#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

bool	enableSharpening () const

void	enableSharpening (const bool &s)

uint32_t	exposure () const

float	fx () const

float	fy () const

float	gain () const

float	gainMax () 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	setGainMax (const 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_gainMax

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 1373 of file Legacy/include/MultiSense/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 1798 of file Legacy/include/MultiSense/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 1638 of file Legacy/include/MultiSense/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 1654 of file Legacy/include/MultiSense/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 1646 of file Legacy/include/MultiSense/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 1749 of file Legacy/include/MultiSense/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 1740 of file Legacy/include/MultiSense/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 1724 of file Legacy/include/MultiSense/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 1731 of file Legacy/include/MultiSense/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 1662 of file Legacy/include/MultiSense/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 1670 of file Legacy/include/MultiSense/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 1694 of file Legacy/include/MultiSense/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 1702 of file Legacy/include/MultiSense/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 1710 of file Legacy/include/MultiSense/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 1756 of file Legacy/include/MultiSense/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 1603 of file Legacy/include/MultiSense/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 1615 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ enableSharpening() [1/2]

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 1771 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ enableSharpening() [2/2]

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

inline

Enable sharpening for the aux luma channel.

Parameters

s	Set to the value of true to enable or false to disable aux luma sharpening.

Definition at line 1532 of file Legacy/include/MultiSense/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 1630 of file Legacy/include/MultiSense/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 1580 of file Legacy/include/MultiSense/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 1591 of file Legacy/include/MultiSense/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 1622 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ gainMax()

float crl::multisense::image::AuxConfig::gainMax ( ) const

inline

Query the gain maximum allowed in the camera.

Returns: A value within the range of 1.0 - Max Gain of the imager

Definition at line 1792 of file Legacy/include/MultiSense/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 1764 of file Legacy/include/MultiSense/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 1717 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ setAutoExposure()

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

inline

Set auto-exposure enable flag. Default value: true

Parameters

e	A boolean used to enable or disable auto-exposure

Definition at line 1403 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ setAutoExposureDecay()

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

inline

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

Parameters

d	The auto-exposure decay rate [0, 20]

Definition at line 1419 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ setAutoExposureMax()

void crl::multisense::image::AuxConfig::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 1411 of file Legacy/include/MultiSense/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_x	The X coordinate where the ROI starts
start_y	The Y coordinate where the ROI starts
width	The width of the ROI
height	The height of the ROI

Definition at line 1501 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ setAutoExposureTargetIntensity()

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

inline

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

Parameters

d	The auto-exposure target intensity [0.0, 1.0]

Definition at line 1427 of file Legacy/include/MultiSense/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

t	The desired auto-exposure threshold [0.0, 1.0]

Definition at line 1436 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ setAutoWhiteBalance()

void crl::multisense::image::AuxConfig::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 1456 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ setAutoWhiteBalanceDecay()

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

inline

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

Parameters

d	The white-balance decay rate [0, 20]

Definition at line 1464 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ setAutoWhiteBalanceThresh()

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

inline

Set the white-balance threshold. Default value: 0.5

Parameters

t	The desired white-balance threshold [0.0, 1.0]

Definition at line 1472 of file Legacy/include/MultiSense/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

profile The operation profile to use on the camera

Definition at line 1511 of file Legacy/include/MultiSense/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

e	The output exposure time in microseconds [10, 5000000]

Definition at line 1395 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ setGain()

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

inline

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

Parameters

g	The output image gain

Definition at line 1386 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ setGainMax()

void crl::multisense::image::AuxConfig::setGainMax ( const float g )

inline

Set the auto exposure gain max.

This can be used to add an additional clamp to auto exposure which would limit the maximum analog gain set by the auto exposure algorithm.

Parameters

g	the max gain constant applied to the camera sources

Definition at line 1560 of file Legacy/include/MultiSense/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

g	the gamma constant applied to the camera sources

Definition at line 1524 of file Legacy/include/MultiSense/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

e	A boolean used to enable or disable HDR on the camera imagers

Definition at line 1484 of file Legacy/include/MultiSense/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

s	The percentage of sharpening to apply. In the range of 0 - 100

Definition at line 1550 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ setSharpeningPercentage()

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

inline

Set the sharpening percentage for the aux luma channel.

Parameters

s	The percentage of sharpening to apply. In the range of 0 - 100

Definition at line 1540 of file Legacy/include/MultiSense/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

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 1447 of file Legacy/include/MultiSense/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 1785 of file Legacy/include/MultiSense/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 1778 of file Legacy/include/MultiSense/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 1686 of file Legacy/include/MultiSense/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 1678 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

Member Data Documentation

◆ m_cx

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

protected

Definition at line 1825 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ m_cy

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

protected

Definition at line 1825 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ m_exposure

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

private

Definition at line 1810 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ m_fx

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

protected

Definition at line 1825 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ m_fy

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

protected

Definition at line 1825 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ m_gain

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

private

Definition at line 1806 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ m_gainMax

float crl::multisense::image::AuxConfig::m_gainMax

private

Definition at line 1822 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ m_gamma

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

private

Definition at line 1818 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ m_hdrEnabled

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

private

Definition at line 1816 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ m_profile

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

private

Definition at line 1817 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ m_sharpeningEnable

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

private

Definition at line 1819 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ m_sharpeningLimit

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

private

Definition at line 1821 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ m_sharpeningPercentage

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

private

Definition at line 1820 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ m_wbBlue

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

private

Definition at line 1811 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ m_wbDecay

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

private

Definition at line 1814 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ m_wbEnabled

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

private

Definition at line 1813 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ m_wbRed

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

private

Definition at line 1812 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ m_wbThresh

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

private

Definition at line 1815 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

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

Legacy/include/MultiSense/MultiSenseTypes.hh

Public Member Functions

Protected Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AuxConfig()

Member Function Documentation

◆ autoExposure()

◆ autoExposureDecay()

◆ autoExposureMax()

◆ autoExposureRoiHeight()

◆ autoExposureRoiWidth()

◆ autoExposureRoiX()

◆ autoExposureRoiY()

◆ autoExposureTargetIntensity()

◆ autoExposureThresh()

◆ autoWhiteBalance()

◆ autoWhiteBalanceDecay()

◆ autoWhiteBalanceThresh()

◆ cameraProfile()

◆ cx()

◆ cy()

◆ enableSharpening() [1/2]

◆ enableSharpening() [2/2]

◆ exposure()

◆ fx()

◆ fy()

◆ gain()

◆ gainMax()

◆ gamma()

◆ hdrEnabled()

◆ setAutoExposure()

◆ setAutoExposureDecay()

◆ setAutoExposureMax()

◆ setAutoExposureRoi()

◆ setAutoExposureTargetIntensity()

◆ setAutoExposureThresh()

◆ setAutoWhiteBalance()

◆ setAutoWhiteBalanceDecay()

◆ setAutoWhiteBalanceThresh()

◆ setCameraProfile()

◆ setExposure()

◆ setGain()

◆ setGainMax()

◆ setGamma()

◆ setHdr()

◆ setSharpeningLimit()

◆ setSharpeningPercentage()

◆ setWhiteBalance()

◆ sharpeningLimit()

◆ sharpeningPercentage()

◆ whiteBalanceBlue()

◆ whiteBalanceRed()

Member Data Documentation

◆ m_cx

◆ m_cy

◆ m_exposure

◆ m_fx

◆ m_fy

◆ m_gain

◆ m_gainMax

◆ m_gamma

◆ m_hdrEnabled

◆ m_profile

◆ m_sharpeningEnable

◆ m_sharpeningLimit

◆ m_sharpeningPercentage

◆ m_wbBlue

◆ m_wbDecay

◆ m_wbEnabled

◆ m_wbRed

◆ m_wbThresh