This class allows you to view/edit the camera settings. More...

#include <camera_config.hpp>

Inheritance diagram for chronoptics::tof::CameraConfig:

Public Member Functions
	CameraConfig (tof_camera_config_t ptr=nullptr)
	Construct from pointer.

	CameraConfig (StringView file_location)
	Read camera config from disk.

void	write (StringView file_location) const
	Write camera config to disk.

CameraType	get_type () const
	Get the camera type.

void	reset ()
	Reset camera config to default.

size_t	frame_size () const
	Get the amount of frames in the config.

void	add_frame ()
	Add a default frame to the camera config.

ProcessingConfig	default_processing () const
	Generate default processing config from camera configuration.

void	erase_frame (size_t frame)
	Erase specified frame.

std::vector< float >	get_phase_shifts (size_t frame) const
	Get the phase shifts.

void	set_phase_shifts (size_t frame, const std::vector< float > &phase_shifts)
	Set the phase shifts.

std::vector< uint32_t >	get_integration_time (size_t frame) const
	Get the integration time.

void	set_integration_time (size_t frame, const std::vector< uint32_t > &integration_time)
	Set the integration time.

SensorMode	get_sensor_mode (size_t frame) const
	Get the mode to set the camera's depth sensor to.

void	set_sensor_mode (size_t frame, SensorMode sensor_mode)
	Set the mode to set the camera's depth sensor to.

float	get_modulation_frequency (size_t frame) const
	Get the modulation frequency.

void	set_modulation_frequency (size_t frame, float modulation_frequency)
	Set the modulation frequency.

float	get_duty_cycle (size_t frame) const
	Get the duty cycle.

void	set_duty_cycle (size_t frame, float duty_cycle)
	Set the duty cycle.

Roi	get_roi (size_t frame) const
	Get the region of interest.

void	set_roi (size_t frame, Roi &roi)
	Set the region of interest.

uint8_t	get_binning (size_t frame) const
	Get the amount of binning.

void	set_binning (size_t frame, uint8_t binning)
	Set the amount of binning.

bool	get_flip (size_t frame) const
	Get is the image flipped.

void	set_flip (size_t frame, bool flip)
	Set is the image flipped.

bool	get_mirror (size_t frame) const
	Get is the image mirrored.

void	set_mirror (size_t frame, bool mirror)
	Set is the image mirrored.

float	get_gain () const
	Get the image sensor gain.

void	set_gain (float gain)
	Set the image sensor gain.

int32_t	get_sync_mode () const
	Get the kind of camera synchronization.

void	set_sync_mode (int32_t sync_mode)
	Set the kind of camera synchronization.

std::vector< uint32_t >	maximum_integration_time (size_t frame)
	Get the maximum integration time possible.

std::vector< uint16_t >	get_dac () const
	Get the DAC gain.

void	set_dac (const std::vector< uint16_t > &dac)
	Set the DAC gain.

int32_t	get_mlx_mipi_speed () const
	Get the mipi speed for the MLX75027.

void	set_mlx_mipi_speed (int32_t mipi_speed)
	Set the mipi speed for the MLX75027.

int32_t	get_mipi_speed () const
	Get the mipi speed.

void	set_mipi_speed (int32_t mipi_speed)
	Set the mipi speed.

uint32_t	get_mlx_preheat (size_t frame) const
	Get the preheat time.

void	set_mlx_preheat (size_t frame, uint32_t preheat)
	Set the preheat time.

bool	get_mlx_preheat_enable (size_t frame) const
	Get enable preheat.

void	set_mlx_preheat_enable (size_t frame, bool enable)
	Set enable preheat.

void	set_opt_kea_nios_hex (StringView file_location)
	Set the Nios hex for the keaB cameras.

std::array< int32_t, 2 >	get_opt_kea_sub_quad () const
	Get the opt8241 number of sub and quad frames.

void	set_opt_kea_sub_quad (const std::array< int32_t, 2 > &subs_quads)
	Set the opt8241 number of sub and quad frames.

ProcessingConfig	get_processing () const
	Get the processing configuration for when the depth is calculated on camera.

void	set_processing (ProcessingConfig &processing)
	Set the processing configuration for when the depth is calculated on camera.

uint32_t	get_frame_time (size_t frame) const
	Get the time this depth frame will take.

void	set_frame_time (size_t frame, uint32_t frame_time)
	Set the time this depth frame will take.

std::array< float, 2 >	get_global_phase_offset (size_t frame) const
	Get phase offset for illumination and sensor.

void	set_global_phase_offset (size_t frame, const std::array< float, 2 > &phase_offset)
	Set phase offset for illumination and sensor.

uint8_t	get_illumination_mode (size_t frame) const
	Get the illumination mode.

void	set_illumination_mode (size_t frame, uint8_t illumination_mode)
	Set the illumination mode.

std::vector< float >	get_image_offsets (size_t frame) const
	Get the image offsets.

void	set_image_offsets (size_t frame, const std::vector< float > &image_offsets)
	Set the image offsets.

size_t	get_rgb_width ()
	Get the width of the rgb sensor.

size_t	get_rgb_height ()
	Get the height of the rgb sensor.

TriggerMode	get_trigger_mode () const
	Get the trigger mode.

void	set_trigger_mode (TriggerMode trigger_mode)
	Set the trigger mode.

float	get_depth_fps ()
	Get the maximum theoretical fps the camera can run.

Detailed Description

This class allows you to view/edit the camera settings.

Definition at line 124 of file camera_config.hpp.

Constructor & Destructor Documentation

◆ CameraConfig() [1/2]

chronoptics::tof::CameraConfig::CameraConfig ( tof_camera_config_t ptr = nullptr )

inline

Construct from pointer.

Definition at line 127 of file camera_config.hpp.

◆ CameraConfig() [2/2]

chronoptics::tof::CameraConfig::CameraConfig ( StringView file_location )

inline

Read camera config from disk.

Parameters

file_location Location of camera config on disk

Definition at line 134 of file camera_config.hpp.

Member Function Documentation

◆ add_frame()

void chronoptics::tof::CameraConfig::add_frame ( )

inline

Add a default frame to the camera config.

Definition at line 169 of file camera_config.hpp.

◆ default_processing()

ProcessingConfig chronoptics::tof::CameraConfig::default_processing ( ) const

inline

Generate default processing config from camera configuration.

Returns: The default processing config

Definition at line 176 of file camera_config.hpp.

◆ erase_frame()

void chronoptics::tof::CameraConfig::erase_frame ( size_t frame )

inline

Erase specified frame.

Parameters

frame Frame number

Definition at line 186 of file camera_config.hpp.

◆ frame_size()

size_t chronoptics::tof::CameraConfig::frame_size ( ) const

inline

Get the amount of frames in the config.

Having multiple frames allows you to configure different modulation frequencies or integration times per frame.

Returns: Frame size

Definition at line 163 of file camera_config.hpp.

◆ get_binning()

uint8_t chronoptics::tof::CameraConfig::get_binning ( size_t frame ) const

inline

Get the amount of binning.

Parameters

frame Frame number

Returns: Amount of binning 0=none, 1=x2, 2=x4, 3=x8

Definition at line 301 of file camera_config.hpp.

◆ get_dac()

std::vector< uint16_t > chronoptics::tof::CameraConfig::get_dac ( ) const

inline

Get the DAC gain.

Returns: The DAC gain

Definition at line 389 of file camera_config.hpp.

◆ get_depth_fps()

float chronoptics::tof::CameraConfig::get_depth_fps ( )

inline

Get the maximum theoretical fps the camera can run.

Returns: The fps in Hz

Definition at line 620 of file camera_config.hpp.

◆ get_duty_cycle()

float chronoptics::tof::CameraConfig::get_duty_cycle ( size_t frame ) const

inline

Get the duty cycle.

Parameters

frame Frame number

Returns: Duty cycle 0.0 to 1.0

Definition at line 266 of file camera_config.hpp.

◆ get_flip()

bool chronoptics::tof::CameraConfig::get_flip ( size_t frame ) const

inline

Get is the image flipped.

Parameters

frame Frame number

Returns: Image is flipped

Definition at line 317 of file camera_config.hpp.

