#include <MultiSenseTypes.hh>

Public Member Functions
bool	autoExposure () const
uint32_t	autoExposureDecay () const
uint32_t	autoExposureMax () const
float	autoExposureThresh () const
bool	autoWhiteBalance () const
uint32_t	autoWhiteBalanceDecay () const
float	autoWhiteBalanceThresh () const
int	camMode () const
	Config ()
float	cx () const
float	cy () const
uint32_t	disparities () const
uint32_t	exposure () const
float	fps () const
float	fx () const
float	fy () const
float	gain () const
bool	hdrEnabled () const
uint32_t	height () const
int	offset () const
float	pitch () const
float	roll () const
void	setAutoExposure (bool e)
void	setAutoExposureDecay (uint32_t d)
void	setAutoExposureMax (uint32_t m)
void	setAutoExposureThresh (float t)
void	setAutoWhiteBalance (bool e)
void	setAutoWhiteBalanceDecay (uint32_t d)
void	setAutoWhiteBalanceThresh (float t)
void	setCamMode (int m)
void	setDisparities (uint32_t d)
void	setExposure (uint32_t e)
void	setFps (float f)
void	setGain (float g)
void	setHdr (bool e)
void	setHeight (uint32_t h)
void	setOffset (int o)
void	setResolution (uint32_t w, uint32_t h)
void	setStereoPostFilterStrength (float s)
void	setWhiteBalance (float r, float b)
void	setWidth (uint32_t w)
float	stereoPostFilterStrength () const
float	tx () const
float	ty () const
float	tz () const
float	whiteBalanceBlue () const
float	whiteBalanceRed () const
uint32_t	width () const
float	yaw () const
Protected Attributes
float	m_cx
float	m_cy
float	m_fx
float	m_fy
float	m_pitch
float	m_roll
float	m_tx
float	m_ty
float	m_tz
float	m_yaw
Private Attributes
uint32_t	m_aeDecay
bool	m_aeEnabled
uint32_t	m_aeMax
float	m_aeThresh
int	m_cam_mode
uint32_t	m_disparities
uint32_t	m_exposure
float	m_fps
float	m_gain
bool	m_hdrEnabled
uint32_t	m_height
int	m_offset
float	m_spfStrength
float	m_wbBlue
uint32_t	m_wbDecay
bool	m_wbEnabled
float	m_wbRed
float	m_wbThresh
uint32_t	m_width

Detailed Description

Class used to store a specific camera configuration. Members in this class are set via get and set methods. The class is used as an input to a channel object to query or set camera parameters.

Example code to query an image configuration:

 {.cpp}
     //
     // Instantiate a channel connecting to a sensor at the factory default
     // IP address
     crl::multisense::Channel* channel;
     channel = crl::multisense::Channel::Create("10.66.171.21");

     channel->setMtu(7200);

     //
     // Create a imageConfig instance to store the queried configuration
     crl::multisense::image::Config imageConfig;

     //
     // Query the image configuration from the Channel instance
     crl::multisense::Status status = channel->getImageConfig(imageConfig);

     //
     // Check to see if the configuration query succeeded
     if(crl::multisense::Status_Ok != status) {
          throw std::runtime_error("Unable to query image configuration");
     }

     //
     // Use the image configuration...

     //
     // Destroy the channel instance
     crl::multisense::Channel::Destroy(channel);

Example code to set an image configurations:

 {.cpp}
     //
     // Instantiate a channel connecting to a sensor at the factory default
     // IP address
     crl::multisense::Channel* channel;
     channel = crl::multisense::Channel::Create("10.66.171.21");

     channel->setMtu(7200);

     //
     // Create a imageConfig instance to store the queried configuration
     crl::multisense::image::Config imageConfig;

     crl::multisense::Status status;

     //
     // Query the image configuration from the Channel instance
     status  = channel->getImageConfig(imageConfig);

     //
     // Check to see if the configuration query succeeded
     if(crl::multisense::Status_Ok != status) {
          throw std::runtime_error("Unable to query image configuration");
     }

     //
     // Modify image configuration parameters
     // Here we increase the frame rate to 30 FPS
     imageConfig.setFps(30.0);

     //
     // Send the new image configuration to the sensor
     status = channel->setImageConfig(imageConfig);

     //
     // Check to see if the configuration was successfully received by the
     // sensor
     if(crl::multisense::Status_Ok != status) {
          throw std::runtime_error("Unable to set image configuration");
     }

     //
     // Destroy the channel instance
     crl::multisense::Channel::Destroy(channel);

Definition at line 515 of file MultiSenseTypes.hh.

