The Device information associated with the MultiSense. The DeviceInfo is used to determine what features the MultiSense offers, and provides debug information to the Carnegie Robotics' team. The DeviceInfo can only be set at the factory. More...

#include <MultiSenseTypes.hh>

Classes
struct	PcbInfo
	Info for the PCBs contained in the unit. More...

Public Types
enum	HardwareRevision : uint8_t { HardwareRevision::UNKNOWN, HardwareRevision::S7, HardwareRevision::S21, HardwareRevision::ST21, HardwareRevision::S27, HardwareRevision::S30, HardwareRevision::KS21, HardwareRevision::MONOCAM, HardwareRevision::KS21_SILVER, HardwareRevision::ST25, HardwareRevision::KS21i }
	MultiSense Hardware revisions. More...

enum	ImagerType : uint8_t { ImagerType::UNKNOWN, ImagerType::CMV2000_GREY, ImagerType::CMV2000_COLOR, ImagerType::CMV4000_GREY, ImagerType::CMV4000_COLOR, ImagerType::FLIR_TAU2, ImagerType::AR0234_GREY, ImagerType::AR0239_COLOR, ImagerType::TENUM1280 }
	Different imager types. More...

enum	LensType : uint8_t { LensType::UNKNOWN, LensType::STANDARD, LensType::FISHEYE }
	MultiSense lens types. More...

enum	LightingType : uint8_t { LightingType::NONE, LightingType::INTERNAL, LightingType::EXTERNAL, LightingType::PATTERN_PROJECTOR, LightingType::OUTPUT_TRIGGER, LightingType::PATTERN_PROJECTOR_OUTPUT_TRIGGER }
	MultiSense lighting types. More...

Public Member Functions
constexpr bool	has_aux_camera () const
	Determine if the MultiSense has a Aux color camera. More...

constexpr bool	has_main_stereo_color () const
	Determine if the MultiSense's main stereo pair supports color. More...

Public Attributes
std::string	build_date {}
	The date the MultiSense was manufactured This value can store at most 32 characters. More...

std::string	camera_name {}
	The name of the MultiSense variant. This value can store at most 32 characters. More...

HardwareRevision	hardware_revision {}
	The hardware revision of the MultiSense. More...

uint32_t	imager_height = 0
	The native height of the primary imager. More...

std::string	imager_name {}
	The name of the imager used by the primary camera. For stereo cameras this is the Left/Right stereo pair. For mono cameras this is the single imager This value can store at most 32 characters. More...

ImagerType	imager_type {}
	The type of the imager. More...

uint32_t	imager_width = 0
	The native width of the primary imager. More...

std::string	lens_name {}
	The name of the lens used for the primary camera For stereo cameras this is the Left/Right stereo pair. For mono cameras this is the single camera This value can store at most 32 characters. More...

LensType	lens_type {}
	The type of the primary imager. More...

LightingType	lighting_type {}
	The type of lighting used in the MultiSense. More...

float	nominal_focal_length = 0.0f
	The nominal focal length for the primary lens in meters. More...

float	nominal_relative_aperture = 0.0f
	The nominal relative aperture for the primary camera modules in f-stop. More...

float	nominal_stereo_baseline = 0.0f
	The nominal stereo baseline in meters. More...

uint32_t	number_of_lights = 0
	The number of lights the MultiSense controls. More...

std::vector< PcbInfo >	pcb_info {}
	Information about each PCB. More...

std::string	serial_number {}
	The unique serial number of the MultiSense This value can store at most 32 characters. More...

Detailed Description

The Device information associated with the MultiSense. The DeviceInfo is used to determine what features the MultiSense offers, and provides debug information to the Carnegie Robotics' team. The DeviceInfo can only be set at the factory.

Definition at line 1290 of file LibMultiSense/include/MultiSense/MultiSenseTypes.hh.

Member Enumeration Documentation

◆ HardwareRevision

enum multisense::MultiSenseInfo::DeviceInfo::HardwareRevision : uint8_t

strong

MultiSense Hardware revisions.

Enumerator
UNKNOWN
S7
S21
ST21
S27
S30
KS21
MONOCAM
KS21_SILVER
ST25
KS21i

Definition at line 1310 of file LibMultiSense/include/MultiSense/MultiSenseTypes.hh.

◆ ImagerType

enum multisense::MultiSenseInfo::DeviceInfo::ImagerType : uint8_t

strong

Different imager types.

Enumerator
UNKNOWN
CMV2000_GREY
CMV2000_COLOR
CMV4000_GREY
CMV4000_COLOR
FLIR_TAU2
AR0234_GREY
AR0239_COLOR
TENUM1280

Definition at line 1328 of file LibMultiSense/include/MultiSense/MultiSenseTypes.hh.

◆ LensType

enum multisense::MultiSenseInfo::DeviceInfo::LensType : uint8_t

strong

MultiSense lens types.

Enumerator
UNKNOWN
STANDARD
FISHEYE

Definition at line 1376 of file LibMultiSense/include/MultiSense/MultiSenseTypes.hh.

◆ LightingType

enum multisense::MultiSenseInfo::DeviceInfo::LightingType : uint8_t

strong

MultiSense lighting types.

Enumerator
NONE	No lights.
INTERNAL	Lights driven internally.
EXTERNAL	Drive lights via an external output.
PATTERN_PROJECTOR	A pattern projector.
OUTPUT_TRIGGER	A GPIO line is used to trigger an external light.
PATTERN_PROJECTOR_OUTPUT_TRIGGER	A pattern projector with a GPIO line used to trigger a external light.

Definition at line 1344 of file LibMultiSense/include/MultiSense/MultiSenseTypes.hh.

Member Function Documentation

◆ has_aux_camera()

constexpr bool multisense::MultiSenseInfo::DeviceInfo::has_aux_camera ( ) const

inlineconstexpr

Determine if the MultiSense has a Aux color camera.

Definition at line 1473 of file LibMultiSense/include/MultiSense/MultiSenseTypes.hh.

◆ has_main_stereo_color()

constexpr bool multisense::MultiSenseInfo::DeviceInfo::has_main_stereo_color ( ) const

inlineconstexpr

Determine if the MultiSense's main stereo pair supports color.

Definition at line 1489 of file LibMultiSense/include/MultiSense/MultiSenseTypes.hh.

Member Data Documentation

◆ build_date

std::string multisense::MultiSenseInfo::DeviceInfo::build_date {}

The date the MultiSense was manufactured This value can store at most 32 characters.

Definition at line 1393 of file LibMultiSense/include/MultiSense/MultiSenseTypes.hh.

◆ camera_name

std::string multisense::MultiSenseInfo::DeviceInfo::camera_name {}

The name of the MultiSense variant. This value can store at most 32 characters.

Definition at line 1387 of file LibMultiSense/include/MultiSense/MultiSenseTypes.hh.

◆ hardware_revision

HardwareRevision multisense::MultiSenseInfo::DeviceInfo::hardware_revision {}

The hardware revision of the MultiSense.

Definition at line 1404 of file LibMultiSense/include/MultiSense/MultiSenseTypes.hh.

◆ imager_height

uint32_t multisense::MultiSenseInfo::DeviceInfo::imager_height = 0

The native height of the primary imager.

Definition at line 1431 of file LibMultiSense/include/MultiSense/MultiSenseTypes.hh.

◆ imager_name

std::string multisense::MultiSenseInfo::DeviceInfo::imager_name {}

The name of the imager used by the primary camera. For stereo cameras this is the Left/Right stereo pair. For mono cameras this is the single imager This value can store at most 32 characters.

Definition at line 1416 of file LibMultiSense/include/MultiSense/MultiSenseTypes.hh.

◆ imager_type

ImagerType multisense::MultiSenseInfo::DeviceInfo::imager_type {}

The type of the imager.

Definition at line 1421 of file LibMultiSense/include/MultiSense/MultiSenseTypes.hh.

◆ imager_width

uint32_t multisense::MultiSenseInfo::DeviceInfo::imager_width = 0

The native width of the primary imager.

Definition at line 1426 of file LibMultiSense/include/MultiSense/MultiSenseTypes.hh.

◆ lens_name

std::string multisense::MultiSenseInfo::DeviceInfo::lens_name {}

The name of the lens used for the primary camera For stereo cameras this is the Left/Right stereo pair. For mono cameras this is the single camera This value can store at most 32 characters.

Definition at line 1438 of file LibMultiSense/include/MultiSense/MultiSenseTypes.hh.