crl::multisense::image::SensorCalibration Class Reference

#include <MultiSenseTypes.hh>

List of all members.

Public Attributes
uint8_t	adc_gain [2]
int16_t	bl_offset [2]

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Detailed Description

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.

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Member Data Documentation

uint8_t crl::multisense::image::SensorCalibration::adc_gain[2]

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.

int16_t crl::multisense::image::SensorCalibration::bl_offset[2]

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.

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

• MultiSenseTypes.hh