exposure specific configuration. More...

struct	AutoExposureRoiConfig
	Auto-exposure Region-of-Interest (ROI) specific configuration. More...

struct	AutoWhiteBalanceConfig
	Auto white balance specific configuration. More...

struct	AuxConfig
	Image specific configuration for the Aux imager. More...

struct	ImageConfig
	Image specific configuration. More...

struct	ImuConfig
	Config for the IMU sensor. More...

struct	LightingConfig
	Lighting configuration for the camera. More...

struct	ManualExposureConfig
	Manual exposure specific configuration. More...

struct	ManualWhiteBalanceConfig
	Manual white balance specific configuration. More...

struct	NetworkTransmissionConfig
	Config for transmitting packets from the MultiSense to the host. More...

struct	StereoConfig
	Stereo specific configuration. More...

struct	TimeConfig
	Config for time-based controls. More...

Public Types
enum class	MaxDisparities : uint8_t { D64 , D128 , D256 }
	Predefined disparity pixel search windows. More...

Public Member Functions
bool	operator== (const MultiSenseConfig &rhs) const
	Equality operator.

Public Attributes
uint32_t	width = 0
	The operating width of the MultiSense in pixels.

uint32_t	height = 0
	The operating height of the MultiSense in pixels.

MaxDisparities	disparities = MaxDisparities::D256
	The max number of pixels the MultiSense searches when computing the disparity output.

float	frames_per_second = 10.0f
	The target framerate the MultiSense should operate at.

StereoConfig	stereo_config
	The stereo configuration to use.

ImageConfig	image_config
	The image configuration to use for the main stereo pair.

std::optional< AuxConfig >	aux_config = std::nullopt
	The image configuration to use for the aux camera if present.

std::optional< TimeConfig >	time_config = std::nullopt
	Config for the MultiSense time-sync options.

std::optional< NetworkTransmissionConfig >	network_config = std::nullopt
	Config to control network transmission settings.

std::optional< ImuConfig >	imu_config = std::nullopt
	The imu configuration to use for the camera.

std::optional< LightingConfig >	lighting_config = std::nullopt
	The lighting configuration for the camera.

Detailed Description

Complete configuration object for configuring the MultiSense.

Can be updated during camera operation

Definition at line 515 of file MultiSenseTypes.hh.

Member Enumeration Documentation

◆ MaxDisparities

enum class multisense::MultiSenseConfig::MaxDisparities : uint8_t

strong

Predefined disparity pixel search windows.

Larger values allows the camera to see objects closer to the camera

Enumerator
D64	64 pixels
D128	128 pixels
D256	256 pixels

Definition at line 813 of file MultiSenseTypes.hh.

Member Function Documentation

◆ operator==()

bool multisense::MultiSenseConfig::operator== ( const MultiSenseConfig & rhs ) const

inline

Equality operator.

Definition at line 1099 of file MultiSenseTypes.hh.

Member Data Documentation

◆ aux_config

std::optional<AuxConfig> multisense::MultiSenseConfig::aux_config = std::nullopt

The image configuration to use for the aux camera if present.

Definition at line 1073 of file MultiSenseTypes.hh.

◆ disparities

MaxDisparities multisense::MultiSenseConfig::disparities = MaxDisparities::D256

The max number of pixels the MultiSense searches when computing the disparity output.

Definition at line 1053 of file MultiSenseTypes.hh.

◆ frames_per_second

float multisense::MultiSenseConfig::frames_per_second = 10.0f

The target framerate the MultiSense should operate at.

Definition at line 1058 of file MultiSenseTypes.hh.

◆ height

uint32_t multisense::MultiSenseConfig::height = 0

The operating height of the MultiSense in pixels.

For available operating resolutions see the MultiSenseInfo::SupportedOperatingMode

Definition at line 1048 of file MultiSenseTypes.hh.

◆ image_config

ImageConfig multisense::MultiSenseConfig::image_config

The image configuration to use for the main stereo pair.

Definition at line 1068 of file MultiSenseTypes.hh.

◆ imu_config

std::optional<ImuConfig> multisense::MultiSenseConfig::imu_config = std::nullopt

The imu configuration to use for the camera.

Will be invalid if sensor does not contain an IMU

Definition at line 1088 of file MultiSenseTypes.hh.

◆ lighting_config

std::optional<LightingConfig> multisense::MultiSenseConfig::lighting_config = std::nullopt

The lighting configuration for the camera.

If invalid, the camera does not support lighting configuration

Definition at line 1094 of file MultiSenseTypes.hh.

◆ network_config

std::optional<NetworkTransmissionConfig> multisense::MultiSenseConfig::network_config = std::nullopt

Config to control network transmission settings.

Definition at line 1083 of file MultiSenseTypes.hh.

◆ stereo_config

StereoConfig multisense::MultiSenseConfig::stereo_config

The stereo configuration to use.

Definition at line 1063 of file MultiSenseTypes.hh.

◆ time_config

std::optional<TimeConfig> multisense::MultiSenseConfig::time_config = std::nullopt

Config for the MultiSense time-sync options.

Definition at line 1078 of file MultiSenseTypes.hh.

◆ width

uint32_t multisense::MultiSenseConfig::width = 0

The operating width of the MultiSense in pixels.