crl::multisense Namespace Reference

Namespaces
	apriltag
	compressed_image
	details
	ground_surface
	image
	imu
	lidar
	lighting
	pps
	system

Classes
class	Channel
class	HeaderBase
struct	RemoteHeadSyncPair

Typedefs
typedef uint32_t	CameraProfile
typedef uint32_t	DataSource
typedef uint32_t	ImageCompressionCodec
typedef int16_t	RemoteHeadChannel
typedef int32_t	Status
typedef uint32_t	TriggerSource
typedef uint32_t	VersionType

Variables
static CRL_CONSTEXPR CameraProfile	AprilTag = (1U<<5)
static CRL_CONSTEXPR CameraProfile	Detail_Disparity = (1U<<0)
static CRL_CONSTEXPR float	Exposure_Default_Gain = 1.0f
static CRL_CONSTEXPR DataSource	Exposure_Default_Source = Source_Luma_Left
static CRL_CONSTEXPR float	Exposure_Default_Target_Intensity = 0.5f
static CRL_CONSTEXPR CameraProfile	Full_Res_Aux_Cam = (1U<<4)
static CRL_CONSTEXPR CameraProfile	Ground_Surface = (1U<<3)
static CRL_CONSTEXPR ImageCompressionCodec	H264 = 0
static CRL_CONSTEXPR CameraProfile	High_Contrast = (1U<<1)
static CRL_CONSTEXPR RemoteHeadChannel	Remote_Head_0 = 0
static CRL_CONSTEXPR RemoteHeadChannel	Remote_Head_1 = 1
static CRL_CONSTEXPR RemoteHeadChannel	Remote_Head_2 = 2
static CRL_CONSTEXPR RemoteHeadChannel	Remote_Head_3 = 3
static CRL_CONSTEXPR RemoteHeadChannel	Remote_Head_Invalid = SHRT_MAX
static CRL_CONSTEXPR RemoteHeadChannel	Remote_Head_VPB = -1
static CRL_CONSTEXPR int	Roi_Full_Image = 0
static CRL_CONSTEXPR CameraProfile	Show_ROIs = (1U<<2)
static CRL_CONSTEXPR DataSource	Source_All = 0xffffffff
static CRL_CONSTEXPR DataSource	Source_AprilTag_Detections = (1U<<23)
static CRL_CONSTEXPR DataSource	Source_Chroma_Aux = (1U<<30)
static CRL_CONSTEXPR DataSource	Source_Chroma_Left = (1U<<6)
static CRL_CONSTEXPR DataSource	Source_Chroma_Rectified_Aux = (1U<<8)
static CRL_CONSTEXPR DataSource	Source_Chroma_Right = (1U<<7)
static CRL_CONSTEXPR DataSource	Source_Compressed_Aux = (1U<<14)
static CRL_CONSTEXPR DataSource	Source_Compressed_Left = (1U<<9)
static CRL_CONSTEXPR DataSource	Source_Compressed_Rectified_Aux = (1U<<17)
static CRL_CONSTEXPR DataSource	Source_Compressed_Rectified_Left = (1U<<15)
static CRL_CONSTEXPR DataSource	Source_Compressed_Rectified_Right = (1U<<16)
static CRL_CONSTEXPR DataSource	Source_Compressed_Right = (1U<<13)
static CRL_CONSTEXPR DataSource	Source_Disparity = (1U<<10)
static CRL_CONSTEXPR DataSource	Source_Disparity_Aux = (1U<<31)
static CRL_CONSTEXPR DataSource	Source_Disparity_Cost = (1U<<12)
static CRL_CONSTEXPR DataSource	Source_Disparity_Left = (1U<<10)
static CRL_CONSTEXPR DataSource	Source_Disparity_Right = (1U<<11)
static CRL_CONSTEXPR DataSource	Source_Ground_Surface_Class_Image = (1U<<22)
static CRL_CONSTEXPR DataSource	Source_Ground_Surface_Spline_Data = (1U<<20)
static CRL_CONSTEXPR DataSource	Source_Imu = (1U<<25)
static CRL_CONSTEXPR DataSource	Source_Jpeg_Left = (1U<<16)
static CRL_CONSTEXPR DataSource	Source_Lidar_Scan = (1U<<24)
static CRL_CONSTEXPR DataSource	Source_Luma_Aux = (1U<<28)
static CRL_CONSTEXPR DataSource	Source_Luma_Left = (1U<<2)
static CRL_CONSTEXPR DataSource	Source_Luma_Rectified_Aux = (1U<<29)
static CRL_CONSTEXPR DataSource	Source_Luma_Rectified_Left = (1U<<4)
static CRL_CONSTEXPR DataSource	Source_Luma_Rectified_Right = (1U<<5)
static CRL_CONSTEXPR DataSource	Source_Luma_Right = (1U<<3)
static CRL_CONSTEXPR DataSource	Source_Pps = (1U<<26)
static CRL_CONSTEXPR DataSource	Source_Raw_Aux = (1U<<27)
static CRL_CONSTEXPR DataSource	Source_Raw_Left = (1U<<0)
static CRL_CONSTEXPR DataSource	Source_Raw_Right = (1U<<1)
static CRL_CONSTEXPR DataSource	Source_Rgb_Left = (1U<<17)
static CRL_CONSTEXPR DataSource	Source_Unknown = 0
static CRL_CONSTEXPR Status	Status_Error = -2
static CRL_CONSTEXPR Status	Status_Exception = -6
static CRL_CONSTEXPR Status	Status_Failed = -3
static CRL_CONSTEXPR Status	Status_Ok = 0
static CRL_CONSTEXPR Status	Status_TimedOut = -1
static CRL_CONSTEXPR Status	Status_Unknown = -5
static CRL_CONSTEXPR Status	Status_Unsupported = -4
static CRL_CONSTEXPR TriggerSource	Trigger_External = 1
static CRL_CONSTEXPR TriggerSource	Trigger_External_Inverted = 2
static CRL_CONSTEXPR TriggerSource	Trigger_Internal = 0
static CRL_CONSTEXPR TriggerSource	Trigger_PTP = 3
static CRL_CONSTEXPR CameraProfile	User_Control = 0

Typedef Documentation

CameraProfile

typedef uint32_t crl::multisense::CameraProfile

Camera profile typedef representing the various stereo profiles available from newer S27/S30 MultiSense variants. Camera profiles are used to augment and extend the standard set of user accessible camera controls. Multiple camera profiles can be requested at once using the bitwise OR operator.

Definition at line 166 of file MultiSenseTypes.hh.

DataSource

typedef uint32_t crl::multisense::DataSource

Data sources typedef representing the various data sources available from sensors in the MultiSense-S line. Variables of this type are used to query which data sources are supported by a given sensor, and to control the streaming of those datasources from the sensor. DataSource values can be combined using the bitwise OR operator to represent multiple sources.

Definition at line 114 of file MultiSenseTypes.hh.

ImageCompressionCodec

typedef uint32_t crl::multisense::ImageCompressionCodec

Image compression codec typedef indicating the compression scheme which was used on the compressed output streams. Compression is only supported on newer S27/S30 MultiSense variants.

Definition at line 189 of file MultiSenseTypes.hh.

RemoteHeadChannel

typedef int16_t crl::multisense::RemoteHeadChannel

Remote head channel defines which channel is used to communicate to a specific component in the Remote Head system. The possible components are: Remote_Head_VPB The Remote Head Vision Processor Board. Remote_Head_0 The Remote Head Camera located in position 0 Remote_Head_1 The Remote Head Camera located in position 1 Remote_Head_2 The Remote Head Camera located in position 2 Remote_Head_3 The Remote Head Camera located in position 3

Definition at line 204 of file MultiSenseTypes.hh.

Status

typedef int32_t crl::multisense::Status

General status typdef used as a return value for get/set crl::multisense::Channel methods

Definition at line 93 of file MultiSenseTypes.hh.

TriggerSource

typedef uint32_t crl::multisense::TriggerSource

Definition at line 263 of file MultiSenseTypes.hh.

VersionType

typedef uint32_t crl::multisense::VersionType

Sensor version typedef used to store a given version number

Definition at line 87 of file MultiSenseTypes.hh.

Variable Documentation

AprilTag

CRL_CONSTEXPR CameraProfile crl::multisense::AprilTag = (1U<<5)

static

User would like to run apriltag detector on the camera

Definition at line 182 of file MultiSenseTypes.hh.

Detail_Disparity

CRL_CONSTEXPR CameraProfile crl::multisense::Detail_Disparity = (1U<<0)

static

User would like more detail in the disparity image

Definition at line 171 of file MultiSenseTypes.hh.

Exposure_Default_Gain

CRL_CONSTEXPR float crl::multisense::Exposure_Default_Gain = 1.0f

static

Definition at line 158 of file MultiSenseTypes.hh.

Exposure_Default_Source

CRL_CONSTEXPR DataSource crl::multisense::Exposure_Default_Source = Source_Luma_Left

static

Definition at line 156 of file MultiSenseTypes.hh.

Exposure_Default_Target_Intensity

CRL_CONSTEXPR float crl::multisense::Exposure_Default_Target_Intensity = 0.5f

static

Definition at line 157 of file MultiSenseTypes.hh.

Full_Res_Aux_Cam

CRL_CONSTEXPR CameraProfile crl::multisense::Full_Res_Aux_Cam = (1U<<4)

static

User would like full resolution images from the aux camera regardless of the requested resolution of the stereo pair. Warning: This profile will be deprecated in future revisions of the software.

Definition at line 180 of file MultiSenseTypes.hh.

Ground_Surface

CRL_CONSTEXPR CameraProfile crl::multisense::Ground_Surface = (1U<<3)

static

User would like to run spline-based ground surface algorithm on the camera

Definition at line 177 of file MultiSenseTypes.hh.

H264

CRL_CONSTEXPR ImageCompressionCodec crl::multisense::H264 = 0

static

Image data is compressed with the H.264 Codec

Definition at line 192 of file MultiSenseTypes.hh.

High_Contrast

CRL_CONSTEXPR CameraProfile crl::multisense::High_Contrast = (1U<<1)

static

User would like more contrast in images

Definition at line 173 of file MultiSenseTypes.hh.

Remote_Head_0

CRL_CONSTEXPR RemoteHeadChannel crl::multisense::Remote_Head_0 = 0

static

The Remote Head Camera at position 0

Definition at line 208 of file MultiSenseTypes.hh.

Remote_Head_1

CRL_CONSTEXPR RemoteHeadChannel crl::multisense::Remote_Head_1 = 1

static

The Remote Head Camera at position 1

Definition at line 210 of file MultiSenseTypes.hh.

Remote_Head_2

CRL_CONSTEXPR RemoteHeadChannel crl::multisense::Remote_Head_2 = 2

static

The Remote Head Camera at position 2

Definition at line 212 of file MultiSenseTypes.hh.

Remote_Head_3

CRL_CONSTEXPR RemoteHeadChannel crl::multisense::Remote_Head_3 = 3

static

The Remote Head Camera at position 3

Definition at line 214 of file MultiSenseTypes.hh.

Remote_Head_Invalid

CRL_CONSTEXPR RemoteHeadChannel crl::multisense::Remote_Head_Invalid = SHRT_MAX

static

Invalid Remote Head position

Definition at line 216 of file MultiSenseTypes.hh.

Remote_Head_VPB

CRL_CONSTEXPR RemoteHeadChannel crl::multisense::Remote_Head_VPB = -1

static

The Remote Head Vision Processor Board

Definition at line 206 of file MultiSenseTypes.hh.

Roi_Full_Image

CRL_CONSTEXPR int crl::multisense::Roi_Full_Image = 0

static

Use Roi_Full_Image as the height and width when setting the autoExposureRoi to set the ROI to the full image regardless of the current resolution

Definition at line 155 of file MultiSenseTypes.hh.

Show_ROIs

CRL_CONSTEXPR CameraProfile crl::multisense::Show_ROIs = (1U<<2)

static

User would like see the auto exposure Regions of Interest drawn on the image

Definition at line 175 of file MultiSenseTypes.hh.

Source_All

CRL_CONSTEXPR DataSource crl::multisense::Source_All = 0xffffffff

static

Definition at line 117 of file MultiSenseTypes.hh.

Source_AprilTag_Detections

CRL_CONSTEXPR DataSource crl::multisense::Source_AprilTag_Detections = (1U<<23)

static

Definition at line 135 of file MultiSenseTypes.hh.

Source_Chroma_Aux

CRL_CONSTEXPR DataSource crl::multisense::Source_Chroma_Aux = (1U<<30)

static

Definition at line 142 of file MultiSenseTypes.hh.

Source_Chroma_Left

CRL_CONSTEXPR DataSource crl::multisense::Source_Chroma_Left = (1U<<6)

static

Definition at line 124 of file MultiSenseTypes.hh.

Source_Chroma_Rectified_Aux

CRL_CONSTEXPR DataSource crl::multisense::Source_Chroma_Rectified_Aux = (1U<<8)

static

Definition at line 126 of file MultiSenseTypes.hh.

Source_Chroma_Right

CRL_CONSTEXPR DataSource crl::multisense::Source_Chroma_Right = (1U<<7)

static

Definition at line 125 of file MultiSenseTypes.hh.

Source_Compressed_Aux

CRL_CONSTEXPR DataSource crl::multisense::Source_Compressed_Aux = (1U<<14)

static

Definition at line 146 of file MultiSenseTypes.hh.

Source_Compressed_Left

CRL_CONSTEXPR DataSource crl::multisense::Source_Compressed_Left = (1U<<9)

static

Definition at line 144 of file MultiSenseTypes.hh.

Source_Compressed_Rectified_Aux

CRL_CONSTEXPR DataSource crl::multisense::Source_Compressed_Rectified_Aux = (1U<<17)

static

Definition at line 149 of file MultiSenseTypes.hh.

Source_Compressed_Rectified_Left

CRL_CONSTEXPR DataSource crl::multisense::Source_Compressed_Rectified_Left = (1U<<15)

static

Definition at line 147 of file MultiSenseTypes.hh.

Source_Compressed_Rectified_Right

CRL_CONSTEXPR DataSource crl::multisense::Source_Compressed_Rectified_Right = (1U<<16)

static

Definition at line 148 of file MultiSenseTypes.hh.

Source_Compressed_Right

CRL_CONSTEXPR DataSource crl::multisense::Source_Compressed_Right = (1U<<13)

static

Definition at line 145 of file MultiSenseTypes.hh.

Source_Disparity

CRL_CONSTEXPR DataSource crl::multisense::Source_Disparity = (1U<<10)

static

Definition at line 127 of file MultiSenseTypes.hh.

Source_Disparity_Aux

CRL_CONSTEXPR DataSource crl::multisense::Source_Disparity_Aux = (1U<<31)

static

Definition at line 143 of file MultiSenseTypes.hh.

Source_Disparity_Cost

CRL_CONSTEXPR DataSource crl::multisense::Source_Disparity_Cost = (1U<<12)

static

Definition at line 130 of file MultiSenseTypes.hh.

Source_Disparity_Left

CRL_CONSTEXPR DataSource crl::multisense::Source_Disparity_Left = (1U<<10)

static

Definition at line 128 of file MultiSenseTypes.hh.

Source_Disparity_Right

CRL_CONSTEXPR DataSource crl::multisense::Source_Disparity_Right = (1U<<11)

static

Definition at line 129 of file MultiSenseTypes.hh.

Source_Ground_Surface_Class_Image

CRL_CONSTEXPR DataSource crl::multisense::Source_Ground_Surface_Class_Image = (1U<<22)

static

Definition at line 134 of file MultiSenseTypes.hh.

Source_Ground_Surface_Spline_Data

CRL_CONSTEXPR DataSource crl::multisense::Source_Ground_Surface_Spline_Data = (1U<<20)

static

Definition at line 133 of file MultiSenseTypes.hh.

Source_Imu

CRL_CONSTEXPR DataSource crl::multisense::Source_Imu = (1U<<25)

static

Definition at line 137 of file MultiSenseTypes.hh.

Source_Jpeg_Left

CRL_CONSTEXPR DataSource crl::multisense::Source_Jpeg_Left = (1U<<16)

static

Definition at line 131 of file MultiSenseTypes.hh.

Source_Lidar_Scan

CRL_CONSTEXPR DataSource crl::multisense::Source_Lidar_Scan = (1U<<24)

static

Definition at line 136 of file MultiSenseTypes.hh.

Source_Luma_Aux

CRL_CONSTEXPR DataSource crl::multisense::Source_Luma_Aux = (1U<<28)

static

Definition at line 140 of file MultiSenseTypes.hh.

Source_Luma_Left

CRL_CONSTEXPR DataSource crl::multisense::Source_Luma_Left = (1U<<2)

static

Definition at line 120 of file MultiSenseTypes.hh.

Source_Luma_Rectified_Aux

CRL_CONSTEXPR DataSource crl::multisense::Source_Luma_Rectified_Aux = (1U<<29)

static

Definition at line 141 of file MultiSenseTypes.hh.

Source_Luma_Rectified_Left

CRL_CONSTEXPR DataSource crl::multisense::Source_Luma_Rectified_Left = (1U<<4)

static

Definition at line 122 of file MultiSenseTypes.hh.

Source_Luma_Rectified_Right

CRL_CONSTEXPR DataSource crl::multisense::Source_Luma_Rectified_Right = (1U<<5)

static

Definition at line 123 of file MultiSenseTypes.hh.

Source_Luma_Right

CRL_CONSTEXPR DataSource crl::multisense::Source_Luma_Right = (1U<<3)

static

Definition at line 121 of file MultiSenseTypes.hh.

Source_Pps

CRL_CONSTEXPR DataSource crl::multisense::Source_Pps = (1U<<26)

static

Definition at line 138 of file MultiSenseTypes.hh.

Source_Raw_Aux

CRL_CONSTEXPR DataSource crl::multisense::Source_Raw_Aux = (1U<<27)

static

Definition at line 139 of file MultiSenseTypes.hh.

Source_Raw_Left

CRL_CONSTEXPR DataSource crl::multisense::Source_Raw_Left = (1U<<0)

static

Definition at line 118 of file MultiSenseTypes.hh.

Source_Raw_Right

CRL_CONSTEXPR DataSource crl::multisense::Source_Raw_Right = (1U<<1)

static

Definition at line 119 of file MultiSenseTypes.hh.

Source_Rgb_Left

CRL_CONSTEXPR DataSource crl::multisense::Source_Rgb_Left = (1U<<17)

static

Definition at line 132 of file MultiSenseTypes.hh.

Source_Unknown

CRL_CONSTEXPR DataSource crl::multisense::Source_Unknown = 0

static

Definition at line 116 of file MultiSenseTypes.hh.

Status_Error

CRL_CONSTEXPR Status crl::multisense::Status_Error = -2

static

Definition at line 100 of file MultiSenseTypes.hh.

Status_Exception

CRL_CONSTEXPR Status crl::multisense::Status_Exception = -6

static

Definition at line 104 of file MultiSenseTypes.hh.

Status_Failed

CRL_CONSTEXPR Status crl::multisense::Status_Failed = -3

static

Definition at line 101 of file MultiSenseTypes.hh.

Status_Ok

CRL_CONSTEXPR Status crl::multisense::Status_Ok = 0

static

Definition at line 98 of file MultiSenseTypes.hh.

Status_TimedOut

CRL_CONSTEXPR Status crl::multisense::Status_TimedOut = -1

static

Definition at line 99 of file MultiSenseTypes.hh.

Status_Unknown

CRL_CONSTEXPR Status crl::multisense::Status_Unknown = -5

static

Definition at line 103 of file MultiSenseTypes.hh.

Status_Unsupported

CRL_CONSTEXPR Status crl::multisense::Status_Unsupported = -4

static

Definition at line 102 of file MultiSenseTypes.hh.

Trigger_External

CRL_CONSTEXPR TriggerSource crl::multisense::Trigger_External = 1

static

External OPTO_RX trigger input

Definition at line 268 of file MultiSenseTypes.hh.

Trigger_External_Inverted

CRL_CONSTEXPR TriggerSource crl::multisense::Trigger_External_Inverted = 2

static

External OPTO_RX trigger input with Inverted Polarity

Definition at line 270 of file MultiSenseTypes.hh.

Trigger_Internal

CRL_CONSTEXPR TriggerSource crl::multisense::Trigger_Internal = 0

static

Default internal trigger source. Corresponds to image::config.setFps()

Definition at line 266 of file MultiSenseTypes.hh.

Trigger_PTP

CRL_CONSTEXPR TriggerSource crl::multisense::Trigger_PTP = 3

static

Syncronize cameras on integer timestamps when using PTP

Definition at line 272 of file MultiSenseTypes.hh.

User_Control

CRL_CONSTEXPR CameraProfile crl::multisense::User_Control = 0

static

User has direct control over all settings in the image configuration

Definition at line 169 of file MultiSenseTypes.hh.