C++ (Ubuntu)¶

This topic introduces how to configure the Mech-Eye API C++ samples with CMake and then build the samples with the make command on Ubuntu.

Sample List
Prerequisites
Build and Run Samples

Sample List ¶

Samples are divided into six categories, Basic, Advanced, Util, Laser, UHP and Halcon.

Basic: camera connection and basic capturing functions.
Advanced: advanced capturing functions.
Util: obtain information from a camera and set camera parameters.
Laser: for Laser, LSR and DEEP series cameras only.
UHP: for UHP series cameras only.
Calibration: perform hand-eye calibration through Mech-Eye API.
Halcon: obtain HALCON-readable point clouds through Mech-Eye API.

Prerequisites ¶

In order to use the C++ samples of Mech-Eye API, the following prerequisites must be satisfied.

Connect the camera and IPC correctly.
The version of the Ubuntu operating system is 18 or above.
Install the required software.
Install the optional software on which samples depend.

Attention

If using a Ubuntu virtual machine, please ensure that the available disk space is greater than 20 GB. Otherwise, installation of the software may fail.

For instructions on installing the required and optional software, please refer to the following sections.

Install Required Software
Install Optional Software

Install Required Software ¶

In order to use the C++ samples of Mech-Eye API, the software source list must be updated, and Mech-Eye SDK and dependencies must be installed.

Update software source list.
sudo apt-get update

Install dependencies.

sudo apt-get install -y build-essential pkg-config cmake

Install Mech-Eye SDK according to Install Mech-Eye SDK on Ubuntu.

Once Mech-Eye SDK is successfully installed, the Mech-Eye API C++ samples are located in /opt/mech-mind/mech-eye-sdk/samples/.

Some samples contain functions that depend on the following third-party software libraries. If you need to use the samples listed in the table below, you must install the software on which the samples depend.

OpenCV: latest version
PCL: latest version
HALCON: version 20.11 or above

Note

HALCON versions below 20.11 are not fully tested.

Attention

If any of the optional software is not installed, then you must complete the steps in Disable Unneeded Samples (Optional) before configuring the samples.

Refer to the following table for the samples that depend on third-party software libraries.

Sample	OpenCV	PCL	HALCON
CaptureColorMap	√
CaptureDepthMap	√
CapturePointCloud		√
CaptureHDRPointCloud		√
CapturePointCloudROI		√
CapturePointCloudFromTextureMask		√
CaptureCloudFromDepth		√
CaptureTimedAndPeriodically	√	√
CaptureSimultaneouslyMultiCamera	√	√
CaptureSequentiallyMultiCamera	√	√
CaptureHalconPointCloud		√	√

Install OpenCV.

sudo apt update && sudo apt install -y unzip
wget -O opencv.zip https://github.com/opencv/opencv/archive/4.x.zip
unzip opencv.zip
mkdir build && cd build
cmake ../opencv-4.x
cmake --build .
sudo make install

Install PCL.
```
sudo apt-get install libpcl-dev
```
Note

On different versions of Ubuntu, this command installs different versions of PCL. On Ubuntu 18.04, PCL 1.8.1 is installed; on Ubunt 20.04, PCL 1.10.0 is installed.

Install HALCON and add environmental variables.

After downloading HALCON installer, use the following command to install HALCON (taking version 20.11 as an example):

tar zxvf halcon-20.11.3.0-linux.tar.gz
sudo sh install-linux.sh #Note down the installation directory of HALCON.

Add HALCON-relevant environment variables: open /etc/profile in an editor (such as vi) and paste the following lines to the end of the file. Replace /opt/halcon with the actuall installation directory of HALCON.

HALCONARCH=x64-linux; export HALCONARCH
HALCONROOT="/opt/halcon"; export HALCONROOT
HALCONEXAMPLES=${HALCONROOT}/examples; export HALCONEXAMPLES
HALCONIMAGES=${HALCONROOT}/examples/images; export HALCONIMAGES
PATH=${HALCONROOT}/bin/${HALCONARCH}:${PATH}; export PATH
if [ ${LD_LIBRARY_PATH} ] ; then
   LD_LIBRARY_PATH=${HALCONROOT}/lib/${HALCONARCH}:${LD_LIBRARY_PATH}; export LD_LIBRARY_PATH
else
   LD_LIBRARY_PATH=${HALCONROOT}/lib/${HALCONARCH}; export LD_LIBRARY_PATH
fi

Note

The changes are applied when you log in again. Or, you can source /etc/profile/ before you configure and build the samples.
For more information, please refer to HALCON’s installation guide.

Build and Run Samples ¶

You can build all samples at once or build a single sample individually.

Disable Unneeded Samples (Optional)
Build Samples
Run Samples

Disable Unneeded Samples (Optional)¶

Attention

If you did not install some of the optional software and still want to build all samples at once, then you must complete the steps in this section. Otherwise, an error will occur during the configuration of samples using CMake.

If you do not need the samples that depend on OpenCV, PCL or HALCON, please edit the CMakeLists file to disable these samples before building all samples at once.

Open CMakeLists.txt in xxx\Mech-Eye SDK-x.x.x\API\samples in an editor (such as vi).
Edit lines containing options: find the lines starting with options, change ON at the end of the line to OFF to disable the samples that depend on the software mentioned in that line.

Example: If you do not need to build the sample that depends on HALCON, change ON at the end of the line starting with option(USE_HALCON to OFF.
Save the changes in the editor and close the CMakeLists file.

Build Samples ¶

Enter the directory of the sample(s).
- If building all samples at once, please use the following command.
```
cd /opt/mech-mind/mech-eye-sdk/samples/
```
- If building a single sample individually, please use the following command. Replace Category with the category name of the sample and SampleName with the name of the sample.
```
cd /opt/mech-mind/mech-eye-sdk/samples/Category/SampleName/
```
Create a build folder in the directory for saving the built samples and so on.
```
mkdir build && cd build
```
Configure and build the sample(s).
```
cmake ..
make
```

Tip

If the source code files in the sample folder are altered, please delete the build folder and repeat steps 2 and 3 to rebuild the samples.

Run Samples ¶

Enter the build folder in the directory of the sample(s) (Skip this step if you are running the sample(s) directly after building the sample(s):
- If building all samples at once, please use the following command.
```
cd /opt/mech-mind/mech-eye-sdk/samples/build/
```
- If building a single sample individually, please use the following command. Replace Category with the category name of the sample and SampleName with the name of the sample.
```
cd /opt/mech-mind/mech-eye-sdk/samples/Category/SampleName/build/
```
Run the sample: replace SampleName with the name of the sample. While the sample is running, input the device index of the camera to which you want to connect according to the instruction, and press Enter to connect.
```
./SampleName
```
If image and/or point cloud files are saved by the sample, you can find the files in the build folder.