The Device information associated with the MultiSense. More...

#include <MultiSenseTypes.hh>

Classes
struct	PcbInfo
	Info for the PCBs contained in the unit. More...

Public Types
enum class	HardwareRevision : uint8_t { UNKNOWN , S7 , S21 , ST21 , S27 , S30 , KS21 , MONOCAM , KS21_SILVER , ST25 , KS21i }
	MultiSense Hardware revisions. More...

enum class	ImagerType : uint8_t { UNKNOWN , CMV2000_GREY , CMV2000_COLOR , CMV4000_GREY , CMV4000_COLOR , FLIR_TAU2 , AR0234_GREY , AR0239_COLOR , TENUM1280 }
	Different imager types. More...

enum class	LightingType : uint8_t { NONE , INTERNAL , EXTERNAL , PATTERN_PROJECTOR , OUTPUT_TRIGGER , PATTERN_PROJECTOR_OUTPUT_TRIGGER }
	MultiSense lighting types. More...

enum class	LensType : uint8_t { UNKNOWN , STANDARD , FISHEYE }
	MultiSense lens types. More...

Public Member Functions
constexpr bool	has_aux_camera () const
	Determine if the MultiSense has a Aux color camera.

constexpr bool	has_main_stereo_color () const
	Determine if the MultiSense's main stereo pair supports color.

Public Attributes
std::string	camera_name {}
	The name of the MultiSense variant.

std::string	build_date {}
	The date the MultiSense was manufactured This value can store at most 32 characters.

std::string	serial_number {}
	The unique serial number of the MultiSense This value can store at most 32 characters.

HardwareRevision	hardware_revision {}
	The hardware revision of the MultiSense.

std::vector< PcbInfo >	pcb_info {}
	Information about each PCB.

std::string	imager_name {}
	The name of the imager used by the primary camera.

ImagerType	imager_type {}
	The type of the imager.

uint32_t	imager_width = 0
	The native width of the primary imager.

uint32_t	imager_height = 0
	The native height of the primary imager.

std::string	lens_name {}
	The name of the lens used for the primary camera For stereo cameras this is the Left/Right stereo pair.

LensType	lens_type {}
	The type of the primary imager.

float	nominal_stereo_baseline = 0.0f
	The nominal stereo baseline in meters.

float	nominal_focal_length = 0.0f
	The nominal focal length for the primary lens in meters.

float	nominal_relative_aperture = 0.0f
	The nominal relative aperture for the primary camera modules in f-stop.

LightingType	lighting_type {}
	The type of lighting used in the MultiSense.

uint32_t	number_of_lights = 0
	The number of lights the MultiSense controls.

Detailed Description

The Device information associated with the MultiSense.

The DeviceInfo is used to determine what features the MultiSense offers, and provides debug information to the Carnegie Robotics' team. The DeviceInfo can only be set at the factory

Definition at line 1333 of file MultiSenseTypes.hh.

Member Enumeration Documentation

◆ HardwareRevision

enum class multisense::MultiSenseInfo::DeviceInfo::HardwareRevision : uint8_t

strong

MultiSense Hardware revisions.

Enumerator
UNKNOWN
S7
S21
ST21
S27
S30
KS21
MONOCAM
KS21_SILVER
ST25
KS21i

Definition at line 1353 of file MultiSenseTypes.hh.

◆ ImagerType

enum class multisense::MultiSenseInfo::DeviceInfo::ImagerType : uint8_t

strong

Different imager types.

Enumerator
UNKNOWN
CMV2000_GREY
CMV2000_COLOR
CMV4000_GREY
CMV4000_COLOR
FLIR_TAU2
AR0234_GREY
AR0239_COLOR
TENUM1280

Definition at line 1371 of file MultiSenseTypes.hh.

◆ LensType

enum class multisense::MultiSenseInfo::DeviceInfo::LensType : uint8_t

strong

MultiSense lens types.

Enumerator
UNKNOWN
STANDARD
FISHEYE

Definition at line 1419 of file MultiSenseTypes.hh.

◆ LightingType

enum class multisense::MultiSenseInfo::DeviceInfo::LightingType : uint8_t

strong

MultiSense lighting types.

Enumerator
NONE	No lights.
INTERNAL	Lights driven internally.
EXTERNAL	Drive lights via an external output.
PATTERN_PROJECTOR	A pattern projector.
OUTPUT_TRIGGER	A GPIO line is used to trigger an external light.
PATTERN_PROJECTOR_OUTPUT_TRIGGER	A pattern projector with a GPIO line used to trigger a external light.

Definition at line 1387 of file MultiSenseTypes.hh.

Member Function Documentation

◆ has_aux_camera()

constexpr bool multisense::MultiSenseInfo::DeviceInfo::has_aux_camera ( ) const

inlineconstexpr

Determine if the MultiSense has a Aux color camera.

Definition at line 1516 of file MultiSenseTypes.hh.

◆ has_main_stereo_color()

constexpr bool multisense::MultiSenseInfo::DeviceInfo::has_main_stereo_color ( ) const

inlineconstexpr

Determine if the MultiSense's main stereo pair supports color.

Definition at line 1532 of file MultiSenseTypes.hh.

Member Data Documentation

◆ build_date

std::string multisense::MultiSenseInfo::DeviceInfo::build_date {}

The date the MultiSense was manufactured This value can store at most 32 characters.

Definition at line 1436 of file MultiSenseTypes.hh.

◆ camera_name

std::string multisense::MultiSenseInfo::DeviceInfo::camera_name {}

The name of the MultiSense variant.

This value can store at most 32 characters

Definition at line 1430 of file MultiSenseTypes.hh.

◆ hardware_revision

HardwareRevision multisense::MultiSenseInfo::DeviceInfo::hardware_revision {}

The hardware revision of the MultiSense.

Definition at line 1447 of file MultiSenseTypes.hh.

◆ imager_height

uint32_t multisense::MultiSenseInfo::DeviceInfo::imager_height = 0

The native height of the primary imager.

Definition at line 1474 of file MultiSenseTypes.hh.

◆ imager_name

std::string multisense::MultiSenseInfo::DeviceInfo::imager_name {}

The name of the imager used by the primary camera.

For stereo cameras this is the Left/Right stereo pair. For mono cameras this is the single imager This value can store at most 32 characters

Definition at line 1459 of file MultiSenseTypes.hh.

◆ imager_type

ImagerType multisense::MultiSenseInfo::DeviceInfo::imager_type {}

The type of the imager.

Definition at line 1464 of file MultiSenseTypes.hh.

◆ imager_width

uint32_t multisense::MultiSenseInfo::DeviceInfo::imager_width = 0

The native width of the primary imager.

Definition at line 1469 of file MultiSenseTypes.hh.

◆ lens_name

std::string multisense::MultiSenseInfo::DeviceInfo::lens_name {}

The name of the lens used for the primary camera For stereo cameras this is the Left/Right stereo pair.

For mono cameras this is the single camera This value can store at most 32 characters

Definition at line 1481 of file MultiSenseTypes.hh.

◆ lens_type

LensType multisense::MultiSenseInfo::DeviceInfo::lens_type {}

The type of the primary imager.

Definition at line 1486 of file MultiSenseTypes.hh.

◆ lighting_type

LightingType multisense::MultiSenseInfo::DeviceInfo::lighting_type {}

The type of lighting used in the MultiSense.

Definition at line 1506 of file MultiSenseTypes.hh.

◆ nominal_focal_length

float multisense::MultiSenseInfo::DeviceInfo::nominal_focal_length = 0.0f

The nominal focal length for the primary lens in meters.

Definition at line 1496 of file MultiSenseTypes.hh.

◆ nominal_relative_aperture

float multisense::MultiSenseInfo::DeviceInfo::nominal_relative_aperture = 0.0f

The nominal relative aperture for the primary camera modules in f-stop.

Definition at line 1501 of file MultiSenseTypes.hh.

◆ nominal_stereo_baseline

float multisense::MultiSenseInfo::DeviceInfo::nominal_stereo_baseline = 0.0f

The nominal stereo baseline in meters.

Definition at line 1491 of file MultiSenseTypes.hh.

◆ number_of_lights

uint32_t multisense::MultiSenseInfo::DeviceInfo::number_of_lights = 0

The number of lights the MultiSense controls.

Definition at line 1511 of file MultiSenseTypes.hh.

◆ pcb_info

std::vector<PcbInfo> multisense::MultiSenseInfo::DeviceInfo::pcb_info {}

Information about each PCB.

Definition at line 1452 of file MultiSenseTypes.hh.

◆ serial_number

std::string multisense::MultiSenseInfo::DeviceInfo::serial_number {}

The unique serial number of the MultiSense This value can store at most 32 characters.

Definition at line 1442 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

Classes

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Enumeration Documentation

◆ HardwareRevision

◆ ImagerType

◆ LensType

◆ LightingType

Member Function Documentation

◆ has_aux_camera()

◆ has_main_stereo_color()

Member Data Documentation

◆ build_date

◆ camera_name

◆ hardware_revision

◆ imager_height

◆ imager_name

◆ imager_type

◆ imager_width

◆ lens_name

◆ lens_type

◆ lighting_type

◆ nominal_focal_length

◆ nominal_relative_aperture

◆ nominal_stereo_baseline

◆ number_of_lights

◆ pcb_info

◆ serial_number