Operates the Mech-Eye Industrial 3D Cameras. Use Camera::connect to connect an available camera, and then you can use the camera to capture 2D and 3D frames, configure parameters and so on. More...

#include <Camera.h>

Public Member Functions
	Camera ()
	Constructor.

	~Camera ()
	Destructor.

	Camera (const Camera &other) noexcept
	Copy constructor.

Camera &	operator= (const Camera &other) noexcept
	Copy assignment.

ErrorStatus	connect (const CameraInfo &info, unsigned int timeoutMs=5000)
	Connects to a camera via CameraInfo.

ErrorStatus	connect (const std::string &ipAddress, unsigned int timeoutMs=5000)
	Connects to a camera via IP address.

void	disconnect ()
	Disconnects the camera and releases the associated resources.

ErrorStatus	setHeartbeatInterval (unsigned int timeIntervalMs)
	Sets the time interval at which the client sends periodic heartbeat messages to the camera side. The default time interval is 10s.

ErrorStatus	getCameraInfo (CameraInfo &info) const
	Gets the basic information of the camera, such as camera model, camera serial number, firmware version, and IP setting, etc.

ErrorStatus	getCameraStatus (CameraStatus &status) const
	Gets the running status of the camera.

ErrorStatus	getCameraIntrinsics (CameraIntrinsics &intrinsics) const
	Gets the camera intrinsics. The camera intrinsics contain the texture camera intrinsics and the depth camera intrinsics based on the pinhole camera model, which correspond to the 2D and 3D scanning results Frame2D and Frame3D. The camera intrinsics also contain the transformation relationship between depth camera and texture camera.

ErrorStatus	getCameraResolutions (CameraResolutions &resolutions) const
	Gets the resolutions information of the camera. The resolutions consists of two parts, texture and depth, which correspond to the 2D and 3D scanning results Frame2D and Frame3D.

UserSet &	currentUserSet ()
	Gets the UserSet currently in effect of the camera. UserSet can access all available parameters of the camera related to 2D and 3D acquisition. UserSet can also directly set and get the parameter instead of using Parameter interface.

UserSetManager &	userSetManager ()
	Gets the UserSetManager of the camera. UserSetManager provides various operations to manage all user set saved in the camera, including adding and deleting the user set and selecting the user set currently in effect. It is also available to save all user set details to a JSON file and read a JSON file to load user set details.

ErrorStatus	capture3D (Frame3D &frame3D, unsigned int timeoutMs=5000) const
	Projects structured light and captures a single 3D frame of the scene. 3D information is computed at the camera side. The capture result will be obtained after the above steps are completed.

ErrorStatus	capture3DWithNormal (Frame3D &frame3D, unsigned int timeoutMs=10000) const
	Projects structured light and captures a single 3D frame of the scene. 3D information and normal vector are computed at the camera side. The capture result will be obtained after the above steps are completed.

ErrorStatus	capture2D (Frame2D &frame2D, unsigned int timeoutMs=5000) const
	Captures a single 2D frame using 2D camera mounted on camera of the scene. The capture result will be obtained after capturing.

ErrorStatus	capture2DAnd3D (Frame2DAnd3D &frame2DAnd3D, unsigned int timeoutMs=10000) const
	Captures simultaneously a single 2D frame and 3D frame of the scene. 3D information is computed at the camera side. Both 2D and 3D capturing results will be obtained. This function makes it easy to get a combination of 2D and 3D data to generate textured point cloud.

ErrorStatus	capture2DAnd3DWithNormal (Frame2DAnd3D &frame2DAnd3D, unsigned int timeoutMs=15000) const
	Captures simultaneously a single 2D frame and 3D frame of the scene. 3D information and normal vector are computed at the camera side. Both 2D and 3D capturing results will be obtained. This function makes it easy to get a combination of 2D and 3D data to generate textured point cloud.

ErrorStatus	captureStereo2D (Frame2D &left, Frame2D &right, bool isRectified=false, unsigned int timeoutMs=5000) const
	Captures the 2D images from both 2D cameras in the 3D camera. This method is only available for DEEP, LSR S, LSR L, and PRO XS.

Static Public Member Functions
static std::vector< CameraInfo >	discoverCameras ()
	Discovers all available cameras, and returns the camera information list for them. If a camera is not successfully discovered, please check the running status and network connection of the camera.

