Public Member Functions | Protected Attributes | Private Attributes | List of all members
crl::multisense::image::AuxConfig Class Reference

#include <MultiSenseTypes.hh>

Public Member Functions

bool autoExposure () const
 
uint32_t autoExposureDecay () const
 
uint32_t autoExposureMax () const
 
uint16_t autoExposureRoiHeight () const
 
uint16_t autoExposureRoiWidth () const
 
uint16_t autoExposureRoiX () const
 
uint16_t autoExposureRoiY () const
 
float autoExposureTargetIntensity () const
 
float autoExposureThresh () const
 
bool autoWhiteBalance () const
 
uint32_t autoWhiteBalanceDecay () const
 
float autoWhiteBalanceThresh () const
 
 AuxConfig ()
 
CameraProfile cameraProfile () const
 
float cx () const
 
float cy () const
 
void enableSharpening (const bool &s)
 
bool enableSharpening () const
 
uint32_t exposure () const
 
float fx () const
 
float fy () const
 
float gain () const
 
float gamma () const
 
bool hdrEnabled () const
 
void setAutoExposure (bool e)
 
void setAutoExposureDecay (uint32_t d)
 
void setAutoExposureMax (uint32_t m)
 
void setAutoExposureRoi (uint16_t start_x, uint16_t start_y, uint16_t width, uint16_t height)
 
void setAutoExposureTargetIntensity (float d)
 
void setAutoExposureThresh (float t)
 
void setAutoWhiteBalance (bool e)
 
void setAutoWhiteBalanceDecay (uint32_t d)
 
void setAutoWhiteBalanceThresh (float t)
 
void setCameraProfile (const CameraProfile &profile)
 
void setExposure (uint32_t e)
 
void setGain (float g)
 
void setGamma (const float g)
 
void setHdr (bool e)
 
void setSharpeningLimit (const uint8_t &s)
 
void setSharpeningPercentage (const float &s)
 
void setWhiteBalance (float r, float b)
 
uint8_t sharpeningLimit () const
 
float sharpeningPercentage () const
 
float whiteBalanceBlue () const
 
float whiteBalanceRed () const
 

Protected Attributes

float m_cx
 
float m_cy
 
float m_fx
 
float m_fy
 

Private Attributes

ExposureConfig m_exposure
 
float m_gain
 
float m_gamma
 
bool m_hdrEnabled
 
CameraProfile m_profile
 
bool m_sharpeningEnable
 
uint8_t m_sharpeningLimit
 
float m_sharpeningPercentage
 
float m_wbBlue
 
uint32_t m_wbDecay
 
bool m_wbEnabled
 
float m_wbRed
 
float m_wbThresh
 

Detailed Description

Definition at line 1348 of file MultiSenseTypes.hh.

Constructor & Destructor Documentation

◆ AuxConfig()

crl::multisense::image::AuxConfig::AuxConfig ( )
inline

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

Definition at line 1756 of file MultiSenseTypes.hh.

Member Function Documentation

◆ autoExposure()

bool crl::multisense::image::AuxConfig::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 1603 of file MultiSenseTypes.hh.

◆ autoExposureDecay()

uint32_t crl::multisense::image::AuxConfig::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 1619 of file MultiSenseTypes.hh.

◆ autoExposureMax()

uint32_t crl::multisense::image::AuxConfig::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 1611 of file MultiSenseTypes.hh.

◆ autoExposureRoiHeight()

uint16_t crl::multisense::image::AuxConfig::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 1714 of file MultiSenseTypes.hh.

◆ autoExposureRoiWidth()

uint16_t crl::multisense::image::AuxConfig::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 1705 of file MultiSenseTypes.hh.

◆ autoExposureRoiX()

uint16_t crl::multisense::image::AuxConfig::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 1689 of file MultiSenseTypes.hh.

◆ autoExposureRoiY()

uint16_t crl::multisense::image::AuxConfig::autoExposureRoiY ( ) const
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 1696 of file MultiSenseTypes.hh.

◆ autoExposureTargetIntensity()

float crl::multisense::image::AuxConfig::autoExposureTargetIntensity ( ) const
inline

Query the current image configuration's auto-exposure target intensity

Returns
The current image configuration's auto-exposure target intensity

Definition at line 1627 of file MultiSenseTypes.hh.