Constructor & Destructor Documentation

crl::multisense::image::Config::Config ( ) [inline]

Default constructor for a image configuration. Initializes all image configuration members to their default values

Definition at line 977 of file MultiSenseTypes.hh.

Member Function Documentation

bool crl::multisense::image::Config::autoExposure ( ) const [inline]

Query the current image configuration's auto-exposure enable setting

Returns:: The current image configuration's auto-exposure enable flag

Definition at line 777 of file MultiSenseTypes.hh.

uint32_t crl::multisense::image::Config::autoExposureDecay ( ) const [inline]

Query the current image configuration's auto-exposure decay rate

Returns:: The current configuration's auto-exposure decay rate

Definition at line 793 of file MultiSenseTypes.hh.

uint32_t crl::multisense::image::Config::autoExposureMax ( ) const [inline]

Query the current image configuration's maximum auto-exposure value

Returns:: The current image configuration's maximum auto-exposure value

Definition at line 785 of file MultiSenseTypes.hh.

float crl::multisense::image::Config::autoExposureThresh ( ) const [inline]

Query the current image configuration's auto-exposure threshold

Returns:: The current image configuration's auto-exposure threshold

Definition at line 801 of file MultiSenseTypes.hh.

bool crl::multisense::image::Config::autoWhiteBalance ( ) const [inline]

Query the current image configuration's white-balance enable setting

Returns:: The current image configuration's white-balance enable flag

Definition at line 825 of file MultiSenseTypes.hh.

uint32_t crl::multisense::image::Config::autoWhiteBalanceDecay ( ) const [inline]

Query the current image configuration's white-balance decay rate

Returns:: The current image configuration's white-balance decay rate

Definition at line 833 of file MultiSenseTypes.hh.

float crl::multisense::image::Config::autoWhiteBalanceThresh ( ) const [inline]

Query the current image configuration's white-balance threshold

Returns:: The current image configuration's white-balance threshold

Definition at line 841 of file MultiSenseTypes.hh.

int crl::multisense::image::Config::camMode ( ) const [inline]

Query the current image configuration's mode

Returns:: The current camera mode

Definition at line 736 of file MultiSenseTypes.hh.

float crl::multisense::image::Config::cx ( ) const [inline]

Query the current camera calibrations left rectified image center in the x dimension

Note this value is scaled based on the current image resolution

Returns:: The current camera calibrations rectified image center in the x dimension

Definition at line 897 of file MultiSenseTypes.hh.

float crl::multisense::image::Config::cy ( ) const [inline]

Query the current camera calibrations left rectified image center in the y dimension

Note this value is scaled based on the current image resolution

Returns:: The current camera calibrations rectified image center in the y dimension

Definition at line 909 of file MultiSenseTypes.hh.

uint32_t crl::multisense::image::Config::disparities ( ) const [inline]

Query the current image configuration's number of disparities

Returns:: The current number of disparities used when searching for stereo feature matches

Definition at line 728 of file MultiSenseTypes.hh.

uint32_t crl::multisense::image::Config::exposure ( ) const [inline]

Query the current image configuration's exposure setting

Returns:: the current image exposure setting in microseconds

Definition at line 769 of file MultiSenseTypes.hh.

float crl::multisense::image::Config::fps ( ) const [inline]

Query the current image configuration's frames-per-second setting

Returns:: The current frames per second

Definition at line 752 of file MultiSenseTypes.hh.

float crl::multisense::image::Config::fx ( ) const [inline]

Query the current camera calibrations rectified projection focal length in the x dimension.

Note this value is scaled based on the current image resolution

Returns:: The current camera calibrations focal length in the x dimension

Definition at line 874 of file MultiSenseTypes.hh.

float crl::multisense::image::Config::fy ( ) const [inline]

Query the current camera calibrations rectified projection focal length in the y dimension.

Note this value is scaled based on the current image resolution

Returns:: The current camera calibrations focal length in the y dimension

Definition at line 885 of file MultiSenseTypes.hh.

float crl::multisense::image::Config::gain ( ) const [inline]

Query the current image configuration's gain setting

Returns:: The current image gain setting

Definition at line 760 of file MultiSenseTypes.hh.

bool crl::multisense::image::Config::hdrEnabled ( ) const [inline]

Query the current image configuration's HDR enable flag

Returns:: The current image configuration's HDR enable flag

Definition at line 856 of file MultiSenseTypes.hh.

uint32_t crl::multisense::image::Config::height ( ) const [inline]

Query the current image configuration's height

Returns:: The current image height

Definition at line 719 of file MultiSenseTypes.hh.

int crl::multisense::image::Config::offset ( ) const [inline]

Query the current image configuration's offset

Returns:: The current offset

Definition at line 744 of file MultiSenseTypes.hh.

float crl::multisense::image::Config::pitch ( ) const [inline]

Query the current camera calibrations pitch value. This is the Euler pitch angle to rotate the right camera frame into the left camera frame. For rectified images this value will be 0.

Returns:: the current camera calibrations pitch value

Definition at line 961 of file MultiSenseTypes.hh.

float crl::multisense::image::Config::roll ( ) const [inline]

Query the current camera calibrations roll value. This is the Euler roll angle to rotate the right camera frame into the left camera frame. For rectified images this value will be 0.

Returns:: the current camera calibrations roll value

Definition at line 951 of file MultiSenseTypes.hh.

void crl::multisense::image::Config::setAutoExposure ( bool e ) [inline]

Set auto-exposure enable flag. Default value: true

Parameters:

e	A boolean used to enable or disable auto-exposure

Definition at line 615 of file MultiSenseTypes.hh.

void crl::multisense::image::Config::setAutoExposureDecay ( uint32_t d ) [inline]

Set the desired auto-exposure decay rate. Default value: 7

Parameters:

d	The auto-exposure decay rate [0, 20]

Definition at line 631 of file MultiSenseTypes.hh.

void crl::multisense::image::Config::setAutoExposureMax ( uint32_t m ) [inline]

Set the desired maximum auto-exposure value. Default value: 5000000

Parameters:

m	The maximum auto-exposure value in microseconds

Definition at line 623 of file MultiSenseTypes.hh.

void crl::multisense::image::Config::setAutoExposureThresh ( float t ) [inline]

Set the desired auto-exposure threshold. This is the percentage of the image that should be white. Default value: 0.75

Parameters:

t	The desired auto-exposure threshold [0.0, 1.0]

Definition at line 640 of file MultiSenseTypes.hh.

void crl::multisense::image::Config::setAutoWhiteBalance ( bool e ) [inline]

Set the white-balance enable flag. Default value: true

Parameters:

e	A boolean used to enable or disable white-balance

Definition at line 660 of file MultiSenseTypes.hh.

void crl::multisense::image::Config::setAutoWhiteBalanceDecay ( uint32_t d ) [inline]

Set the white-balance decay rate. Default value: 3

Parameters:

d	The white-balance decay rate [0, 20]

Definition at line 668 of file MultiSenseTypes.hh.

void crl::multisense::image::Config::setAutoWhiteBalanceThresh ( float t ) [inline]

Set the white-balance threshold. Default value: 0.5

Parameters:

t	The desired white-balance threshold [0.0, 1.0]

Definition at line 676 of file MultiSenseTypes.hh.

void crl::multisense::image::Config::setCamMode ( int m ) [inline]

Set a desired output mode. Only valid for CMV4000 cameras. 4000 (default) : Set camera to act as a 4MP imager 2000 : Set camera to act as a 2MP imager

Parameters:

m	The new output mask for CMV4000 cameras

Definition at line 551 of file MultiSenseTypes.hh.

void crl::multisense::image::Config::setDisparities ( uint32_t d ) [inline]

For stereo sensors, set the desired number of disparities used to search for matching features between the left and right images when computing the output disparity image. Default value: 128

Parameters:

d	The number of disparities

Definition at line 541 of file MultiSenseTypes.hh.

void crl::multisense::image::Config::setExposure ( uint32_t e ) [inline]

Set the exposure time used to capture images. Note auto exposure must be disabled for this to take effect. Default value: 10000

Parameters:

e	The output exposure time in microseconds [10, 5000000]

Definition at line 607 of file MultiSenseTypes.hh.

void crl::multisense::image::Config::setFps ( float f ) [inline]

Set the desired output frames per second. Default value: 5

Note:: If an external trigger is selected, this value acts as an upper bounds to the framerate.

Parameters:

f	The desired frames per second

Definition at line 590 of file MultiSenseTypes.hh.

void crl::multisense::image::Config::setGain ( float g ) [inline]

Set the desired output image's gain. Default value: 1

Parameters:

g	The output image gain

Definition at line 598 of file MultiSenseTypes.hh.

void crl::multisense::image::Config::setHdr ( bool e ) [inline]

Set the HDR enable flag. This feature is only available in sensor firmware version greater than 3.1. Default value: false. Note enabling HDR will disable image white balance. It may also degrade the stereo performance. It is advised to manually tune exposure and gain settings to achieve desired performance.

