#include <MultiSenseTypes.hh>
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:
throw std::runtime_error("Unable to query image configuration");
}
Example code to set an image configurations:
throw std::runtime_error("Unable to query image configuration");
}
throw std::runtime_error("Unable to set image configuration");
}
Definition at line 540 of file MultiSenseTypes.hh.
| crl::multisense::image::Config::Config |
( |
| ) |
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inline |
Default constructor for a image configuration. Initializes all image configuration members to their default values
Definition at line 1089 of file MultiSenseTypes.hh.
| 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 845 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 861 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 853 of file MultiSenseTypes.hh.
| uint16_t crl::multisense::image::Config::autoExposureRoiHeight |
( |
| ) |
const |
|
inline |
Query the current image configuration's auto-exposure ROI height value Will return crl::multisense::Roi_Full_Image for the default setting, when the ROI covers the entire image regardless of current resolution
- Returns
- The current image configuration's auto-exposure ROI height value
Definition at line 963 of file MultiSenseTypes.hh.
| uint16_t crl::multisense::image::Config::autoExposureRoiWidth |
( |
| ) |
const |
|
inline |
Query the current image configuration's auto-exposure ROI width value Will return crl::multisense::Roi_Full_Image for the default setting, when the ROI covers the entire image regardless of current resolution
- Returns
- The current image configuration's auto-exposure ROI width value
Definition at line 954 of file MultiSenseTypes.hh.
| uint16_t crl::multisense::image::Config::autoExposureRoiX |
( |
| ) |
const |
|
inline |
Query the current image configuration's auto-exposure ROI X value
- Returns
- The current image configuration's auto-exposure ROI X value
Definition at line 938 of file MultiSenseTypes.hh.
| uint16_t crl::multisense::image::Config::autoExposureRoiY |
( |
| ) |
const |
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inline |
Query the current image configuration's auto-exposure ROI Y value
- Returns
- The current image configuration's auto-exposure ROI Y value
Definition at line 945 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 869 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 893 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 901 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 909 of file MultiSenseTypes.hh.
| CameraProfile crl::multisense::image::Config::cameraProfile |
( |
| ) |
const |
|
inline |
Query the current image configurations camera profile
- Returns
- The current image configurations camera profile
Definition at line 970 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 804 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 1009 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 1021 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 796 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 837 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 820 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 986 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 997 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 828 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 924 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 787 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 812 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 1073 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 1063 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 640 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 656 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 648 of file MultiSenseTypes.hh.
| void crl::multisense::image::Config::setAutoExposureRoi |
( |
uint16_t |
start_x, |
|
|
uint16_t |
start_y, |
|
|
uint16_t |
width, |
|
|
uint16_t |
height |
|
) |
| |
|
inline |
Set the desired ROI to use when computing the auto-exposure. x axis is horizontal and y axis is vertical. (0,0) coordinate starts in the upper left corner of the image. If (x + w > image width) or (y + h > image height) the sensor will return an error Setting to default:(0,0,crl::multisense::Roi_Full_Image,crl::multisense::Roi_Full_Image) will use the entire image for the ROI regardless of the current resolution This feature is only available in sensor firmware version 4.3 and greater
- Parameters
-
| start_x | The X coordinate where the ROI starts |
| start_y | The Y coordinate where the ROI starts |
| width | The width of the ROI |
| height | The height of the ROI |
Definition at line 753 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 665 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 685 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 693 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 701 of file MultiSenseTypes.hh.
| void crl::multisense::image::Config::setCameraProfile |
( |
const CameraProfile & |
profile | ) |
|
|
inline |
Set the operation profile for the camera to use. Profile settings subsume other user settings.
- Parameters
-
| profile | The operation profile to use on the camera |
Definition at line 766 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 576 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 566 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 632 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 615 of file MultiSenseTypes.hh.
| void crl::multisense::image::Config::setGain |
( |
float |
g | ) |
|
|
inline |
Set the desired output image's gain. Default value: 1
- Parameters
-
Definition at line 623 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 725 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 604 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 586 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 554 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 713 of file MultiSenseTypes.hh.
| void crl::multisense::image::Config::setStoreSettingsInFlash |
( |
bool |
e | ) |
|
|
inline |
Set the flag to write the image configuration to flash. This will result in the camera defaulting to these settings on boot. NOTE: This should be enabled sparingly. The MultiSense flash has a limited number of writes
- Parameters
-
| e | A boolean used to enable or disable writing the camera configuration to flash |
Definition at line 736 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 676 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 595 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 917 of file MultiSenseTypes.hh.
| bool crl::multisense::image::Config::storeSettingsInFlash |
( |
| ) |
const |
|
inline |
Query the current image configuration's flag to write parameters to flash
- Returns
- The current image configuration's write to flash flag
Definition at line 931 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 1031 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 1042 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 1053 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 885 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 877 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 779 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.
- Returns
- the current camera calibrations yaw value
Definition at line 1083 of file MultiSenseTypes.hh.
| uint32_t crl::multisense::image::Config::m_aeDecay |
|
private |
| bool crl::multisense::image::Config::m_aeEnabled |
|
private |
| uint32_t crl::multisense::image::Config::m_aeMax |
|
private |
| float crl::multisense::image::Config::m_aeThresh |
|
private |
| uint16_t crl::multisense::image::Config::m_autoExposureRoiHeight |
|
private |
| uint16_t crl::multisense::image::Config::m_autoExposureRoiWidth |
|
private |
| uint16_t crl::multisense::image::Config::m_autoExposureRoiX |
|
private |
| uint16_t crl::multisense::image::Config::m_autoExposureRoiY |
|
private |
| int crl::multisense::image::Config::m_cam_mode |
|
private |
| float crl::multisense::image::Config::m_cx |
|
protected |
| float crl::multisense::image::Config::m_cy |
|
protected |
| uint32_t crl::multisense::image::Config::m_disparities |
|
private |
| uint32_t crl::multisense::image::Config::m_exposure |
|
private |
| float crl::multisense::image::Config::m_fps |
|
private |
| float crl::multisense::image::Config::m_fx |
|
protected |
| float crl::multisense::image::Config::m_fy |
|
protected |
| float crl::multisense::image::Config::m_gain |
|
private |
| bool crl::multisense::image::Config::m_hdrEnabled |
|
private |
| uint32_t crl::multisense::image::Config::m_height |
|
private |
| int crl::multisense::image::Config::m_offset |
|
private |
| float crl::multisense::image::Config::m_pitch |
|
protected |
| float crl::multisense::image::Config::m_roll |
|
protected |
| float crl::multisense::image::Config::m_spfStrength |
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private |
| bool crl::multisense::image::Config::m_storeSettingsInFlash |
|
private |
| float crl::multisense::image::Config::m_tx |
|
protected |
| float crl::multisense::image::Config::m_ty |
|
protected |
| float crl::multisense::image::Config::m_tz |
|
protected |
| float crl::multisense::image::Config::m_wbBlue |
|
private |
| uint32_t crl::multisense::image::Config::m_wbDecay |
|
private |
| bool crl::multisense::image::Config::m_wbEnabled |
|
private |
| float crl::multisense::image::Config::m_wbRed |
|
private |
| float crl::multisense::image::Config::m_wbThresh |
|
private |
| uint32_t crl::multisense::image::Config::m_width |
|
private |
| float crl::multisense::image::Config::m_yaw |
|
protected |
The documentation for this class was generated from the following file: