Classes
class	BufferWrapper

class	Camera

class	ColorLaser

class	Imu

class	Laser

struct	OperatingResolutionT

class	Pps

class	Reconfigure

struct	RectificationRemapT

class	Statistics

class	Status

class	StereoCalibrationManager

Enumerations
enum	BorderClip { BorderClip::NONE, BorderClip::RECTANGULAR, BorderClip::CIRCULAR }

Functions
bool	clipPoint (const BorderClip &borderClipType, double borderClipValue, size_t height, size_t width, size_t u, size_t v)
	Determine if a pixel should be clipped given the provided parameters. More...

template<typename PointT , typename ColorT >
sensor_msgs::PointCloud2	initializePointcloud (const ros::Time &stamp, const size_t width, const size_t height, const bool dense, const std::string &frame_id, const std::string &color_channel)

template<typename PointT , typename ColorT >
void	initializePointcloud (sensor_msgs::PointCloud2 &point_cloud, const ros::Time &stamp, const size_t width, const size_t height, const bool dense, const std::string &frame_id, const std::string &color_channel)

template<typename ColorT >
std::enable_if<!std::is_same< ColorT, void >::value, void >::type	initPointcloudColorChannel (sensor_msgs::PointCloud2 &point_cloud, const size_t offset, const std::string &color_channel)

template<typename ColorT >
std::enable_if< std::is_same< ColorT, void >::value, void >::type	initPointcloudColorChannel (sensor_msgs::PointCloud2 &point_cloud, const size_t offset, const std::string &color_channel)

cv::Vec3b	interpolateColor (const Eigen::Vector2f &pixel, const cv::Mat &image)
	Given a floating point pixel location, determine its average color using all neighboring pixels. More...

sensor_msgs::CameraInfo	makeCameraInfo (const crl::multisense::image::Config &config, const crl::multisense::image::Calibration::Data &calibration, const crl::multisense::system::DeviceInfo &device_info, bool scale_calibration)

sensor_msgs::CameraInfo	makeCameraInfo (const crl::multisense::image::Config &config, const crl::multisense::image::Calibration::Data &calibration, const ScaleT &scale)

Eigen::Matrix4d	makeQ (const crl::multisense::image::Config &config, const crl::multisense::image::Calibration &calibration, const crl::multisense::system::DeviceInfo &device_info)

RectificationRemapT	makeRectificationRemap (const crl::multisense::image::Config &config, const crl::multisense::image::Calibration::Data &calibration, const crl::multisense::system::DeviceInfo &device_info)

template<typename T >
uint8_t	messageFormat ()

template<>
uint8_t	messageFormat< double > ()

template<>
uint8_t	messageFormat< float > ()

template<>
uint8_t	messageFormat< int16_t > ()

template<>
uint8_t	messageFormat< int32_t > ()

template<>
uint8_t	messageFormat< int8_t > ()

template<>
uint8_t	messageFormat< uint16_t > ()

template<>
uint8_t	messageFormat< uint32_t > ()

template<>
uint8_t	messageFormat< uint8_t > ()

template<>
uint8_t	messageFormat< void > ()

void	writePoint (sensor_msgs::PointCloud2 &pointcloud, const size_t index, const Eigen::Vector3f &point)

template<typename ColorT >
void	writePoint (sensor_msgs::PointCloud2 &pointcloud, const size_t index, const Eigen::Vector3f &point, const ColorT &color)

void	writePoint (sensor_msgs::PointCloud2 &pointcloud, const size_t pointcloud_index, const Eigen::Vector3f &point, const size_t image_index, const uint32_t bitsPerPixel, const void *imageDataP)

template<typename T >
constexpr Eigen::Matrix< T, 3, 1 >	ycbcrToBgr (const crl::multisense::image::Header &luma, const crl::multisense::image::Header &chroma, size_t u, size_t v)

void	ycbcrToBgr (const crl::multisense::image::Header &luma, const crl::multisense::image::Header &chroma, uint8_t *output)

Variables
static constexpr size_t	S30_AUX_CAM_HEIGHT = 1188

static constexpr size_t	S30_AUX_CAM_WIDTH = 1920

Enumeration Type Documentation

◆ BorderClip

enum multisense_ros::BorderClip

strong

Enumerator
NONE
RECTANGULAR
CIRCULAR

Definition at line 62 of file camera_utilities.h.

Function Documentation

◆ clipPoint()

bool multisense_ros::clipPoint	(	const BorderClip &	borderClipType,
		double	borderClipValue,
		size_t	height,
		size_t	width,
		size_t	u,
		size_t	v
	)

Determine if a pixel should be clipped given the provided parameters.

Definition at line 503 of file camera_utilities.cpp.

◆ initializePointcloud() [1/2]

template<typename PointT , typename ColorT >

sensor_msgs::PointCloud2 multisense_ros::initializePointcloud	(	const ros::Time &	stamp,
		const size_t	width,
		const size_t	height,
		const bool	dense,
		const std::string &	frame_id,
		const std::string &	color_channel
	)

Definition at line 139 of file point_cloud_utilities.h.

◆ initializePointcloud() [2/2]

template<typename PointT , typename ColorT >

void multisense_ros::initializePointcloud	(	sensor_msgs::PointCloud2 &	point_cloud,
		const ros::Time &	stamp,
		const size_t	width,
		const size_t	height,
		const bool	dense,
		const std::string &	frame_id,
		const std::string &	color_channel
	)

Definition at line 80 of file point_cloud_utilities.h.

◆ initPointcloudColorChannel() [1/2]

template<typename ColorT >

std::enable_if<!std::is_same<ColorT, void>::value, void>::type multisense_ros::initPointcloudColorChannel	(	sensor_msgs::PointCloud2 &	point_cloud,
		const size_t	offset,
		const std::string &	color_channel
	)

Definition at line 51 of file point_cloud_utilities.h.

◆ initPointcloudColorChannel() [2/2]

template<typename ColorT >

std::enable_if<std::is_same<ColorT, void>::value, void>::type multisense_ros::initPointcloudColorChannel	(	sensor_msgs::PointCloud2 &	point_cloud,
		const size_t	offset,
		const std::string &	color_channel
	)

Definition at line 69 of file point_cloud_utilities.h.

◆ interpolateColor()

cv::Vec3b multisense_ros::interpolateColor	(	const Eigen::Vector2f &	pixel,
		const cv::Mat &	image
	)

Given a floating point pixel location, determine its average color using all neighboring pixels.

Definition at line 540 of file camera_utilities.cpp.

◆ makeCameraInfo() [1/2]

sensor_msgs::CameraInfo multisense_ros::makeCameraInfo	(	const crl::multisense::image::Config &	config,
		const crl::multisense::image::Calibration::Data &	calibration,
		const crl::multisense::system::DeviceInfo &	device_info,
		bool	scale_calibration
	)

◆ makeCameraInfo() [2/2]

sensor_msgs::CameraInfo multisense_ros::makeCameraInfo	(	const crl::multisense::image::Config &	config,
		const crl::multisense::image::Calibration::Data &	calibration,
		const ScaleT &	scale
	)

Definition at line 119 of file camera_utilities.cpp.

◆ makeQ()

Eigen::Matrix4d multisense_ros::makeQ	(	const crl::multisense::image::Config &	config,
		const crl::multisense::image::Calibration &	calibration,
		const crl::multisense::system::DeviceInfo &	device_info
	)

Definition at line 84 of file camera_utilities.cpp.

◆ makeRectificationRemap()

RectificationRemapT multisense_ros::makeRectificationRemap	(	const crl::multisense::image::Config &	config,
		const crl::multisense::image::Calibration::Data &	calibration,
		const crl::multisense::system::DeviceInfo &	device_info
	)

Definition at line 189 of file camera_utilities.cpp.

◆ messageFormat()

template<typename T >

uint8_t multisense_ros::messageFormat ( )

◆ messageFormat< double >()

template<>

uint8_t multisense_ros::messageFormat< double > ( )

Definition at line 87 of file point_cloud_utilities.cpp.

◆ messageFormat< float >()

template<>

uint8_t multisense_ros::messageFormat< float > ( )

Definition at line 81 of file point_cloud_utilities.cpp.

◆ messageFormat< int16_t >()

template<>

uint8_t multisense_ros::messageFormat< int16_t > ( )

Definition at line 57 of file point_cloud_utilities.cpp.