Parameters:

e	A boolean used to enable or disable HDR on the camera imagers

Definition at line 700 of file MultiSenseTypes.hh.

void crl::multisense::image::Config::setHeight ( uint32_t h ) [inline]

Set the height of the desired output resolution. Default value: 544

Parameters:

h	The new resolution's height

Definition at line 579 of file MultiSenseTypes.hh.

void crl::multisense::image::Config::setOffset ( int o ) [inline]

Set a desired crop offset between 0 and 960 px. For the CMV2000 mode crop, default is 480 which positions the ROI in the center of the CMV4000's FOV.

Parameters:

o	The offset from the bottom of the imager's FOV.

Definition at line 561 of file MultiSenseTypes.hh.

void crl::multisense::image::Config::setResolution	(	uint32_t	w,
		uint32_t	h
	)		`[inline]`

Set a desired output resolution. Default value: 1024x544

Parameters:

w	The new resolutions width
h	The new resolutions height

Definition at line 529 of file MultiSenseTypes.hh.

void crl::multisense::image::Config::setStereoPostFilterStrength ( float s ) [inline]

Set the desired stereo post-filter strength. This is used to filter low confidence stereo data before it is sent to the host. Larger numbers indicate more aggressive filtering. This feature is only available on sensor firmware versions greater than 3.0. Default value: 0.5

Parameters:

s	The desired stereo post-filter strength [0.0, 1.0]

Definition at line 688 of file MultiSenseTypes.hh.

void crl::multisense::image::Config::setWhiteBalance	(	float	r,
		float	b
	)		`[inline]`

Set the desired image white-balance. Default value: 1.0 for both r and b

Parameters:

r	The input read white-balance value [0.25, 4.0]
b	The input blue white-balance value [0.25, 4.0]

Definition at line 651 of file MultiSenseTypes.hh.

void crl::multisense::image::Config::setWidth ( uint32_t w ) [inline]

Set the width of the desired output resolution. Default value: 1024

Parameters:

w	The new resolution's width

Definition at line 570 of file MultiSenseTypes.hh.

float crl::multisense::image::Config::stereoPostFilterStrength ( ) const [inline]

Query the current image configuration's stereo post-filter strength

Returns:: The current image configuration's stereo post-filter strength

Definition at line 849 of file MultiSenseTypes.hh.

float crl::multisense::image::Config::tx ( ) const [inline]

Query the current camera calibrations stereo baseline. This is the component of the vector in the x dimension which points from the right rectified camera frame to the left rectified camera frame

Returns:: The x component of the current calibrations stereo baseline

Definition at line 919 of file MultiSenseTypes.hh.

float crl::multisense::image::Config::ty ( ) const [inline]

Query the current camera calibrations stereo baseline. This is the component of the vector in the y dimension which points from the right rectified camera frame to the left rectified camera frame. For rectified images this value will be 0.

Returns:: The y component of the current calibrations stereo baseline

Definition at line 930 of file MultiSenseTypes.hh.

float crl::multisense::image::Config::tz ( ) const [inline]

Query the current camera calibrations stereo baseline. This is the component of the vector in the z dimension which points from the right rectified frame center to the left rectified camera frame. For rectified images this value will be 0.

Returns:: The z component of the current calibrations stereo baseline

Definition at line 941 of file MultiSenseTypes.hh.

float crl::multisense::image::Config::whiteBalanceBlue ( ) const [inline]

Query the current image configuration's blue white-balance setting

Returns:: The current image configuration's blue white-balance setting

Definition at line 817 of file MultiSenseTypes.hh.

float crl::multisense::image::Config::whiteBalanceRed ( ) const [inline]

Query the current image configuration's red white-balance setting

Returns:: The current image configuration's red white-balance setting

Definition at line 809 of file MultiSenseTypes.hh.

uint32_t crl::multisense::image::Config::width ( ) const [inline]

Query the current image configuration's width

Returns:: The current image width

Definition at line 711 of file MultiSenseTypes.hh.

float crl::multisense::image::Config::yaw ( ) const [inline]

Query the current camera calibrations yaw value. This is the Euler yaw angle to rotate the right camera frame into the left camera frame. For rectified images this value will be 0.