#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 515 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 977 of file MultiSenseTypes.hh.
| bool crl::multisense::image::Config::autoExposure |
( |
| ) |
const |
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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 |
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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 |
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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 |
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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 | ) |
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|
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 | ) |
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|
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 | ) |
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|
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 | ) |
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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 | ) |
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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
-
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 | ) |
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|
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, |
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|
uint32_t |
h |
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) |
| |
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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 | ) |
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|
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, |
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|
float |
b |
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) |
| |
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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.
- Returns
- the current camera calibrations yaw value
Definition at line 971 of file MultiSenseTypes.hh.
| uint32_t crl::multisense::image::Config::m_aeDecay |
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private |
| bool crl::multisense::image::Config::m_aeEnabled |
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private |
| uint32_t crl::multisense::image::Config::m_aeMax |
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private |
| float crl::multisense::image::Config::m_aeThresh |
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private |
| int crl::multisense::image::Config::m_cam_mode |
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private |
| float crl::multisense::image::Config::m_cx |
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protected |
| float crl::multisense::image::Config::m_cy |
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protected |
| uint32_t crl::multisense::image::Config::m_disparities |
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private |
| uint32_t crl::multisense::image::Config::m_exposure |
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private |
| float crl::multisense::image::Config::m_fps |
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private |
| float crl::multisense::image::Config::m_fx |
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protected |
| float crl::multisense::image::Config::m_fy |
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protected |
| float crl::multisense::image::Config::m_gain |
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private |
| bool crl::multisense::image::Config::m_hdrEnabled |
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private |
| uint32_t crl::multisense::image::Config::m_height |
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private |
| int crl::multisense::image::Config::m_offset |
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private |
| float crl::multisense::image::Config::m_pitch |
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protected |
| float crl::multisense::image::Config::m_roll |
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protected |
| float crl::multisense::image::Config::m_spfStrength |
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private |
| float crl::multisense::image::Config::m_tx |
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protected |
| float crl::multisense::image::Config::m_ty |
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protected |
| float crl::multisense::image::Config::m_tz |
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protected |
| float crl::multisense::image::Config::m_wbBlue |
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private |
| uint32_t crl::multisense::image::Config::m_wbDecay |
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private |
| bool crl::multisense::image::Config::m_wbEnabled |
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private |
| float crl::multisense::image::Config::m_wbRed |
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private |
| float crl::multisense::image::Config::m_wbThresh |
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private |
| uint32_t crl::multisense::image::Config::m_width |
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private |
| float crl::multisense::image::Config::m_yaw |
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protected |
The documentation for this class was generated from the following file: