#include <MultiSenseTypes.hh>
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:
throw std::runtime_error("Unable to query image configuration");
}
Example code to set an image configurations:
throw std::runtime_error("Unable to query image configuration");
}
throw std::runtime_error("Unable to set image configuration");
}
Definition at line 797 of file Legacy/include/MultiSense/MultiSenseTypes.hh.
◆ Config()
| crl::multisense::image::Config::Config |
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inline |
◆ autoExposure()
| bool crl::multisense::image::Config::autoExposure |
( |
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const |
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inline |
◆ autoExposureDecay()
| uint32_t crl::multisense::image::Config::autoExposureDecay |
( |
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const |
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inline |
◆ autoExposureMax()
| uint32_t crl::multisense::image::Config::autoExposureMax |
( |
| ) |
const |
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inline |
◆ autoExposureRoiHeight()
| uint16_t crl::multisense::image::Config::autoExposureRoiHeight |
( |
| ) |
const |
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inline |
◆ autoExposureRoiWidth()
| uint16_t crl::multisense::image::Config::autoExposureRoiWidth |
( |
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const |
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inline |
◆ autoExposureRoiX()
| uint16_t crl::multisense::image::Config::autoExposureRoiX |
( |
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const |
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inline |
◆ autoExposureRoiY()
| uint16_t crl::multisense::image::Config::autoExposureRoiY |
( |
| ) |
const |
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inline |
◆ autoExposureTargetIntensity()
| float crl::multisense::image::Config::autoExposureTargetIntensity |
( |
| ) |
const |
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inline |
◆ autoExposureThresh()
| float crl::multisense::image::Config::autoExposureThresh |
( |
| ) |
const |
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inline |
◆ autoWhiteBalance()
| bool crl::multisense::image::Config::autoWhiteBalance |
( |
| ) |
const |
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inline |
◆ autoWhiteBalanceDecay()
| uint32_t crl::multisense::image::Config::autoWhiteBalanceDecay |
( |
| ) |
const |
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inline |
◆ autoWhiteBalanceThresh()
| float crl::multisense::image::Config::autoWhiteBalanceThresh |
( |
| ) |
const |
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inline |
◆ cameraProfile()
| CameraProfile crl::multisense::image::Config::cameraProfile |
( |
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const |
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inline |
◆ cx()
| float crl::multisense::image::Config::cx |
( |
| ) |
const |
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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 1260 of file Legacy/include/MultiSense/MultiSenseTypes.hh.
◆ cy()
| float crl::multisense::image::Config::cy |
( |
| ) |
const |
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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 1272 of file Legacy/include/MultiSense/MultiSenseTypes.hh.
◆ disparities()
| uint32_t crl::multisense::image::Config::disparities |
( |
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const |
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inline |
◆ exposure()
| uint32_t crl::multisense::image::Config::exposure |
( |
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const |
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inline |
◆ fps()
| float crl::multisense::image::Config::fps |
( |
| ) |
const |
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inline |
◆ fx()
| float crl::multisense::image::Config::fx |
( |
| ) |
const |
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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 1237 of file Legacy/include/MultiSense/MultiSenseTypes.hh.
◆ fy()
| float crl::multisense::image::Config::fy |
( |
| ) |
const |
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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 1248 of file Legacy/include/MultiSense/MultiSenseTypes.hh.
◆ gain()
| float crl::multisense::image::Config::gain |
( |
| ) |
const |
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inline |
◆ gainMax()
| float crl::multisense::image::Config::gainMax |
( |
| ) |
const |
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inline |
◆ gamma()
| float crl::multisense::image::Config::gamma |
( |
| ) |
const |
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inline |
◆ hdrEnabled()
| bool crl::multisense::image::Config::hdrEnabled |
( |
| ) |
const |
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inline |
◆ height()
| uint32_t crl::multisense::image::Config::height |
( |
| ) |
const |
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inline |
◆ pitch()
| float crl::multisense::image::Config::pitch |
( |
| ) |
const |
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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 1324 of file Legacy/include/MultiSense/MultiSenseTypes.hh.
◆ roll()
| float crl::multisense::image::Config::roll |
( |
| ) |
const |
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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 1314 of file Legacy/include/MultiSense/MultiSenseTypes.hh.
◆ setAutoExposure()
| void crl::multisense::image::Config::setAutoExposure |
( |
bool |
e | ) |
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inline |
◆ setAutoExposureDecay()
| void crl::multisense::image::Config::setAutoExposureDecay |
( |
uint32_t |
d | ) |
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inline |
◆ setAutoExposureMax()
| void crl::multisense::image::Config::setAutoExposureMax |
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uint32_t |
m | ) |
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inline |
◆ setAutoExposureRoi()
| void crl::multisense::image::Config::setAutoExposureRoi |
( |
uint16_t |
start_x, |
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uint16_t |
start_y, |
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uint16_t |
width, |
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uint16_t |
height |
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) |
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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 987 of file Legacy/include/MultiSense/MultiSenseTypes.hh.
◆ setAutoExposureTargetIntensity()
| void crl::multisense::image::Config::setAutoExposureTargetIntensity |
( |
float |
d | ) |
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inline |
◆ setAutoExposureThresh()
| void crl::multisense::image::Config::setAutoExposureThresh |
( |
float |
t | ) |
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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 910 of file Legacy/include/MultiSense/MultiSenseTypes.hh.
◆ setAutoWhiteBalance()
| void crl::multisense::image::Config::setAutoWhiteBalance |
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bool |
e | ) |
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inline |
◆ setAutoWhiteBalanceDecay()
| void crl::multisense::image::Config::setAutoWhiteBalanceDecay |
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uint32_t |
d | ) |
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inline |
◆ setAutoWhiteBalanceThresh()
| void crl::multisense::image::Config::setAutoWhiteBalanceThresh |
( |
float |
t | ) |
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inline |
◆ setCameraProfile()
| void crl::multisense::image::Config::setCameraProfile |
( |
const CameraProfile & |
profile | ) |
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inline |
◆ setDisparities()
| void crl::multisense::image::Config::setDisparities |
( |
uint32_t |
d | ) |
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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
-
| d | The number of disparities |
Definition at line 823 of file Legacy/include/MultiSense/MultiSenseTypes.hh.
◆ setExposure()
| void crl::multisense::image::Config::setExposure |
( |
uint32_t |
e | ) |
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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 869 of file Legacy/include/MultiSense/MultiSenseTypes.hh.
◆ setFps()
| void crl::multisense::image::Config::setFps |
( |
float |
f | ) |
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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
-
| f | The desired frames per second |
Definition at line 852 of file Legacy/include/MultiSense/MultiSenseTypes.hh.
◆ setGain()
| void crl::multisense::image::Config::setGain |
( |
float |
g | ) |
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inline |
◆ setGainMax()
| void crl::multisense::image::Config::setGainMax |
( |
const float |
g | ) |
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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 1020 of file Legacy/include/MultiSense/MultiSenseTypes.hh.
◆ setGamma()
| void crl::multisense::image::Config::setGamma |
( |
const float |
g | ) |
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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 1010 of file Legacy/include/MultiSense/MultiSenseTypes.hh.
◆ setHdr()
| void crl::multisense::image::Config::setHdr |
( |
bool |
e | ) |
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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 970 of file Legacy/include/MultiSense/MultiSenseTypes.hh.
◆ setHeight()
| void crl::multisense::image::Config::setHeight |
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uint32_t |
h | ) |
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inline |
◆ setResolution()
| void crl::multisense::image::Config::setResolution |
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uint32_t |
w, |
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uint32_t |
h |
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) |
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inline |
◆ setStereoPostFilterStrength()
| void crl::multisense::image::Config::setStereoPostFilterStrength |
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float |
s | ) |
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inline |
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
-
| s | The desired stereo post-filter strength [0.0, 1.0] |
Definition at line 958 of file Legacy/include/MultiSense/MultiSenseTypes.hh.