Friends
class	HandEyeCalibration

class	CameraEvent

Detailed Description

Operates the Mech-Eye Industrial 3D Cameras. Use Camera::connect to connect an available camera, and then you can use the camera to capture 2D and 3D frames, configure parameters and so on.

Definition at line 54 of file Camera.h.

Member Function Documentation

◆ capture2D()

ErrorStatus mmind::eye::Camera::capture2D	(	Frame2D &	frame2D,
		unsigned int	timeoutMs = `5000`
	)		const

Captures a single 2D frame using 2D camera mounted on camera of the scene. The capture result will be obtained after capturing.

Parameters

[out]	frame2D	The capture result. See Frame2D for details.
[in]	timeoutMs	The timeout for capturing in milliseconds. If the execution time of the capturing process is greater than the timeout, the function will immediately return ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_INVALID_DEVICE Invalid camera handle.
ErrorStatus::MMIND_STATUS_DEVICE_OFFLINE Camera disconnected.
ErrorStatus::MMIND_STATUS_NO_DATA_ERROR No frame data obtained. Some error may have occurred on the device.
ErrorStatus::MMIND_STATUS_NO_SUPPORT_ERROR Not supported camera model.
ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR Timeout error.

◆ capture2DAnd3D()

ErrorStatus mmind::eye::Camera::capture2DAnd3D	(	Frame2DAnd3D &	frame2DAnd3D,
		unsigned int	timeoutMs = `10000`
	)		const

Captures simultaneously a single 2D frame and 3D frame of the scene. 3D information is computed at the camera side. Both 2D and 3D capturing results will be obtained. This function makes it easy to get a combination of 2D and 3D data to generate textured point cloud.

Parameters

[out]	frame2DAnd3D	The capture result containing Frame2D and Frame3D. See Frame2DAnd3D for details.
[in]	timeoutMs	The timeout for capturing in milliseconds. If the execution time of the capturing process is greater than the timeout, the function will immediately return ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_INVALID_DEVICE Invalid camera handle.
ErrorStatus::MMIND_STATUS_DEVICE_OFFLINE Camera disconnected.
ErrorStatus::MMIND_STATUS_NO_DATA_ERROR No frame data obtained. Some error may have occurred on the device.
ErrorStatus::MMIND_STATUS_NO_SUPPORT_ERROR Not supported camera model.
ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR Timeout error.

◆ capture2DAnd3DWithNormal()

ErrorStatus mmind::eye::Camera::capture2DAnd3DWithNormal	(	Frame2DAnd3D &	frame2DAnd3D,
		unsigned int	timeoutMs = `15000`
	)		const

Captures simultaneously a single 2D frame and 3D frame of the scene. 3D information and normal vector are computed at the camera side. Both 2D and 3D capturing results will be obtained. This function makes it easy to get a combination of 2D and 3D data to generate textured point cloud.

Parameters

[out]	frame2DAnd3D	The capture result containing Frame2D and Frame3D. See Frame2DAnd3D for details.
[in]	timeoutMs	The timeout for capturing in milliseconds. If the execution time of the capturing process is greater than the timeout, the function will immediately return ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_INVALID_DEVICE Invalid camera handle.
ErrorStatus::MMIND_STATUS_DEVICE_OFFLINE Camera disconnected.
ErrorStatus::MMIND_STATUS_NO_DATA_ERROR No frame data obtained. Some error may have occurred on the device.
ErrorStatus::MMIND_STATUS_NO_SUPPORT_ERROR Not supported camera model.
ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR Timeout error.

◆ capture3D()

ErrorStatus mmind::eye::Camera::capture3D	(	Frame3D &	frame3D,
		unsigned int	timeoutMs = `5000`
	)		const

Projects structured light and captures a single 3D frame of the scene. 3D information is computed at the camera side. The capture result will be obtained after the above steps are completed.

Parameters

[out]	frame3D	The capture result. See Frame3D for details.
[in]	timeoutMs	The timeout for capturing in milliseconds. If the execution time of the capturing process is greater than the timeout, the function will immediately return ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_INVALID_DEVICE Invalid camera handle.
ErrorStatus::MMIND_STATUS_DEVICE_OFFLINE Camera disconnected.
ErrorStatus::MMIND_STATUS_NO_DATA_ERROR No frame data obtained. Some error may have occurred on the device.
ErrorStatus::MMIND_STATUS_NO_SUPPORT_ERROR Not supported camera model.
ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR Timeout error.

◆ capture3DWithNormal()

ErrorStatus mmind::eye::Camera::capture3DWithNormal	(	Frame3D &	frame3D,
		unsigned int	timeoutMs = `10000`
	)		const

Projects structured light and captures a single 3D frame of the scene. 3D information and normal vector are computed at the camera side. The capture result will be obtained after the above steps are completed.

Parameters

[out]	frame3D	The capture result. See Frame3D for details.
[in]	timeoutMs	The timeout for capturing in milliseconds. If the execution time of the capturing process is greater than the timeout, the function will immediately return ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_INVALID_DEVICE Invalid camera handle.
ErrorStatus::MMIND_STATUS_DEVICE_OFFLINE Camera disconnected.
ErrorStatus::MMIND_STATUS_NO_DATA_ERROR No frame data obtained. Some error may have occurred on the device.
ErrorStatus::MMIND_STATUS_NO_SUPPORT_ERROR Not supported camera model.
ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR Timeout error.

◆ captureStereo2D()

ErrorStatus mmind::eye::Camera::captureStereo2D	(	Frame2D &	left,
		Frame2D &	right,
		bool	isRectified = `false`,
		unsigned int	timeoutMs = `5000`
	)		const

Captures the 2D images from both 2D cameras in the 3D camera. This method is only available for DEEP, LSR S, LSR L, and PRO XS.

Since: V2.2.1

Parameters

[out]	left	The 2D image of the left 2D camera. See Frame2D for details.
[out]	right	The 2D image of the right 2D camera. See Frame2D for details.
[in]	isRectified	Whether to perform stereo rectification. After the rectification, The left image and the depth map are aligned pixel-to-pixel. If true, the rectified 2D images are returned. If false, the origin images are returned.
[in]	timeoutMs	The timeout period for capturing in milliseconds. If no data is received within the timeout period, the function will return the error code ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_INVALID_DEVICE Invalid camera handle.
ErrorStatus::MMIND_STATUS_DEVICE_OFFLINE Camera disconnected.
ErrorStatus::MMIND_STATUS_NO_DATA_ERROR No frame data obtained. Some error may have occurred on the device.
ErrorStatus::MMIND_STATUS_NO_SUPPORT_ERROR Not supported camera model or firmware version.
ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR Timeout error.

Note: In order to adjust the exposure effect of the stereo 2D images, different models of cameras have different adjustment parameters. For DEEP, LSR S, LSR L camera models, DepthSourceExposureMode and DepthSourceExposureTime are used, while other camera models use ExposureMode and ExposureTime.

◆ connect() [1/2]

ErrorStatus mmind::eye::Camera::connect	(	const CameraInfo &	info,
		unsigned int	timeoutMs = `5000`
	)

Connects to a camera via CameraInfo.

Parameters

[in]	info	The camera information. You can use Camera::discoverCameras to find all available cameras.
[in]	timeoutMs	The timeout for connecting a camera in ms unit. If the execution time of the connecting process is greater than the timeout, the function will immediately return ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_INVALID_INPUT_ERROR IP address format error.
ErrorStatus::MMIND_STATUS_INVALID_DEVICE IP address not corresponding to an available device.
ErrorStatus::MMIND_STATUS_NO_SUPPORT_ERROR Not supported camera model or firmware version.
ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR Timeout error.

◆ connect() [2/2]

ErrorStatus mmind::eye::Camera::connect	(	const std::string &	ipAddress,
		unsigned int	timeoutMs = `5000`
	)

Connects to a camera via IP address.

Parameters

[in]	ipAddress	Valid IP address of the camera, e.g. in "100.100.1.1" format.
[in]	timeoutMs	The timeout for connecting a camera in ms unit. If the execution time of the connecting process is greater than the timeout, the function will immediately return with ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_INVALID_INPUT_ERROR IP address format error.
ErrorStatus::MMIND_STATUS_INVALID_DEVICE IP address not corresponding to an available device.
ErrorStatus::MMIND_STATUS_NO_SUPPORT_ERROR Not supported camera model or firmware version.
ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR Timeout error.

◆ currentUserSet()

UserSet & mmind::eye::Camera::currentUserSet ( )

Gets the UserSet currently in effect of the camera. UserSet can access all available parameters of the camera related to 2D and 3D acquisition. UserSet can also directly set and get the parameter instead of using Parameter interface.

Returns: See UserSet for details.

◆ discoverCameras()

static std::vector< CameraInfo > mmind::eye::Camera::discoverCameras ( )

static

Discovers all available cameras, and returns the camera information list for them. If a camera is not successfully discovered, please check the running status and network connection of the camera.

Returns: The available camera information list.

◆ getCameraInfo()

ErrorStatus mmind::eye::Camera::getCameraInfo ( CameraInfo & info ) const

Gets the basic information of the camera, such as camera model, camera serial number, firmware version, and IP setting, etc.

Parameters

[out] See CameraInfo for details.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_INVALID_DEVICE Invalid camera handle.
ErrorStatus::MMIND_STATUS_DEVICE_OFFLINE Camera disconnected.

◆ getCameraIntrinsics()

ErrorStatus mmind::eye::Camera::getCameraIntrinsics ( CameraIntrinsics & intrinsics ) const

Gets the camera intrinsics. The camera intrinsics contain the texture camera intrinsics and the depth camera intrinsics based on the pinhole camera model, which correspond to the 2D and 3D scanning results Frame2D and Frame3D. The camera intrinsics also contain the transformation relationship between depth camera and texture camera.

Parameters

[out] See CameraIntrinsics for details.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_INVALID_DEVICE Invalid camera handle.
ErrorStatus::MMIND_STATUS_DEVICE_OFFLINE Camera disconnected.

◆ getCameraResolutions()

ErrorStatus mmind::eye::Camera::getCameraResolutions ( CameraResolutions & resolutions ) const

Gets the resolutions information of the camera. The resolutions consists of two parts, texture and depth, which correspond to the 2D and 3D scanning results Frame2D and Frame3D.

Parameters

[out] See CameraResolutions for details.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_INVALID_DEVICE Invalid camera handle.
ErrorStatus::MMIND_STATUS_DEVICE_OFFLINE Camera disconnected.

◆ getCameraStatus()

ErrorStatus mmind::eye::Camera::getCameraStatus ( CameraStatus & status ) const

Gets the running status of the camera.

Parameters

[out] See CameraStatus for details.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_INVALID_DEVICE Invalid camera handle.
ErrorStatus::MMIND_STATUS_DEVICE_OFFLINE Camera disconnected.

◆ setHeartbeatInterval()

ErrorStatus mmind::eye::Camera::setHeartbeatInterval ( unsigned int timeIntervalMs )

Sets the time interval at which the client sends periodic heartbeat messages to the camera side. The default time interval is 10s.

Parameters

[in] timeIntervalMs The time interval for periodic sending heartbeat messages in milliseconds. The valid setting range is from 1s to 3600s.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_INVALID_DEVICE Invalid camera handle.
ErrorStatus::MMIND_STATUS_DEVICE_OFFLINE Camera disconnected.
ErrorStatus::MMIND_STATUS_OUT_OF_RANGE_ERROR Invalid parameter input.

◆ userSetManager()

UserSetManager & mmind::eye::Camera::userSetManager ( )

Gets the UserSetManager of the camera. UserSetManager provides various operations to manage all user set saved in the camera, including adding and deleting the user set and selecting the user set currently in effect. It is also available to save all user set details to a JSON file and read a JSON file to load user set details.

Returns: See UserSetManager for details.

Friends And Related Symbol Documentation

◆ CameraEvent

friend class CameraEvent

friend

Definition at line 333 of file Camera.h.

◆ HandEyeCalibration

friend class HandEyeCalibration

friend

Definition at line 332 of file Camera.h.

The documentation for this class was generated from the following file:

include/camera/area_scan_3d_camera/Camera.h

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Member Function Documentation

◆ capture2D()

◆ capture2DAnd3D()

◆ capture2DAnd3DWithNormal()

◆ capture3D()

◆ capture3DWithNormal()

◆ captureStereo2D()

◆ connect() [1/2]

◆ connect() [2/2]

◆ currentUserSet()

◆ discoverCameras()

◆ getCameraInfo()

◆ getCameraIntrinsics()

◆ getCameraResolutions()

◆ getCameraStatus()

◆ setHeartbeatInterval()

◆ userSetManager()

Friends And Related Symbol Documentation

◆ CameraEvent

◆ HandEyeCalibration