Classes
class	BufferPool
	Object to handle the management and delivery of buffers to used to store incoming data without needing to continually reallocate internal memory. This class is threadsafe. More...

struct	BufferPoolConfig

class	FrameNotifier

struct	ImuSampleScalars
	Values to scale IMU samples from the MultiSense camera into standard units LibMultiSense expects. More...

class	LegacyChannel

class	MessageAssembler
	Process incoming network data, and try the data into valid MultiSense Wire messages. More...

class	MessageCondition
	A condition object which can be used to wait on messages from the stream. More...

struct	MessageStatistics

struct	NetworkSocket
	Convenience network socket object which contains the data corresponding to our connection. More...

struct	TimedResponse

class	UdpReceiver
	Convenience object which receives data from a UDP socket and dispatches to a user defined callback. This object internally manages a single receive thread which is used to read data off the socket, and dispatch to the user callback. Note that the dispatch is serial with the UDP receive commands, so blocking callbacks will cause data to be dropped. More...

Typedefs
typedef int32_t	socket_t

Functions
ImuSample	add_wire_sample (ImuSample sample, const crl::multisense::details::wire::ImuSample &wire, const ImuSampleScalars &scalars)
	Add a wire sample to a ImuSample. More...

std::tuple< socket_t, uint16_t >	bind (const std::optional< std::string > &interface_name, bool broadcast)
	Create a UDP socket to communicate with the MultiSense. Optionally bind to a specific interface. More...

crl::multisense::details::wire::CameraCalData	convert (const CameraCalibration &cal)
	Convert our API calibration object to a wire message. More...

MultiSenseConfig::AuxConfig	convert (const crl::multisense::details::wire::AuxCamConfig &aux_config)
	Convert a wire AuxCameraConfiguration to our AuxConfig API. More...

MultiSenseConfig	convert (const crl::multisense::details::wire::CamConfig &config, const std::optional< crl::multisense::details::wire::AuxCamConfig > &aux_config, const std::optional< crl::multisense::details::wire::ImuConfig > &imu_config, const std::optional< crl::multisense::details::wire::LedStatus > &led_config, const crl::multisense::details::wire::SysPacketDelay &packet_delay, bool ptp_enabled, const MultiSenseInfo::DeviceInfo &info, const std::optional< MultiSenseInfo::ImuInfo > &imu_info)
	Convert wire objects to our MultiSenseConfig. More...

CameraCalibration	convert (const crl::multisense::details::wire::CameraCalData &cal)
	Convert a wire calibration to our API calibration object. More...

MultiSenseInfo::ImuInfo::Source	convert (const crl::multisense::details::wire::imu::Details &details)
	Convert details for a specific imu operating mode to a API ImuInfo::Source. More...

MultiSenseConfig::ImuConfig	convert (const crl::multisense::details::wire::ImuConfig &imu, const MultiSenseInfo::ImuInfo &imu_info)
	Convert a ImuConfig object to a wire ImuConfig message. More...

MultiSenseInfo::ImuInfo	convert (const crl::multisense::details::wire::ImuInfo &modes)
	Convert a wire ImuInfo to a API ImuInfo. More...

MultiSenseConfig::LightingConfig	convert (const crl::multisense::details::wire::LedStatus &led, const MultiSenseInfo::DeviceInfo::LightingType &type)
	Convert a wire lighting config to a API lighting config. More...

MultiSenseStatus::PtpStatus	convert (const crl::multisense::details::wire::PtpStatusResponse &status)

template<>
MultiSenseStatus::TemperatureStatus	convert (const crl::multisense::details::wire::StatusResponse &status)

StereoCalibration	convert (const crl::multisense::details::wire::SysCameraCalibration &cal)
	Convert a wire calibration to our API calibration object. More...

MultiSenseInfo::DeviceInfo	convert (const crl::multisense::details::wire::SysDeviceInfo &info)
	Convert a wire DeviceInfo message to our API's DeviceInfo. More...

std::vector< MultiSenseInfo::SupportedOperatingMode >	convert (const crl::multisense::details::wire::SysDeviceModes &modes)
	Convert a wire SysDeviceModes to a API SupportedOperatingMode. More...

MultiSenseInfo::NetworkInfo	convert (const crl::multisense::details::wire::SysNetwork &wire)
	Convert a wire message into a API NetworkInfo. More...

MultiSenseConfig::NetworkTransmissionConfig	convert (const crl::multisense::details::wire::SysPacketDelay &packet)
	Create a API transmission config object from wire types. More...

MultiSenseInfo::SensorVersion	convert (const crl::multisense::details::wire::VersionResponse &response)
	Convert a wire VersionResponse to a API SensorVersion. More...

template<typename T >
T	convert (const MultiSenseConfig &config)
	Generic conversions between the MultiSenseConfig config object an MultiSense wire types. More...

crl::multisense::details::wire::AuxCamControl	convert (const MultiSenseConfig::AuxConfig &config)
	Convert a AuxConfig object to a wire AuxControl message. More...

crl::multisense::details::wire::ImuConfig	convert (const MultiSenseConfig::ImuConfig &imu, const MultiSenseInfo::ImuInfo &imu_info, uint32_t max_samples_per_message)
	Convert a ImuConfig object to a wire message. More...

crl::multisense::details::wire::LedSet	convert (const MultiSenseConfig::LightingConfig &led)
	Convert a API lighting config to a wire lighting config. More...

template<>
crl::multisense::details::wire::SysPacketDelay	convert (const MultiSenseConfig::NetworkTransmissionConfig &config)
	Generic conversions between the MultiSenseConfig::NetworkTransmissionConfig config object an MultiSense wire types. More...

crl::multisense::details::wire::SysSetPtp	convert (const MultiSenseConfig::TimeConfig &config)
	Convert a TimeConfig object to a wire message. More...

crl::multisense::details::wire::SysDeviceInfo	convert (const MultiSenseInfo::DeviceInfo &info, const std::string &key)
	Convert our API's DeviceInfo to a wire DeviceInfo message. More...

crl::multisense::details::wire::SysNetwork	convert (const MultiSenseInfo::NetworkInfo &info)
	Convert a API NetworkInfo into a wire message. More...

crl::multisense::details::wire::SysCameraCalibration	convert (const StereoCalibration &cal)
	Convert our API calibration object to a wire calibration. More...

template<>
crl::multisense::details::wire::CamControl	convert< crl::multisense::details::wire::CamControl > (const MultiSenseConfig &config)

template<>
crl::multisense::details::wire::CamSetResolution	convert< crl::multisense::details::wire::CamSetResolution > (const MultiSenseConfig &config)

std::vector< DataSource >	convert_sources (const crl::multisense::details::wire::SourceType &source)
	Convert wire sources to a vector of DataSources. More...

crl::multisense::details::wire::SourceType	convert_sources (const std::vector< DataSource > &sources)
	Convert a vector of DataSources to a wire source. More...

template<typename T >
T	deserialize (const std::vector< uint8_t > &data)
	deserialize the raw bytes of a message. Note this does not account for the wire::Header which is transmitted as part of most messages More...

std::vector< DataSource >	expand_source (const DataSource &source)
	Expand sources since some sources may represent multiple sources on the wire. More...

double	get_acceleration_scale (const std::string &units)
	Get a scale for the acceleration value based on a units string. More...

std::unique_ptr< sockaddr_in >	get_broadcast_sockaddr (uint16_t command_port)
	Create a socketaddr_in object to boradcast to a given port. More...

MultiSenseConfig::MaxDisparities	get_disparities (size_t disparity)
	Convert a disparity integer to a fixed disparity setting. More...

std::optional< uint32_t >	get_full_message_size (const std::vector< uint8_t > &raw_data)
	Get the size of the full message in bytes from a raw data buffer. More...

double	get_gyroscope_scale (const std::string &units)
	Get a scale for the gyroscope value based on a units string. More...

ImuSampleScalars	get_imu_scalars (const crl::multisense::details::wire::ImuInfo &info)
	Get IMU scalars from the cameras's reported IMU info. More...

double	get_magnetometer_scale (const std::string &units)
	Get a scale for the magnetometer value based on a units string. More...

crl::multisense::details::wire::IdType	get_message_type (const std::vector< uint8_t > &raw_buffer)
	Get the message type of the message from the buffer over the wire. Note this does account for the wire::Header that is transmitted from the camera. More...

uint32_t	get_range_index (const std::vector< ImuRange > &ranges, const ImuRange &range)
	Get the index of the range in a vector of ranges. More...

uint32_t	get_rate_index (const std::vector< ImuRate > &rates, const ImuRate &rate)
	Get the index of the rate in a vector of rates. More...

std::unique_ptr< sockaddr_in >	get_sockaddr (const std::string &ip_address, uint16_t command_port)
	Create a socketaddr_in object for a given IP address and port. More...

Status	get_status (const crl::multisense::details::wire::Ack::AckStatus &status)

MultiSenseInfo::Version	get_version (const crl::multisense::details::wire::VersionType &version)
	Convert a wire version to a API Version. More...

bool	header_valid (const std::vector< uint8_t > &raw_data)
	Validate the Multisense header. More...

bool	is_image_source (const DataSource &source)
	Determine if a datasource is a image source. More...

bool	is_valid (const crl::multisense::details::wire::CameraCalData &cal)
	Check if the CameraCalData object is valid. More...

int64_t	publish_data (const NetworkSocket &socket, const std::vector< uint8_t > &data)
	Convenience function used to user specified data out on the host's UDP socket. More...

CameraCalibration	scale_calibration (const CameraCalibration &input, double x_scale, double y_scale)
	Scale a calibration used to update a full-res calibration based on the current operating resolution. More...

StereoCalibration	scale_calibration (const StereoCalibration &input, double x_scale, double y_scale)
	Scale a calibration used to update a full-res calibration based on the current operating resolution. More...

CameraCalibration	select_calibration (const StereoCalibration &input, const DataSource &source)
	Get the correct calibration corresponding to the input source. More...

template<typename T >
std::vector< uint8_t >	serialize (const T &message, uint16_t sequence_id, size_t mtu)
	Serialize a MultiSense Wire message for transmission. This adds the wire header to the message for transmission. More...

bool	system_ok (const crl::multisense::details::wire::StatusResponse &status)
	Summarize the status info and determine fit the MultiSense system is operating properly. More...

int64_t	unwrap_sequence_id (uint16_t current_wire_id, int32_t previous_wire_id, int64_t current_sequence_id)
	Unwrap a 16-bit wire sequence ID into a unique 64-bit local ID. More...

template<typename QueryMessage , class Rep , class Period >
std::optional< crl::multisense::details::wire::Ack >	wait_for_ack (MessageAssembler &assembler, const NetworkSocket &socket, const QueryMessage &query, uint16_t sequence_id, uint16_t mtu, const std::optional< std::chrono::duration< Rep, Period >> &wait_time, size_t attempts=1)
	Helper to wait for ack from the camera from a given query command. Once a query command is sent to the MultiSense, it Ack's the command before sending the response. More...

template<typename OutputMessage , typename QueryMessage , class Rep , class Period >
std::optional< OutputMessage >	wait_for_data (MessageAssembler &assembler, const NetworkSocket &socket, const QueryMessage &query, uint16_t sequence_id, uint16_t mtu, const std::optional< std::chrono::duration< Rep, Period >> &wait_time, size_t attempts=1)
	Helper to wait for data from the camera from a given query command. Once a query command is sent to the MultiSense, it Ack's the command before sending the response. More...

template<typename OutputMessage , typename QueryMessage , class Rep , class Period >
std::optional< TimedResponse< OutputMessage > >	wait_for_data_timed (MessageAssembler &assembler, const NetworkSocket &socket, const QueryMessage &query, uint16_t sequence_id, uint16_t mtu, const std::optional< std::chrono::duration< Rep, Period >> &wait_time, size_t attempts=1)
	Helper to wait for data from the camera from a given query command. Once a query command is sent to the MultiSense, it Ack's the command before sending the response. More...

Variables
constexpr crl::multisense::details::wire::SourceType	all_sources
	All the supported wire source types created for convenience. More...

Typedef Documentation

◆ socket_t

typedef int32_t multisense::legacy::socket_t

Definition at line 67 of file ip.hh.

