This stage connects to a MultiSense device, allowing you to receive camera images over some number of channels, and publishing them to the rest of the pipeline.
There are many configuration options for the MultiSense. A simple example is to request a subset of channels:
config: default: sensor_address: "192.168.0.1" desired_image_width: 1920 desired_image_height: 1080 desired_frame_rate: 10 desired_sources: - Luma_Left - Luma_Right - Luma_Rectified_Left - Disparity_Left
Please see the
the full list of configurable parameters. There are many parameters related to exposure
and white balance that are not listed here.
Each camera frame that is read from the video capture stage
is packaged into a
CameraImage struct and published over
an image channel.
The channel names are:
Additionally, the configured
MultiSenseInterfaceStageConfig is emitted on the
channel, (be sure to apply the proper namespace to receive the channel data). The
AutoExposureConfig may be modified dynamically via the
As an example, the exposure configuration can be changed to balance sun exposure.
You can also request that a pattern is emitted, by publishing
MultiSensePatternProjectionRequest onto the
Various pieces of statistics and debugging information are regularly output on these channels: