image_exposure_msgs¶

Message types¶

• image_exposure_msgs/SequenceExposureStatistics
• image_exposure_msgs/ImageExposureStatistics
• image_exposure_msgs/ExposureSequence

image_exposure_msgs/SequenceExposureStatistics¶

Field:	exposures[] (image_exposure_msgs/ImageExposureStatistics) – underExposed (uint32) – overExposed (uint32) – meanIrradiance (float64) – minMeasurableIrradiance (float64) – maxMeasurableIrradiance (float64) – minObservedIrradiance (float64) – maxObservedIrradiance (float64) –

exposure statistics for a multi-exposure HDR sequence

# exposure statistics for a multi-exposure HDR sequence
ImageExposureStatistics[] exposures
uint32 underExposed 		# number of pixels underexposed in longest exposure
uint32 overExposed  		# number of pixels overexposed in shortest
float64 meanIrradiance 		# mean irradiance of all properly exposed pixels in all images in the sequence
float64 minMeasurableIrradiance
float64 maxMeasurableIrradiance
float64 minObservedIrradiance
float64 maxObservedIrradiance

image_exposure_msgs/ImageExposureStatistics¶

Field:	stamp (time) – time_reference (string) – shutterms (float32) – gaindb (float32) – underExposed (uint32) – overExposed (uint32) – pixelVal (statistics_msgs/Stats1D) – pixelAge (statistics_msgs/Stats1D) – meanIrradiance (float64) – minMeasurableIrradiance (float64) – maxMeasurableIrradiance (float64) – minObservedIrradiance (float64) – maxObservedIrradiance (float64) –

message for exposure statistics reported a single image

# message for exposure statistics reported a single image
time stamp         # image time stamp
string time_reference # The name of the reference clock for this message's timestamp.
float32 shutterms  # shutter durations in ms
float32 gaindb     # gain in decibels
# pixel exposure and latency statistics
uint32 underExposed # number of pixels underexposed
uint32 overExposed  # number of pixels overexposed
statistics_msgs/Stats1D pixelVal   # distribution of pixel values in the image
statistics_msgs/Stats1D pixelAge   # distribution of pixel ages in frames
# irradiance = pixelval/(shutterTime*10^(gaindb/10.0))
float64 meanIrradiance
float64 minMeasurableIrradiance
float64 maxMeasurableIrradiance
float64 minObservedIrradiance
float64 maxObservedIrradiance

image_exposure_msgs/ExposureSequence¶

Field:	header (std_msgs/Header) – shutter[] (uint32) – gain (float32) – white_balance_blue (uint16) – white_balance_red (uint16) –

exposure sequence (for mult-exposure HDR)

# exposure sequence (for mult-exposure HDR)
Header header
uint32[]  shutter    	     # Time duration (microseconds) the shutter was open.
float32 gain                 # Gain (in dB) applied to the images in the sequence.
uint16 white_balance_blue    # White balance in blue.
uint16 white_balance_red     # White balance in red.