◆ autoExposureThresh()

float crl::multisense::image::AuxConfig::autoExposureThresh ( ) const
inline

Query the current image configuration's auto-exposure threshold

Returns
The current image configuration's auto-exposure threshold

Definition at line 1635 of file MultiSenseTypes.hh.

◆ autoWhiteBalance()

bool crl::multisense::image::AuxConfig::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 1659 of file MultiSenseTypes.hh.

◆ autoWhiteBalanceDecay()

uint32_t crl::multisense::image::AuxConfig::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 1667 of file MultiSenseTypes.hh.

◆ autoWhiteBalanceThresh()

float crl::multisense::image::AuxConfig::autoWhiteBalanceThresh ( ) const
inline

Query the current image configuration's white-balance threshold

Returns
The current image configuration's white-balance threshold

Definition at line 1675 of file MultiSenseTypes.hh.

◆ cameraProfile()

CameraProfile crl::multisense::image::AuxConfig::cameraProfile ( ) const
inline

Query the current image configurations camera profile

Returns
The current image configurations camera profile

Definition at line 1721 of file MultiSenseTypes.hh.

◆ cx()

float crl::multisense::image::AuxConfig::cx ( ) const
inline

Query the current aux camera calibration aux rectified image center in the x dimension

Note this value is scaled based on the current image resolution

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

Definition at line 1568 of file MultiSenseTypes.hh.

◆ cy()

float crl::multisense::image::AuxConfig::cy ( ) const
inline

Query the current aux camera calibration aux rectified image center in the y dimension

Note this value is scaled based on the current image resolution

Returns
The current aux camera calibration rectified image center in the y dimension

Definition at line 1580 of file MultiSenseTypes.hh.

◆ enableSharpening() [1/2]

void crl::multisense::image::AuxConfig::enableSharpening ( const bool &  s)
inline

Enable sharpening for the aux luma channel.

Parameters
sSet to the value of true to enable or false to disable aux luma sharpening.

Definition at line 1508 of file MultiSenseTypes.hh.

◆ enableSharpening() [2/2]

bool crl::multisense::image::AuxConfig::enableSharpening ( ) const
inline

Query whether sharpening is enabled or not on the aux camera.

Returns
Return true if sharpening is enabled, false if sharpening is disabled.

Definition at line 1736 of file MultiSenseTypes.hh.

◆ exposure()

uint32_t crl::multisense::image::AuxConfig::exposure ( ) const
inline

Query the current image configuration's exposure setting

Returns
the current image exposure setting in microseconds

Definition at line 1595 of file MultiSenseTypes.hh.

◆ fx()

float crl::multisense::image::AuxConfig::fx ( ) const
inline

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

Note this value is scaled based on the current image resolution

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

Definition at line 1545 of file MultiSenseTypes.hh.

◆ fy()

float crl::multisense::image::AuxConfig::fy ( ) const
inline

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

Note this value is scaled based on the current image resolution

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

Definition at line 1556 of file MultiSenseTypes.hh.

◆ gain()

float crl::multisense::image::AuxConfig::gain ( ) const
inline

Query the current image configuration's gain setting

Returns
The current image gain setting

Definition at line 1587 of file MultiSenseTypes.hh.

◆ gamma()

float crl::multisense::image::AuxConfig::gamma ( ) const
inline

Query the gamma correction factor. Gamma correction factor will be applied to all images.

Returns
Return the gamma factor applied to images

Definition at line 1729 of file MultiSenseTypes.hh.

◆ hdrEnabled()

bool crl::multisense::image::AuxConfig::hdrEnabled ( ) const
inline

Query the current image configuration's HDR enable flag

Returns
The current image configuration's HDR enable flag

Definition at line 1682 of file MultiSenseTypes.hh.

◆ setAutoExposure()

void crl::multisense::image::AuxConfig::setAutoExposure ( bool  e)
inline

Set auto-exposure enable flag. Default value: true

Parameters
eA boolean used to enable or disable auto-exposure

Definition at line 1378 of file MultiSenseTypes.hh.

◆ setAutoExposureDecay()

void crl::multisense::image::AuxConfig::setAutoExposureDecay ( uint32_t  d)
inline

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

Parameters
dThe auto-exposure decay rate [0, 20]

Definition at line 1394 of file MultiSenseTypes.hh.

◆ setAutoExposureMax()

void crl::multisense::image::AuxConfig::setAutoExposureMax ( uint32_t  m)
inline

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

Parameters
mThe maximum auto-exposure value in microseconds

Definition at line 1386 of file MultiSenseTypes.hh.

◆ setAutoExposureRoi()

void crl::multisense::image::AuxConfig::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_xThe X coordinate where the ROI starts
start_yThe Y coordinate where the ROI starts
widthThe width of the ROI
heightThe height of the ROI

Definition at line 1476 of file MultiSenseTypes.hh.

◆ setAutoExposureTargetIntensity()

void crl::multisense::image::AuxConfig::setAutoExposureTargetIntensity ( float  d)
inline

Set the desired auto-exposure target Intensity. Default value: 0.95

Parameters
dThe auto-exposure target intensity [0.0, 1.0]

Definition at line 1402 of file MultiSenseTypes.hh.

◆ setAutoExposureThresh()

void crl::multisense::image::AuxConfig::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
tThe desired auto-exposure threshold [0.0, 1.0]

Definition at line 1411 of file MultiSenseTypes.hh.

◆ setAutoWhiteBalance()

void crl::multisense::image::AuxConfig::setAutoWhiteBalance ( bool  e)
inline

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

Parameters
eA boolean used to enable or disable white-balance

Definition at line 1431 of file MultiSenseTypes.hh.

◆ setAutoWhiteBalanceDecay()

void crl::multisense::image::AuxConfig::setAutoWhiteBalanceDecay ( uint32_t  d)
inline

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

Parameters
dThe white-balance decay rate [0, 20]

Definition at line 1439 of file MultiSenseTypes.hh.

◆ setAutoWhiteBalanceThresh()

void crl::multisense::image::AuxConfig::setAutoWhiteBalanceThresh ( float  t)
inline

Set the white-balance threshold. Default value: 0.5

Parameters
tThe desired white-balance threshold [0.0, 1.0]

Definition at line 1447 of file MultiSenseTypes.hh.

◆ setCameraProfile()

void crl::multisense::image::AuxConfig::setCameraProfile ( const CameraProfile &  profile)
inline

Set the operation profile for the camera to use. Profile settings subsume other user settings.

Parameters
profileThe operation profile to use on the camera

Definition at line 1486 of file MultiSenseTypes.hh.

◆ setExposure()

void crl::multisense::image::AuxConfig::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
eThe output exposure time in microseconds [10, 5000000]

Definition at line 1370 of file MultiSenseTypes.hh.

◆ setGain()

void crl::multisense::image::AuxConfig::setGain ( float  g)
inline

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

Parameters
gThe output image gain

Definition at line 1361 of file MultiSenseTypes.hh.

◆ setGamma()

void crl::multisense::image::AuxConfig::setGamma ( const float  g)
inline

Set the gamma correction factor.

Gamma is a nonlinear operation used to encode and decode luminance. Typical values for gamma range between 1 and 2.2.

Parameters
gthe gamma constant applied to the camera sources

Definition at line 1499 of file MultiSenseTypes.hh.

◆ setHdr()

void crl::multisense::image::AuxConfig::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
eA boolean used to enable or disable HDR on the camera imagers

Definition at line 1459 of file MultiSenseTypes.hh.

◆ setSharpeningLimit()

void crl::multisense::image::AuxConfig::setSharpeningLimit ( const uint8_t &  s)
inline

Set the sharpening limit. The maximum difference in pixels that sharpening is is allowed to change between neighboring pixels. This is useful for clamping the sharpening percentage, while still maintaining a large gain.

Parameters
sThe percentage of sharpening to apply. In the range of 0 - 100

Definition at line 1526 of file MultiSenseTypes.hh.

◆ setSharpeningPercentage()

void crl::multisense::image::AuxConfig::setSharpeningPercentage ( const float &  s)
inline

Set the sharpening percentage for the aux luma channel.

Parameters
sThe percentage of sharpening to apply. In the range of 0 - 100

Definition at line 1516 of file MultiSenseTypes.hh.

◆ setWhiteBalance()

void crl::multisense::image::AuxConfig::setWhiteBalance ( float  r,
float  b 
)
inline

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

Parameters
rThe input read white-balance value [0.25, 4.0]
bThe input blue white-balance value [0.25, 4.0]

Definition at line 1422 of file MultiSenseTypes.hh.

◆ sharpeningLimit()

uint8_t crl::multisense::image::AuxConfig::sharpeningLimit ( ) const
inline

Query the limit of sharpening applied to the aux luma image.

Returns
A value within the range of 0 - 255 in

Definition at line 1750 of file MultiSenseTypes.hh.

◆ sharpeningPercentage()

float crl::multisense::image::AuxConfig::sharpeningPercentage ( ) const
inline

Query the percentage of sharpening applied to the aux luma image.

Returns
A value within the range of 0 - 100

Definition at line 1743 of file MultiSenseTypes.hh.

◆ whiteBalanceBlue()

float crl::multisense::image::AuxConfig::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 1651 of file MultiSenseTypes.hh.

◆ whiteBalanceRed()

float crl::multisense::image::AuxConfig::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 1643 of file MultiSenseTypes.hh.

Member Data Documentation

◆ m_cx

float crl::multisense::image::AuxConfig::m_cx
protected

Definition at line 1782 of file MultiSenseTypes.hh.

◆ m_cy

float crl::multisense::image::AuxConfig::m_cy
protected

Definition at line 1782 of file MultiSenseTypes.hh.

◆ m_exposure

ExposureConfig crl::multisense::image::AuxConfig::m_exposure
private

Definition at line 1767 of file MultiSenseTypes.hh.

◆ m_fx

float crl::multisense::image::AuxConfig::m_fx
protected

Definition at line 1782 of file MultiSenseTypes.hh.

◆ m_fy

float crl::multisense::image::AuxConfig::m_fy
protected

Definition at line 1782 of file MultiSenseTypes.hh.

◆ m_gain

float crl::multisense::image::AuxConfig::m_gain
private

Definition at line 1763 of file MultiSenseTypes.hh.

◆ m_gamma

float crl::multisense::image::AuxConfig::m_gamma
private

Definition at line 1775 of file MultiSenseTypes.hh.

◆ m_hdrEnabled

bool crl::multisense::image::AuxConfig::m_hdrEnabled
private

Definition at line 1773 of file MultiSenseTypes.hh.

◆ m_profile

CameraProfile crl::multisense::image::AuxConfig::m_profile
private

Definition at line 1774 of file MultiSenseTypes.hh.

◆ m_sharpeningEnable

bool crl::multisense::image::AuxConfig::m_sharpeningEnable
private

Definition at line 1776 of file MultiSenseTypes.hh.

◆ m_sharpeningLimit

uint8_t crl::multisense::image::AuxConfig::m_sharpeningLimit
private

Definition at line 1778 of file MultiSenseTypes.hh.

◆ m_sharpeningPercentage

float crl::multisense::image::AuxConfig::m_sharpeningPercentage
private

Definition at line 1777 of file MultiSenseTypes.hh.

◆ m_wbBlue

float crl::multisense::image::AuxConfig::m_wbBlue
private

Definition at line 1768 of file MultiSenseTypes.hh.

◆ m_wbDecay

uint32_t crl::multisense::image::AuxConfig::m_wbDecay
private

Definition at line 1771 of file MultiSenseTypes.hh.

◆ m_wbEnabled

bool crl::multisense::image::AuxConfig::m_wbEnabled
private

Definition at line 1770 of file MultiSenseTypes.hh.

◆ m_wbRed

float crl::multisense::image::AuxConfig::m_wbRed
private

Definition at line 1769 of file MultiSenseTypes.hh.

◆ m_wbThresh

float crl::multisense::image::AuxConfig::m_wbThresh
private

Definition at line 1772 of file MultiSenseTypes.hh.

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

multisense_lib
Author(s):
autogenerated on Sat Jun 24 2023 03:01:21