5. Python (Ubuntu)

This section describes how to run Python samples on Ubuntu.

5.1. Sample List

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

• 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 series cameras only.

• UHP: for UHP series cameras only.

Basic

• ConnectToCamera: Connect to a Mech-Eye Industrial 3D Camera.

• ConnectAndCaptureImage: Connect to a camera and obtain 2D image, depth map and 3D image.

• CaptureColorMap: Obtain 2D image in OpenCV format from a camera.

• CaptureDepthMap: Obtain depth map in OpenCV format from a camera.

• CapturePointCloud: Obtain untextured and textured point clouds (PCL format) generated from images captured with a single exposure time.

• CaptureHDRPointCloud: Obtain untextured and textured point clouds (PCL format) generated from images captured with multiple exposure times.

• CapturePointCloudROI: Obtain untextured and textured point clouds (PCL format) of the objects in the ROI from a camera.

Advanced

• CaptureCloudFromDepth: Construct point clouds from depth map and 2D image captured from a camera.

• CaptureTimedAndPeriodically: Obtain 2D image, depth map and 3D images sequentially from multiple cameras.

• CaptureSimultaneouslyMultiCamera: Obtain 2D image, depth map and 3D images simultaneously from multiple cameras.

• CaptureSequentiallyMultiCamera: Obtain 2D image, depth map and 3D images periodically for the specified duration from a camera.

Util

• GetCameraIntri: Get and print a camera’s intrinsic parameters.

• PrintDeviceInfo: Get and print a camera’s information such as model, serial number and firmware version.

• SetDepthRange: Set the range of depth values to be retained by a camera.

• SetParameters: Set specified parameters to a camera.

• SetUserSets: provide functions related to parameter groups, such as switching to a different parameter group, adding and deleting parameter groups, etc.

Laser

• SetLaserFramePartitionCount: Divide the projector FOV into partitions and project structured light in one partition at a time. The output of the entire FOV is composed from images of all partitions.

• SetLaserFrameRange: Set the projection range of the structured light. The entire projector FOV is from 0 to 100.

• SetLaserFringeCodingMode: Set the coding mode of the structured light pattern.

• SetLaserPowerLevel: Set the output power of the laser projector in percentage of max power. This affects the intensity of the laser light.

UHP

• SetUHPCaptureMode: Set the capture mode (capture images with camera 1, with camera 2, or with both 2D cameras and compose the outputs).

• SetUHPFringeCodingMode: Set the coding mode of the structured light pattern.

5.2. Requirements

• Connect a real camera.

• Make sure that the Python you installed is version 3.6.8 or above.

5.3. Instructions

5.3.1. Environment Required for Installing and Running the Samples

1. Install pip.

   sudo apt install python3-pip
   

2. Install MechEyeApi.

   sudo pip3 install MechEyeApi
   

3. Download and install Mech-Eye SDK 。

4. Install OpenCV.

   sudo apt-get install libopencv-dev
   sudo apt-get install python3-opencv
   

5. Install Open3D.

   sudo pip install open3d
   

5.3.2. Run the Samples

1. Download the samples

   cd ~
   git clone https://github.com/MechMindRobotics/mecheye_python_samples.git
   

2. Go to the folder of a sample. run the sample (taking ConnectToCamera.py as an example).

   cd ~/mecheye_python_samples/source/Basic
   sudo python3 ConnectToCamera.py
   

   The output is as follows:

      Find Mech-Eye device...
      Mech-Eye device index : 0
      ............................
      Camera Model Name: Mech-Eye Pro M Enhanced
      Camera ID:         NEC15221A3000001
      Camera IP Address: 192.168.xx.xx
      Hardware Version:  Vx.x.x
      Firmware Version:  Vx.x.x
      ............................
   
      Please enter the device index you want to connect: 0
      Connected to the Mech-Eye device successfully.
      Disconnected from the Mech-Eye device successfully.
   
   
   When running the sample, please select the number of the camera to connect according to the prompt, and wait for the sample to finish running.
   

   Attention

   • For samples that involve point cloud capturing, a regular user is unable to write point cloud files, so please use the sudo command to run the sample as the admin.

   • For samples that involve image and point cloud capturing, when finish running the sample, the image and point cloud data is by default saved to the folder of the sample.