#include <MultiSenseTypes.hh>
Public Attributes | |
| uint8_t | adc_gain [2] |
| int16_t | bl_offset [2] |
Class to store sensor gains used to perform a DC level adjustment to calibrate the left imager to the right imager. For more information on the specific applications please email support@carnegierobotics.com
Example code to query a devices's imager calibration:
{.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 instance of SensorCalibration to store the device's imager
// calibration
crl::multisense::image::SensorCalibration sensorCalibration;
//
// Query the imager calibration from the Channel instance
crl::multisense::Status status = channel->getSensorCalibration(sensorCalibration));
//
// Check to see if the network configuration query succeeded
if(crl::multisense::Status_Ok != status) {
throw std::runtime_error("Unable to query device's imager calibration");
}
//
// Use the image calibration...
//
// Destroy the channel instance
crl::multisense::Channel::Destroy(channel);
Example code to set a devices imager calibration:
{.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 instance of SensorCalibration to store the device's imager
// calibration
crl::multisense::image::SensorCalibration sensorCalibration;
//
// Query the imager calibration from the Channel instance
crl::multisense::Status status = channel->getSensorCalibration(sensorCalibration));
//
// Modify the imager calibration gains based on the pre-existing default
// values
sensorCalibration.adc_gain[0] += 1;
sensorCalibration.adc_gain[1] += 1;
sensorCalibration.bl_offset[0] += 1;
sensorCalibration.bl_offset[1] += 1;
//
// Send the new imager calibration to the device
crl::multisense::Status status = channel->setSensorCalibration(sensorCalibration));
//
// Check to see if the new network configuration was received
if(crl::multisense::Status_Ok != status) {
throw std::runtime_error("Unable to set the devices's imager calibration");
}
//
// Destroy the channel instance
crl::multisense::Channel::Destroy(channel);
Definition at line 1199 of file MultiSenseTypes.hh.
The CMV2000/CMV4000 ADC gain applied to each pixel value. Index 0 corresponds to the left imager, index 1 corresponds to the right imager
Definition at line 1204 of file MultiSenseTypes.hh.
The imager black level offset for each imager. Index 0 corresponds to the left imager, index 1 corresponds to the right imager
Definition at line 1208 of file MultiSenseTypes.hh.