◆ get_frame_time()

uint32_t chronoptics::tof::CameraConfig::get_frame_time ( size_t frame ) const

inline

Get the time this depth frame will take.

This is useful when you want a steady but lower framerate.

Parameters

frame Frame number

Returns: Frame time in micro seconds

Definition at line 512 of file camera_config.hpp.

◆ get_gain()

float chronoptics::tof::CameraConfig::get_gain ( ) const

inline

Get the image sensor gain.

Returns: Image sensor gain

Definition at line 348 of file camera_config.hpp.

◆ get_global_phase_offset()

std::array< float, 2 > chronoptics::tof::CameraConfig::get_global_phase_offset ( size_t frame ) const

inline

Get phase offset for illumination and sensor.

The phase offsets are two floating point values corresponding to the phase delay for the illumination and sensor respectively. The values should be between 0.0 and 1.0 where 0.0 is no phase offset and 1.0 is 360 degree phase offset

Parameters

frame Frame number

Returns: Image is mirrored

Definition at line 532 of file camera_config.hpp.

◆ get_illumination_mode()

uint8_t chronoptics::tof::CameraConfig::get_illumination_mode ( size_t frame ) const

inline

Get the illumination mode.

Parameters

frame Frame number

Returns: Illumination mode. 0 is actively modulating, 2 is active low (illumination disabled) and 3 is active high

Definition at line 555 of file camera_config.hpp.

◆ get_image_offsets()

std::vector< float > chronoptics::tof::CameraConfig::get_image_offsets ( size_t frame ) const

inline

Get the image offsets.

This configuration is only for sensors with column phase offsets.

Parameters

frame Frame number

Returns: The image offset per column in 0.0 to 1.0

Definition at line 573 of file camera_config.hpp.

◆ get_integration_time()

std::vector< uint32_t > chronoptics::tof::CameraConfig::get_integration_time ( size_t frame ) const

inline

Get the integration time.

Parameters

frame Frame number

Returns: Integration time in micro seconds

Definition at line 215 of file camera_config.hpp.

◆ get_mipi_speed()

int32_t chronoptics::tof::CameraConfig::get_mipi_speed ( ) const

inline

Get the mipi speed.

Returns: The mipi speed

Definition at line 421 of file camera_config.hpp.

◆ get_mirror()

bool chronoptics::tof::CameraConfig::get_mirror ( size_t frame ) const

inline

Get is the image mirrored.

Parameters

frame Frame number

Returns: Image is mirrored

Definition at line 333 of file camera_config.hpp.

◆ get_mlx_mipi_speed()

int32_t chronoptics::tof::CameraConfig::get_mlx_mipi_speed ( ) const

inline

Get the mipi speed for the MLX75027.

Returns: The mipi speed. Can only be the values 300, 600, 704, 800 and 960

Definition at line 406 of file camera_config.hpp.

◆ get_mlx_preheat()

uint32_t chronoptics::tof::CameraConfig::get_mlx_preheat ( size_t frame ) const

inline

Get the preheat time.

Parameters

frame Frame number

Returns: The preheat time

Definition at line 436 of file camera_config.hpp.

◆ get_mlx_preheat_enable()

bool chronoptics::tof::CameraConfig::get_mlx_preheat_enable ( size_t frame ) const

inline

Get enable preheat.

Parameters

frame Frame number

Returns: Enable preheating

Definition at line 452 of file camera_config.hpp.

◆ get_modulation_frequency()

float chronoptics::tof::CameraConfig::get_modulation_frequency ( size_t frame ) const

inline

Get the modulation frequency.

Parameters

frame Frame number

Returns: Modulation frequency in MHz

Definition at line 250 of file camera_config.hpp.

◆ get_opt_kea_sub_quad()

std::array< int32_t, 2 > chronoptics::tof::CameraConfig::get_opt_kea_sub_quad ( ) const

inline

Get the opt8241 number of sub and quad frames.

Returns: Number of subs and quads respectively

Definition at line 474 of file camera_config.hpp.

◆ get_phase_shifts()

std::vector< float > chronoptics::tof::CameraConfig::get_phase_shifts ( size_t frame ) const

inline

Get the phase shifts.