◆ setWhiteBalance()
| void crl::multisense::image::Config::setWhiteBalance |
( |
float |
r, |
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float |
b |
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) |
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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 921 of file Legacy/include/MultiSense/MultiSenseTypes.hh.
◆ setWidth()
| void crl::multisense::image::Config::setWidth |
( |
uint32_t |
w | ) |
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inline |
◆ stereoPostFilterStrength()
| float crl::multisense::image::Config::stereoPostFilterStrength |
( |
| ) |
const |
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inline |
◆ tx()
| float crl::multisense::image::Config::tx |
( |
| ) |
const |
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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 1282 of file Legacy/include/MultiSense/MultiSenseTypes.hh.
◆ ty()
| float crl::multisense::image::Config::ty |
( |
| ) |
const |
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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 1293 of file Legacy/include/MultiSense/MultiSenseTypes.hh.
◆ tz()
| float crl::multisense::image::Config::tz |
( |
| ) |
const |
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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 1304 of file Legacy/include/MultiSense/MultiSenseTypes.hh.
◆ whiteBalanceBlue()
| float crl::multisense::image::Config::whiteBalanceBlue |
( |
| ) |
const |
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inline |
◆ whiteBalanceRed()
| float crl::multisense::image::Config::whiteBalanceRed |
( |
| ) |
const |
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inline |
◆ width()
| uint32_t crl::multisense::image::Config::width |
( |
| ) |
const |
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inline |
◆ yaw()
| 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 1334 of file Legacy/include/MultiSense/MultiSenseTypes.hh.
◆ m_cx
| float crl::multisense::image::Config::m_cx |
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protected |
◆ m_cy
| float crl::multisense::image::Config::m_cy |
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protected |
◆ m_disparities
| uint32_t crl::multisense::image::Config::m_disparities |
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private |
◆ m_exposure
◆ m_fps
| float crl::multisense::image::Config::m_fps |
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private |
◆ m_fx
| float crl::multisense::image::Config::m_fx |
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protected |
◆ m_fy
| float crl::multisense::image::Config::m_fy |
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protected |
◆ m_gain
| float crl::multisense::image::Config::m_gain |
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private |
◆ m_gainMax
| float crl::multisense::image::Config::m_gainMax |
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private |
◆ m_gamma
| float crl::multisense::image::Config::m_gamma |
|
private |
◆ m_hdrEnabled
| bool crl::multisense::image::Config::m_hdrEnabled |
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private |
◆ m_height
| uint32_t crl::multisense::image::Config::m_height |
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private |
◆ m_pitch
| float crl::multisense::image::Config::m_pitch |
|
protected |
◆ m_profile
◆ m_roll
| float crl::multisense::image::Config::m_roll |
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protected |
◆ m_spfStrength
| float crl::multisense::image::Config::m_spfStrength |
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private |
◆ m_tx
| float crl::multisense::image::Config::m_tx |
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protected |
◆ m_ty
| float crl::multisense::image::Config::m_ty |
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protected |
◆ m_tz
| float crl::multisense::image::Config::m_tz |
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protected |
◆ m_wbBlue
| float crl::multisense::image::Config::m_wbBlue |
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private |
◆ m_wbDecay
| uint32_t crl::multisense::image::Config::m_wbDecay |
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private |
◆ m_wbEnabled
| bool crl::multisense::image::Config::m_wbEnabled |
|
private |
◆ m_wbRed
| float crl::multisense::image::Config::m_wbRed |
|
private |
◆ m_wbThresh
| float crl::multisense::image::Config::m_wbThresh |
|
private |
◆ m_width
| uint32_t crl::multisense::image::Config::m_width |
|
private |
◆ m_yaw
| float crl::multisense::image::Config::m_yaw |
|
protected |
The documentation for this class was generated from the following file: