Public Member Functions | Protected Attributes | Private Attributes
crl::multisense::image::Config Class Reference

#include <MultiSenseTypes.hh>

List of all members.

Public Member Functions

bool autoExposure () const
uint32_t autoExposureDecay () const
uint32_t autoExposureMax () const
float autoExposureThresh () const
bool autoWhiteBalance () const
uint32_t autoWhiteBalanceDecay () const
float autoWhiteBalanceThresh () const
int camMode () const
 Config ()
float cx () const
float cy () const
uint32_t disparities () const
uint32_t exposure () const
float fps () const
float fx () const
float fy () const
float gain () const
bool hdrEnabled () const
uint32_t height () const
int offset () const
float pitch () const
float roll () const
void setAutoExposure (bool e)
void setAutoExposureDecay (uint32_t d)
void setAutoExposureMax (uint32_t m)
void setAutoExposureThresh (float t)
void setAutoWhiteBalance (bool e)
void setAutoWhiteBalanceDecay (uint32_t d)
void setAutoWhiteBalanceThresh (float t)
void setCamMode (int m)
void setDisparities (uint32_t d)
void setExposure (uint32_t e)
void setFps (float f)
void setGain (float g)
void setHdr (bool e)
void setHeight (uint32_t h)
void setOffset (int o)
void setResolution (uint32_t w, uint32_t h)
void setStereoPostFilterStrength (float s)
void setWhiteBalance (float r, float b)
void setWidth (uint32_t w)
float stereoPostFilterStrength () const
float tx () const
float ty () const
float tz () const
float whiteBalanceBlue () const
float whiteBalanceRed () const
uint32_t width () const
float yaw () const

Protected Attributes

float m_cx
float m_cy
float m_fx
float m_fy
float m_pitch
float m_roll
float m_tx
float m_ty
float m_tz
float m_yaw

Private Attributes

uint32_t m_aeDecay
bool m_aeEnabled
uint32_t m_aeMax
float m_aeThresh
int m_cam_mode
uint32_t m_disparities
uint32_t m_exposure
float m_fps
float m_gain
bool m_hdrEnabled
uint32_t m_height
int m_offset
float m_spfStrength
float m_wbBlue
uint32_t m_wbDecay
bool m_wbEnabled
float m_wbRed
float m_wbThresh
uint32_t m_width

Detailed Description

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:

 {.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 imageConfig instance to store the queried configuration
     crl::multisense::image::Config imageConfig;

     //
     // Query the image configuration from the Channel instance
     crl::multisense::Status status = channel->getImageConfig(imageConfig);

     //
     // Check to see if the configuration query succeeded
     if(crl::multisense::Status_Ok != status) {
          throw std::runtime_error("Unable to query image configuration");
     }

     //
     // Use the image configuration...

     //
     // Destroy the channel instance
     crl::multisense::Channel::Destroy(channel);

Example code to set an image configurations:

 {.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 imageConfig instance to store the queried configuration
     crl::multisense::image::Config imageConfig;

     crl::multisense::Status status;

     //
     // Query the image configuration from the Channel instance
     status  = channel->getImageConfig(imageConfig);

     //
     // Check to see if the configuration query succeeded
     if(crl::multisense::Status_Ok != status) {
          throw std::runtime_error("Unable to query image configuration");
     }

     //
     // Modify image configuration parameters
     // Here we increase the frame rate to 30 FPS
     imageConfig.setFps(30.0);

     //
     // Send the new image configuration to the sensor
     status = channel->setImageConfig(imageConfig);

     //
     // Check to see if the configuration was successfully received by the
     // sensor
     if(crl::multisense::Status_Ok != status) {
          throw std::runtime_error("Unable to set image configuration");
     }

     //
     // Destroy the channel instance
     crl::multisense::Channel::Destroy(channel);

Definition at line 515 of file MultiSenseTypes.hh.


Constructor & Destructor Documentation

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

Definition at line 977 of file MultiSenseTypes.hh.


Member Function Documentation

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.

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.

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.

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.

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.

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.

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.

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 [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 [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.

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.

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.

Set auto-exposure enable flag. Default value: true

Parameters:
eA boolean used to enable or disable auto-exposure

Definition at line 615 of file MultiSenseTypes.hh.

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

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

Definition at line 631 of file MultiSenseTypes.hh.

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

Parameters:
mThe maximum auto-exposure value in microseconds

Definition at line 623 of file MultiSenseTypes.hh.

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 640 of file MultiSenseTypes.hh.

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

Parameters:
eA boolean used to enable or disable white-balance

Definition at line 660 of file MultiSenseTypes.hh.

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

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

Definition at line 668 of file MultiSenseTypes.hh.

Set the white-balance threshold. Default value: 0.5

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

Definition at line 676 of file MultiSenseTypes.hh.

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:
mThe 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:
dThe 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:
eThe 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:
fThe 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:
gThe output image gain

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:
eA 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:
hThe new resolution's height

Definition at line 579 of file MultiSenseTypes.hh.

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:
oThe 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,
uint32_t  h 
) [inline]

Set a desired output resolution. Default value: 1024x544

Parameters:
wThe new resolutions width
hThe new resolutions height

Definition at line 529 of file MultiSenseTypes.hh.

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:
sThe 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,
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 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:
wThe new resolution's width

Definition at line 570 of file MultiSenseTypes.hh.

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.

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.

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.


Member Data Documentation

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


multisense_lib
Author(s):
autogenerated on Mon Oct 9 2017 03:06:22