Function Documentation

◆ add_wire_sample()

ImuSample multisense::legacy::add_wire_sample	(	ImuSample	sample,
		const crl::multisense::details::wire::ImuSample &	wire,
		const ImuSampleScalars &	scalars
	)

Add a wire sample to a ImuSample.

Definition at line 188 of file legacy/utilities.cc.

◆ bind()

std::tuple< socket_t, uint16_t > multisense::legacy::bind	(	const std::optional< std::string > &	interface_name,
		bool	broadcast
	)

Create a UDP socket to communicate with the MultiSense. Optionally bind to a specific interface.

Definition at line 80 of file ip.cc.

◆ convert() [1/25]

crl::multisense::details::wire::CameraCalData multisense::legacy::convert ( const CameraCalibration & cal )

Convert our API calibration object to a wire message.

Definition at line 84 of file calibration.cc.

◆ convert() [2/25]

MultiSenseConfig::AuxConfig multisense::legacy::convert ( const crl::multisense::details::wire::AuxCamConfig & config )

Convert a wire AuxCameraConfiguration to our AuxConfig API.

Definition at line 106 of file configuration.cc.

◆ convert() [3/25]

MultiSenseConfig multisense::legacy::convert	(	const crl::multisense::details::wire::CamConfig &	config,
		const std::optional< crl::multisense::details::wire::AuxCamConfig > &	aux_config,
		const std::optional< crl::multisense::details::wire::ImuConfig > &	imu_config,
		const std::optional< crl::multisense::details::wire::LedStatus > &	led_config,
		const crl::multisense::details::wire::SysPacketDelay &	packet_delay,
		bool	ptp_enabled,
		const MultiSenseInfo::DeviceInfo &	info,
		const std::optional< MultiSenseInfo::ImuInfo > &	imu_info
	)

Convert wire objects to our MultiSenseConfig.

Definition at line 45 of file configuration.cc.

◆ convert() [4/25]

CameraCalibration multisense::legacy::convert ( const crl::multisense::details::wire::CameraCalData & cal )

Convert a wire calibration to our API calibration object.

Definition at line 56 of file calibration.cc.

◆ convert() [5/25]

MultiSenseInfo::ImuInfo::Source multisense::legacy::convert ( const crl::multisense::details::wire::imu::Details & details )

Convert details for a specific imu operating mode to a API ImuInfo::Source.

Definition at line 271 of file info.cc.

◆ convert() [6/25]

MultiSenseConfig::ImuConfig multisense::legacy::convert	(	const crl::multisense::details::wire::ImuConfig &	imu,
		const MultiSenseInfo::ImuInfo &	imu_info
	)

Convert a ImuConfig object to a wire ImuConfig message.

Definition at line 281 of file configuration.cc.

◆ convert() [7/25]

MultiSenseInfo::ImuInfo multisense::legacy::convert ( const crl::multisense::details::wire::ImuInfo & modes )

Convert a wire ImuInfo to a API ImuInfo.

Definition at line 291 of file info.cc.

◆ convert() [8/25]

MultiSenseConfig::LightingConfig multisense::legacy::convert	(	const crl::multisense::details::wire::LedStatus &	led,
		const MultiSenseInfo::DeviceInfo::LightingType &	type
	)

Convert a wire lighting config to a API lighting config.

Definition at line 373 of file configuration.cc.

◆ convert() [9/25]

MultiSenseStatus::PtpStatus multisense::legacy::convert ( const crl::multisense::details::wire::PtpStatusResponse & status )

Definition at line 76 of file status.cc.

◆ convert() [10/25]

template<>

MultiSenseStatus::CameraStatus multisense::legacy::convert ( const crl::multisense::details::wire::StatusResponse & status )

Definition at line 50 of file status.cc.

◆ convert() [11/25]

StereoCalibration multisense::legacy::convert ( const crl::multisense::details::wire::SysCameraCalibration & cal )

Convert a wire calibration to our API calibration object.

Definition at line 104 of file calibration.cc.

◆ convert() [12/25]

MultiSenseInfo::DeviceInfo multisense::legacy::convert ( const crl::multisense::details::wire::SysDeviceInfo & info )

Convert a wire DeviceInfo message to our API's DeviceInfo.

Definition at line 43 of file info.cc.

◆ convert() [13/25]

std::vector< MultiSenseInfo::SupportedOperatingMode > multisense::legacy::convert ( const crl::multisense::details::wire::SysDeviceModes & modes )

Convert a wire SysDeviceModes to a API SupportedOperatingMode.

Definition at line 257 of file info.cc.

◆ convert() [14/25]

MultiSenseInfo::NetworkInfo multisense::legacy::convert ( const crl::multisense::details::wire::SysNetwork & wire )

Convert a wire message into a API NetworkInfo.

Definition at line 322 of file info.cc.

◆ convert() [15/25]

MultiSenseConfig::NetworkTransmissionConfig multisense::legacy::convert ( const crl::multisense::details::wire::SysPacketDelay & packet )

Create a API transmission config object from wire types.

Definition at line 489 of file configuration.cc.

◆ convert() [16/25]

MultiSenseInfo::SensorVersion multisense::legacy::convert ( const crl::multisense::details::wire::VersionResponse & response )

Convert a wire VersionResponse to a API SensorVersion.

Definition at line 250 of file info.cc.

◆ convert() [17/25]

template<typename T >

T multisense::legacy::convert ( const MultiSenseConfig & config )

Generic conversions between the MultiSenseConfig config object an MultiSense wire types.

◆ convert() [18/25]

crl::multisense::details::wire::AuxCamControl multisense::legacy::convert ( const MultiSenseConfig::AuxConfig & config )

Convert a AuxConfig object to a wire AuxControl message.

Definition at line 214 of file configuration.cc.

◆ convert() [19/25]

crl::multisense::details::wire::ImuConfig multisense::legacy::convert	(	const MultiSenseConfig::ImuConfig &	imu,
		const MultiSenseInfo::ImuInfo &	imu_info,
		uint32_t	max_samples_per_message
	)

Convert a ImuConfig object to a wire message.

Definition at line 319 of file configuration.cc.

◆ convert() [20/25]

crl::multisense::details::wire::LedSet multisense::legacy::convert ( const MultiSenseConfig::LightingConfig & led )

Convert a API lighting config to a wire lighting config.

Definition at line 420 of file configuration.cc.

◆ convert() [21/25]

template<>

crl::multisense::details::wire::SysPacketDelay multisense::legacy::convert ( const MultiSenseConfig::NetworkTransmissionConfig & config )

Generic conversions between the MultiSenseConfig::NetworkTransmissionConfig config object an MultiSense wire types.

Definition at line 495 of file configuration.cc.

◆ convert() [22/25]

crl::multisense::details::wire::SysSetPtp multisense::legacy::convert ( const MultiSenseConfig::TimeConfig & config )

Convert a TimeConfig object to a wire message.

Definition at line 271 of file configuration.cc.

◆ convert() [23/25]

crl::multisense::details::wire::SysDeviceInfo multisense::legacy::convert	(	const MultiSenseInfo::DeviceInfo &	info,
		const std::string &	key
	)

Convert our API's DeviceInfo to a wire DeviceInfo message.

Definition at line 145 of file info.cc.

◆ convert() [24/25]

crl::multisense::details::wire::SysNetwork multisense::legacy::convert ( const MultiSenseInfo::NetworkInfo & info )

Convert a API NetworkInfo into a wire message.

Definition at line 327 of file info.cc.

◆ convert() [25/25]

crl::multisense::details::wire::SysCameraCalibration multisense::legacy::convert ( const StereoCalibration & cal )

Convert our API calibration object to a wire calibration.

Definition at line 121 of file calibration.cc.

◆ convert< crl::multisense::details::wire::CamControl >()

template<>

crl::multisense::details::wire::CamControl multisense::legacy::convert< crl::multisense::details::wire::CamControl > ( const MultiSenseConfig & config )

Definition at line 162 of file configuration.cc.

◆ convert< crl::multisense::details::wire::CamSetResolution >()

template<>

crl::multisense::details::wire::CamSetResolution multisense::legacy::convert< crl::multisense::details::wire::CamSetResolution > ( const MultiSenseConfig & config )

Definition at line 145 of file configuration.cc.

◆ convert_sources() [1/2]

std::vector< DataSource > multisense::legacy::convert_sources ( const crl::multisense::details::wire::SourceType & source )

Convert wire sources to a vector of DataSources.

Definition at line 108 of file legacy/utilities.cc.

◆ convert_sources() [2/2]

crl::multisense::details::wire::SourceType multisense::legacy::convert_sources ( const std::vector< DataSource > & sources )

Convert a vector of DataSources to a wire source.

Definition at line 135 of file legacy/utilities.cc.

◆ deserialize()

template<typename T >

T multisense::legacy::deserialize ( const std::vector< uint8_t > & data )

deserialize the raw bytes of a message. Note this does not account for the wire::Header which is transmitted as part of most messages

Definition at line 61 of file message.hh.

◆ expand_source()

std::vector< DataSource > multisense::legacy::expand_source ( const DataSource & source )

Expand sources since some sources may represent multiple sources on the wire.

Definition at line 172 of file legacy/utilities.cc.

◆ get_acceleration_scale()

double multisense::legacy::get_acceleration_scale ( const std::string & units )

Get a scale for the acceleration value based on a units string.

Definition at line 249 of file legacy/utilities.cc.

◆ get_broadcast_sockaddr()

std::unique_ptr< sockaddr_in > multisense::legacy::get_broadcast_sockaddr ( uint16_t command_port )

Create a socketaddr_in object to boradcast to a given port.

Definition at line 70 of file ip.cc.

◆ get_disparities()

MultiSenseConfig::MaxDisparities multisense::legacy::get_disparities ( size_t disparity )

Convert a disparity integer to a fixed disparity setting.

Definition at line 94 of file legacy/utilities.cc.

◆ get_full_message_size()

std::optional< uint32_t > multisense::legacy::get_full_message_size ( const std::vector< uint8_t > & raw_data )

Get the size of the full message in bytes from a raw data buffer.

Definition at line 140 of file message.cc.

◆ get_gyroscope_scale()

double multisense::legacy::get_gyroscope_scale ( const std::string & units )

Get a scale for the gyroscope value based on a units string.

Definition at line 272 of file legacy/utilities.cc.

◆ get_imu_scalars()

ImuSampleScalars multisense::legacy::get_imu_scalars ( const crl::multisense::details::wire::ImuInfo & info )

Get IMU scalars from the cameras's reported IMU info.

Definition at line 316 of file legacy/utilities.cc.

◆ get_magnetometer_scale()

double multisense::legacy::get_magnetometer_scale ( const std::string & units )

Get a scale for the magnetometer value based on a units string.

Definition at line 294 of file legacy/utilities.cc.

◆ get_message_type()

crl::multisense::details::wire::IdType multisense::legacy::get_message_type ( const std::vector< uint8_t > & raw_buffer )

Get the message type of the message from the buffer over the wire. Note this does account for the wire::Header that is transmitted from the camera.

Definition at line 128 of file message.cc.

◆ get_range_index()

uint32_t multisense::legacy::get_range_index	(	const std::vector< ImuRange > &	ranges,
		const ImuRange &	range
	)

Get the index of the range in a vector of ranges.

Definition at line 238 of file legacy/utilities.cc.

◆ get_rate_index()

uint32_t multisense::legacy::get_rate_index	(	const std::vector< ImuRate > &	rates,
		const ImuRate &	rate
	)

Get the index of the rate in a vector of rates.

Definition at line 227 of file legacy/utilities.cc.

◆ get_sockaddr()

std::unique_ptr< sockaddr_in > multisense::legacy::get_sockaddr	(	const std::string &	ip_address,
		uint16_t	command_port
	)

Create a socketaddr_in object for a given IP address and port.

Definition at line 44 of file ip.cc.

◆ get_status()

Status multisense::legacy::get_status ( const crl::multisense::details::wire::Ack::AckStatus & status )

Convert a wire status to a API Status

Definition at line 72 of file legacy/utilities.cc.

◆ get_version()

MultiSenseInfo::Version multisense::legacy::get_version ( const crl::multisense::details::wire::VersionType & version )

Convert a wire version to a API Version.

Definition at line 89 of file legacy/utilities.cc.

◆ header_valid()

bool multisense::legacy::header_valid ( const std::vector< uint8_t > & raw_data )

Validate the Multisense header.

Definition at line 96 of file message.cc.

◆ is_image_source()

bool multisense::legacy::is_image_source ( const DataSource & source )

Determine if a datasource is a image source.

Definition at line 45 of file legacy/utilities.cc.

◆ is_valid()

bool multisense::legacy::is_valid ( const crl::multisense::details::wire::CameraCalData & cal )

Check if the CameraCalData object is valid.

Definition at line 42 of file calibration.cc.

◆ publish_data()

int64_t multisense::legacy::publish_data	(	const NetworkSocket &	socket,
		const std::vector< uint8_t > &	data
	)

Convenience function used to user specified data out on the host's UDP socket.

Definition at line 137 of file udp.cc.

◆ scale_calibration() [1/2]

CameraCalibration multisense::legacy::scale_calibration	(	const CameraCalibration &	input,
		double	x_scale,
		double	y_scale
	)

Scale a calibration used to update a full-res calibration based on the current operating resolution.

Definition at line 183 of file calibration.cc.

◆ scale_calibration() [2/2]

StereoCalibration multisense::legacy::scale_calibration	(	const StereoCalibration &	input,
		double	x_scale,
		double	y_scale
	)

Scale a calibration used to update a full-res calibration based on the current operating resolution.

Definition at line 201 of file calibration.cc.

◆ select_calibration()

CameraCalibration multisense::legacy::select_calibration	(	const StereoCalibration &	input,
		const DataSource &	source
	)

Get the correct calibration corresponding to the input source.

Definition at line 145 of file calibration.cc.

◆ serialize()

template<typename T >

std::vector<uint8_t> multisense::legacy::serialize	(	const T &	message,
		uint16_t	sequence_id,
		size_t	mtu
	)

Serialize a MultiSense Wire message for transmission. This adds the wire header to the message for transmission.

Definition at line 103 of file message.hh.

◆ system_ok()

bool multisense::legacy::system_ok ( const crl::multisense::details::wire::StatusResponse & status )

Summarize the status info and determine fit the MultiSense system is operating properly.

Definition at line 42 of file status.cc.

◆ unwrap_sequence_id()

int64_t multisense::legacy::unwrap_sequence_id	(	uint16_t	current_wire_id,
		int32_t	previous_wire_id,
		int64_t	current_sequence_id
	)

Unwrap a 16-bit wire sequence ID into a unique 64-bit local ID.

Unwrap the wire ID into a full 16 bit sequence ID.

Definition at line 54 of file message.cc.

◆ wait_for_ack()

template<typename QueryMessage , class Rep , class Period >

std::optional<crl::multisense::details::wire::Ack> multisense::legacy::wait_for_ack	(	MessageAssembler &	assembler,
		const NetworkSocket &	socket,
		const QueryMessage &	query,
		uint16_t	sequence_id,
		uint16_t	mtu,
		const std::optional< std::chrono::duration< Rep, Period >> &	wait_time,
		size_t	attempts = `1`
	)

Helper to wait for ack from the camera from a given query command. Once a query command is sent to the MultiSense, it Ack's the command before sending the response.

Definition at line 176 of file utilities.hh.

◆ wait_for_data()

template<typename OutputMessage , typename QueryMessage , class Rep , class Period >

std::optional<OutputMessage> multisense::legacy::wait_for_data	(	MessageAssembler &	assembler,
		const NetworkSocket &	socket,
		const QueryMessage &	query,
		uint16_t	sequence_id,
		uint16_t	mtu,
		const std::optional< std::chrono::duration< Rep, Period >> &	wait_time,
		size_t	attempts = `1`
	)

Helper to wait for data from the camera from a given query command. Once a query command is sent to the MultiSense, it Ack's the command before sending the response.

Definition at line 215 of file utilities.hh.