Value ranges from 0.0 to 1.0 which translates to 0-2 pi

Parameters

frame Frame number

Returns: Phase shifts

Definition at line 195 of file camera_config.hpp.

◆ get_processing()

ProcessingConfig chronoptics::tof::CameraConfig::get_processing ( ) const

inline

Get the processing configuration for when the depth is calculated on camera.

Returns: The pipeline processing to be done on camera

Definition at line 492 of file camera_config.hpp.

◆ get_rgb_height()

size_t chronoptics::tof::CameraConfig::get_rgb_height ( )

inline

Get the height of the rgb sensor.

Returns: Height in pixels

Definition at line 599 of file camera_config.hpp.

◆ get_rgb_width()

size_t chronoptics::tof::CameraConfig::get_rgb_width ( )

inline

Get the width of the rgb sensor.

Returns: Width in pixels

Definition at line 592 of file camera_config.hpp.

◆ get_roi()

Roi chronoptics::tof::CameraConfig::get_roi ( size_t frame ) const

inline

Get the region of interest.

Parameters

frame Frame number

Returns: Region of interest

Definition at line 282 of file camera_config.hpp.

◆ get_sensor_mode()

SensorMode chronoptics::tof::CameraConfig::get_sensor_mode ( size_t frame ) const

inline

Get the mode to set the camera's depth sensor to.

Parameters

frame Frame number

Returns: Sensor mode

Definition at line 234 of file camera_config.hpp.

◆ get_sync_mode()

int32_t chronoptics::tof::CameraConfig::get_sync_mode ( ) const

inline

Get the kind of camera synchronization.

Returns: The kind of sync mode. 0 waits for the vsync pulse before starting the next frame. 1 optional vsync 2 is no frame syncing

Definition at line 363 of file camera_config.hpp.

◆ get_trigger_mode()

TriggerMode chronoptics::tof::CameraConfig::get_trigger_mode ( ) const

inline

Get the trigger mode.

Returns: The trigger mode of the camera

Definition at line 606 of file camera_config.hpp.

◆ get_type()

CameraType chronoptics::tof::CameraConfig::get_type ( ) const

inline

Get the camera type.

Returns: Camera type

Definition at line 148 of file camera_config.hpp.

◆ maximum_integration_time()

std::vector< uint32_t > chronoptics::tof::CameraConfig::maximum_integration_time ( size_t frame )

inline

Get the maximum integration time possible.

Parameters

frame Frame number

Returns: Maximum integration time in micro seconds

Definition at line 379 of file camera_config.hpp.

◆ reset()

void chronoptics::tof::CameraConfig::reset ( )

inline

Reset camera config to default.

Definition at line 154 of file camera_config.hpp.

◆ set_binning()

void chronoptics::tof::CameraConfig::set_binning	(	size_t	frame,
		uint8_t	binning
	)

inline

Set the amount of binning.

Parameters

frame	Frame number
binning	Amount of binning 0=none, 1=x2, 2=x4, 3=x8

Definition at line 309 of file camera_config.hpp.

◆ set_dac()

void chronoptics::tof::CameraConfig::set_dac ( const std::vector< uint16_t > & dac )

inline

Set the DAC gain.

Parameters

dac	The DAC gain

Definition at line 399 of file camera_config.hpp.

◆ set_duty_cycle()

void chronoptics::tof::CameraConfig::set_duty_cycle	(	size_t	frame,
		float	duty_cycle
	)

inline

Set the duty cycle.

Parameters

frame	Frame number
duty_cycle	Duty cycle 0.0 to 1.0

Definition at line 274 of file camera_config.hpp.

◆ set_flip()

void chronoptics::tof::CameraConfig::set_flip	(	size_t	frame,
		bool	flip
	)

inline

Set is the image flipped.

Parameters

frame	Frame number
flip	Image is flipped

Definition at line 325 of file camera_config.hpp.

◆ set_frame_time()

void chronoptics::tof::CameraConfig::set_frame_time	(	size_t	frame,
		uint32_t	frame_time
	)

inline

Set the time this depth frame will take.

This is useful when you want a steady but lower framerate.

Parameters

frame	Frame number
frame_time	Frame time in micro seconds

Definition at line 521 of file camera_config.hpp.

◆ set_gain()

void chronoptics::tof::CameraConfig::set_gain ( float gain )

inline

Set the image sensor gain.

Parameters

gain	Image sensor gain

Definition at line 355 of file camera_config.hpp.

◆ set_global_phase_offset()

void chronoptics::tof::CameraConfig::set_global_phase_offset	(	size_t	frame,
		const std::array< float, 2 > &	phase_offset
	)

inline

Set phase offset for illumination and sensor.

The phase offsets are two floating point values corresponding to the phase delay for the illumination and sensor respectively. The values should be between 0.0 and 1.0 where 0.0 is no phase offset and 1.0 is 360 degree phase offset

Parameters

frame	Frame number
phase_offset	Image is mirrored

Definition at line 546 of file camera_config.hpp.

◆ set_illumination_mode()

void chronoptics::tof::CameraConfig::set_illumination_mode	(	size_t	frame,
		uint8_t	illumination_mode
	)

inline

Set the illumination mode.

Parameters

frame	Frame number
illumination_mode	Illumination mode. 0 is actively modulating, 2 is active low (illumination disabled) and 3 is active high

Definition at line 564 of file camera_config.hpp.

◆ set_image_offsets()

void chronoptics::tof::CameraConfig::set_image_offsets	(	size_t	frame,
		const std::vector< float > &	image_offsets
	)

inline

Set the image offsets.

This configuration is only for sensors with column phase offsets.

Parameters

frame	Frame number
image_offsets	The image offset per column in 0.0 to 1.0

Definition at line 585 of file camera_config.hpp.

◆ set_integration_time()

void chronoptics::tof::CameraConfig::set_integration_time	(	size_t	frame,
		const std::vector< uint32_t > &	integration_time
	)

inline

Set the integration time.

Parameters

frame	Frame number
integration_time	Integration time in micro seconds

Definition at line 226 of file camera_config.hpp.

◆ set_mipi_speed()

void chronoptics::tof::CameraConfig::set_mipi_speed ( int32_t mipi_speed )

inline

Set the mipi speed.

Parameters

mipi_speed The mipi speed

Definition at line 428 of file camera_config.hpp.

◆ set_mirror()

void chronoptics::tof::CameraConfig::set_mirror	(	size_t	frame,
		bool	mirror
	)

inline

Set is the image mirrored.

Parameters

frame	Frame number
mirror	Image is mirrored

Definition at line 341 of file camera_config.hpp.

◆ set_mlx_mipi_speed()

void chronoptics::tof::CameraConfig::set_mlx_mipi_speed ( int32_t mipi_speed )

inline

Set the mipi speed for the MLX75027.

Parameters

mipi_speed The mipi speed. Can only be the values 300, 600, 704, 800 and 960

Definition at line 414 of file camera_config.hpp.

◆ set_mlx_preheat()

void chronoptics::tof::CameraConfig::set_mlx_preheat	(	size_t	frame,
		uint32_t	preheat
	)

inline

Set the preheat time.

Parameters

frame	Frame number
preheat	The preheat time

Definition at line 444 of file camera_config.hpp.

◆ set_mlx_preheat_enable()

void chronoptics::tof::CameraConfig::set_mlx_preheat_enable	(	size_t	frame,
		bool	enable
	)

inline

Set enable preheat.

Parameters

frame	Frame number
enable	Enable preheating

Definition at line 460 of file camera_config.hpp.

◆ set_modulation_frequency()

void chronoptics::tof::CameraConfig::set_modulation_frequency	(	size_t	frame,
		float	modulation_frequency
	)

inline

Set the modulation frequency.

Parameters

frame	Frame number
modulation_frequency	Modulation frequency in MHz

Definition at line 258 of file camera_config.hpp.

◆ set_opt_kea_nios_hex()

void chronoptics::tof::CameraConfig::set_opt_kea_nios_hex ( StringView file_location )

inline

Set the Nios hex for the keaB cameras.

Parameters

file_location File location of the nios hex file

Definition at line 467 of file camera_config.hpp.

◆ set_opt_kea_sub_quad()

void chronoptics::tof::CameraConfig::set_opt_kea_sub_quad ( const std::array< int32_t, 2 > & subs_quads )

inline

Set the opt8241 number of sub and quad frames.