◆ messageFormat< int32_t >()

template<>

uint8_t multisense_ros::messageFormat< int32_t > ( )

Definition at line 69 of file point_cloud_utilities.cpp.

◆ messageFormat< int8_t >()

template<>

uint8_t multisense_ros::messageFormat< int8_t > ( )

Definition at line 45 of file point_cloud_utilities.cpp.

◆ messageFormat< uint16_t >()

template<>

uint8_t multisense_ros::messageFormat< uint16_t > ( )

Definition at line 63 of file point_cloud_utilities.cpp.

◆ messageFormat< uint32_t >()

template<>

uint8_t multisense_ros::messageFormat< uint32_t > ( )

Definition at line 75 of file point_cloud_utilities.cpp.

◆ messageFormat< uint8_t >()

template<>

uint8_t multisense_ros::messageFormat< uint8_t > ( )

Definition at line 51 of file point_cloud_utilities.cpp.

◆ messageFormat< void >()

template<>

uint8_t multisense_ros::messageFormat< void > ( )

Definition at line 39 of file point_cloud_utilities.cpp.

◆ writePoint() [1/3]

void multisense_ros::writePoint	(	sensor_msgs::PointCloud2 &	pointcloud,
		const size_t	index,
		const Eigen::Vector3f &	point
	)

Definition at line 92 of file point_cloud_utilities.cpp.

◆ writePoint() [2/3]

template<typename ColorT >

void multisense_ros::writePoint	(	sensor_msgs::PointCloud2 &	pointcloud,
		const size_t	index,
		const Eigen::Vector3f &	point,
		const ColorT &	color
	)

Definition at line 162 of file point_cloud_utilities.h.

◆ writePoint() [3/3]

void multisense_ros::writePoint	(	sensor_msgs::PointCloud2 &	pointcloud,
		const size_t	pointcloud_index,
		const Eigen::Vector3f &	point,
		const size_t	image_index,
		const uint32_t	bitsPerPixel,
		const void *	imageDataP
	)

Definition at line 107 of file point_cloud_utilities.cpp.

◆ ycbcrToBgr() [1/2]

template<typename T >

constexpr Eigen::Matrix<T, 3, 1> multisense_ros::ycbcrToBgr	(	const crl::multisense::image::Header &	luma,
		const crl::multisense::image::Header &	chroma,
		size_t	u,
		size_t	v
	)

constexpr

Definition at line 104 of file camera_utilities.h.

◆ ycbcrToBgr() [2/2]

void multisense_ros::ycbcrToBgr	(	const crl::multisense::image::Header &	luma,
		const crl::multisense::image::Header &	chroma,
		uint8_t *	output
	)

Definition at line 67 of file camera_utilities.cpp.

Variable Documentation

◆ S30_AUX_CAM_HEIGHT

constexpr size_t multisense_ros::S30_AUX_CAM_HEIGHT = 1188

staticconstexpr

Definition at line 54 of file camera_utilities.h.

◆ S30_AUX_CAM_WIDTH

constexpr size_t multisense_ros::S30_AUX_CAM_WIDTH = 1920

staticconstexpr

Definition at line 53 of file camera_utilities.h.

Classes

Enumerations

Functions

Variables

Enumeration Type Documentation

◆ BorderClip

Function Documentation

◆ clipPoint()

◆ initializePointcloud() [1/2]

◆ initializePointcloud() [2/2]

◆ initPointcloudColorChannel() [1/2]

◆ initPointcloudColorChannel() [2/2]

◆ interpolateColor()

◆ makeCameraInfo() [1/2]

◆ makeCameraInfo() [2/2]

◆ makeQ()

◆ makeRectificationRemap()

◆ messageFormat()

◆ messageFormat< double >()

◆ messageFormat< float >()

◆ messageFormat< int16_t >()

◆ messageFormat< int32_t >()

◆ messageFormat< int8_t >()

◆ messageFormat< uint16_t >()

◆ messageFormat< uint32_t >()

◆ messageFormat< uint8_t >()

◆ messageFormat< void >()

◆ writePoint() [1/3]

◆ writePoint() [2/3]

◆ writePoint() [3/3]

◆ ycbcrToBgr() [1/2]

◆ ycbcrToBgr() [2/2]

Variable Documentation

◆ S30_AUX_CAM_HEIGHT

◆ S30_AUX_CAM_WIDTH