◆ wait_for_data_timed()

template<typename OutputMessage , typename QueryMessage , class Rep , class Period >

std::optional<TimedResponse<OutputMessage> > multisense::legacy::wait_for_data_timed	(	MessageAssembler &	assembler,
		const NetworkSocket &	socket,
		const QueryMessage &	query,
		uint16_t	sequence_id,
		uint16_t	mtu,
		const std::optional< std::chrono::duration< Rep, Period >> &	wait_time,
		size_t	attempts = `1`
	)

Helper to wait for data from the camera from a given query command. Once a query command is sent to the MultiSense, it Ack's the command before sending the response.

Definition at line 282 of file utilities.hh.

Variable Documentation

◆ all_sources

constexpr crl::multisense::details::wire::SourceType multisense::legacy::all_sources

constexpr

Initial value:

= {
    crl::multisense::details::wire::SOURCE_LUMA_LEFT |
    crl::multisense::details::wire::SOURCE_LUMA_RIGHT |
    crl::multisense::details::wire::SOURCE_COMPRESSED_LEFT |
    crl::multisense::details::wire::SOURCE_COMPRESSED_RIGHT |
    crl::multisense::details::wire::SOURCE_LUMA_RECT_LEFT |
    crl::multisense::details::wire::SOURCE_LUMA_RECT_RIGHT |
    crl::multisense::details::wire::SOURCE_COMPRESSED_RECTIFIED_LEFT |
    crl::multisense::details::wire::SOURCE_COMPRESSED_RECTIFIED_RIGHT |
    crl::multisense::details::wire::SOURCE_DISPARITY |
    crl::multisense::details::wire::SOURCE_COMPRESSED_AUX |
    crl::multisense::details::wire::SOURCE_COMPRESSED_RECTIFIED_AUX |
    crl::multisense::details::wire::SOURCE_LUMA_AUX |
    crl::multisense::details::wire::SOURCE_LUMA_RECT_AUX |
    crl::multisense::details::wire::SOURCE_CHROMA_AUX |
    crl::multisense::details::wire::SOURCE_CHROMA_RECT_AUX |
    crl::multisense::details::wire::SOURCE_DISPARITY_COST |
    crl::multisense::details::wire::SOURCE_IMU
}

All the supported wire source types created for convenience.

Definition at line 57 of file utilities.hh.

Classes

Typedefs

Functions

Variables

Typedef Documentation

◆ socket_t

Function Documentation

◆ add_wire_sample()

◆ bind()

◆ convert() [1/25]

◆ convert() [2/25]

◆ convert() [3/25]

◆ convert() [4/25]

◆ convert() [5/25]

◆ convert() [6/25]

◆ convert() [7/25]

◆ convert() [8/25]

◆ convert() [9/25]

◆ convert() [10/25]

◆ convert() [11/25]

◆ convert() [12/25]

◆ convert() [13/25]

◆ convert() [14/25]

◆ convert() [15/25]

◆ convert() [16/25]

◆ convert() [17/25]

◆ convert() [18/25]

◆ convert() [19/25]

◆ convert() [20/25]

◆ convert() [21/25]

◆ convert() [22/25]

◆ convert() [23/25]

◆ convert() [24/25]

◆ convert() [25/25]

◆ convert< crl::multisense::details::wire::CamControl >()

◆ convert< crl::multisense::details::wire::CamSetResolution >()

◆ convert_sources() [1/2]

◆ convert_sources() [2/2]

◆ deserialize()

◆ expand_source()

◆ get_acceleration_scale()

◆ get_broadcast_sockaddr()

◆ get_disparities()

◆ get_full_message_size()

◆ get_gyroscope_scale()

◆ get_imu_scalars()

◆ get_magnetometer_scale()

◆ get_message_type()

◆ get_range_index()

◆ get_rate_index()

◆ get_sockaddr()

◆ get_status()

◆ get_version()

◆ header_valid()

◆ is_image_source()

◆ is_valid()

◆ publish_data()

◆ scale_calibration() [1/2]

◆ scale_calibration() [2/2]

◆ select_calibration()

◆ serialize()

◆ system_ok()

◆ unwrap_sequence_id()

◆ wait_for_ack()

◆ wait_for_data()

◆ wait_for_data_timed()

Variable Documentation

◆ all_sources