Parameters

subs_quads Number of subs and quads respectively

Definition at line 484 of file camera_config.hpp.

◆ set_phase_shifts()

void chronoptics::tof::CameraConfig::set_phase_shifts	(	size_t	frame,
		const std::vector< float > &	phase_shifts
	)

inline

Set the phase shifts.

Value ranges from 0.0 to 1.0 which translates to 0-2 pi

Parameters

frame	Frame number
phase_shifts	Phase shifts

Definition at line 207 of file camera_config.hpp.

◆ set_processing()

void chronoptics::tof::CameraConfig::set_processing ( ProcessingConfig & processing )

inline

Set the processing configuration for when the depth is calculated on camera.

Parameters

processing The pipeline processing to be done on camera

Definition at line 503 of file camera_config.hpp.

◆ set_roi()

void chronoptics::tof::CameraConfig::set_roi	(	size_t	frame,
		Roi &	roi
	)

inline

Set the region of interest.

Parameters

frame	Frame number
roi	Region of interest

Definition at line 293 of file camera_config.hpp.

◆ set_sensor_mode()

void chronoptics::tof::CameraConfig::set_sensor_mode	(	size_t	frame,
		SensorMode	sensor_mode
	)

inline

Set the mode to set the camera's depth sensor to.

Parameters

frame	Frame number
sensor_mode	Sensor mode

Definition at line 242 of file camera_config.hpp.

◆ set_sync_mode()

void chronoptics::tof::CameraConfig::set_sync_mode ( int32_t sync_mode )

inline

Set the kind of camera synchronization.

Parameters

sync_mode The kind of sync mode. 0 waits for the vsync pulse before starting the next frame. 1 optional vsync 2 is no frame syncing

Definition at line 371 of file camera_config.hpp.

◆ set_trigger_mode()

void chronoptics::tof::CameraConfig::set_trigger_mode ( TriggerMode trigger_mode )

inline

Set the trigger mode.

Parameters

trigger_mode The trigger mode of the camera

Definition at line 613 of file camera_config.hpp.

◆ write()

void chronoptics::tof::CameraConfig::write ( StringView file_location ) const

inline

Write camera config to disk.

Parameters

file_location Location to save camera config to

Definition at line 141 of file camera_config.hpp.

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ CameraConfig() [1/2]

◆ CameraConfig() [2/2]

Member Function Documentation

◆ add_frame()

◆ default_processing()

◆ erase_frame()

◆ frame_size()

◆ get_binning()

◆ get_dac()

◆ get_depth_fps()

◆ get_duty_cycle()

◆ get_flip()

◆ get_frame_time()

◆ get_gain()

◆ get_global_phase_offset()

◆ get_illumination_mode()

◆ get_image_offsets()

◆ get_integration_time()

◆ get_mipi_speed()

◆ get_mirror()

◆ get_mlx_mipi_speed()

◆ get_mlx_preheat()

◆ get_mlx_preheat_enable()

◆ get_modulation_frequency()

◆ get_opt_kea_sub_quad()

◆ get_phase_shifts()

◆ get_processing()

◆ get_rgb_height()

◆ get_rgb_width()

◆ get_roi()

◆ get_sensor_mode()

◆ get_sync_mode()

◆ get_trigger_mode()

◆ get_type()

◆ maximum_integration_time()

◆ reset()

◆ set_binning()

◆ set_dac()

◆ set_duty_cycle()

◆ set_flip()

◆ set_frame_time()

◆ set_gain()

◆ set_global_phase_offset()

◆ set_illumination_mode()

◆ set_image_offsets()

◆ set_integration_time()

◆ set_mipi_speed()

◆ set_mirror()

◆ set_mlx_mipi_speed()

◆ set_mlx_preheat()

◆ set_mlx_preheat_enable()

◆ set_modulation_frequency()

◆ set_opt_kea_nios_hex()

◆ set_opt_kea_sub_quad()

◆ set_phase_shifts()

◆ set_processing()

◆ set_roi()

◆ set_sensor_mode()

◆ set_sync_mode()

◆ set_trigger_mode()

◆ write()