mmind::api::MechEyeDevice Class Reference

Interface that is used to connect the Mech-Eye Industrial 3D Camera and access basic information of the device. More...

#include <MechEyeApi.h>

Public Member Functions
	MechEyeDevice ()
	~MechEyeDevice ()
ErrorStatus	connect (const MechEyeDeviceInfo &info, int timeout=10000)
	Connects to the device by the MechEyeDeviceInfo identifying a device.
ErrorStatus	connect (const std::string &ipAddress, int port=5577, int timeout=10000)
	Connects to the device by the ip address and port identifying a device.
void	disconnect ()
	Disconnects from the device.
ErrorStatus	getDeviceTemperature (DeviceTemperature &temperature) const
	Gets the temperature information about the connected device.
ErrorStatus	getDeviceInfo (MechEyeDeviceInfo &info) const
	Gets the basic information about the connected device.
ErrorStatus	getDeviceIntri (DeviceIntri &intri) const
	Gets the intrinsic camera parameter about the connected device.
ErrorStatus	getDeviceResolution (DeviceResolution &imageResolution) const
	Gets the device resolution.
ErrorStatus	captureColorMap (ColorMap &colorMap) const
	Captures a color image.
ErrorStatus	captureDepthMap (DepthMap &depthMap) const
	Captures a depth image.
ErrorStatus	capturePointXYZMap (PointXYZMap &pointXYZMap) const
	Captures a point cloud image.
ErrorStatus	captureOrthogonalDepthMap (DepthMap &depthMap, double &xScale, double &yScale, double &xOffset, double &yOffset) const
	Captures an orthogonal depth image.
ErrorStatus	capturePointXYZBGRMap (PointXYZBGRMap &pointXYZBGRMap) const
	Captures a colored point cloud image.
ErrorStatus	setScan2DExposureMode (Scanning2DSettings::Scan2DExposureMode value) const
	Sets the camera exposure mode to capture the 2D images.
ErrorStatus	getScan2DExposureMode (Scanning2DSettings::Scan2DExposureMode &value) const
	Gets the camera exposure mode to capture the 2D images.
ErrorStatus	setScan2DExposureTime (double value) const
	Sets the camera exposure time in Scanning2DSettings::Timed exposure mode.
ErrorStatus	getScan2DExposureTime (double &value) const
	Gets the camera exposure time in Scanning2DSettings::Timed exposure mode.
ErrorStatus	setScan2DHDRExposureSequence (std::vector< double > &values) const
	Sets the camera HDR exposure sequence in Scanning2DSettings::HDR exposure mode.
ErrorStatus	getScan2DHDRExposureSequence (std::vector< double > &values) const
	Gets the camera HDR exposure sequence in Scanning2DSettings::HDR exposure mode.
ErrorStatus	setScan2DExpectedGrayValue (int value) const
	Sets the expected gray value in Scanning2DSettings::Auto exposure mode.
ErrorStatus	getScan2DExpectedGrayValue (int &value) const
	Gets the expected gray value in Scanning2DSettings::Auto exposure mode.
ErrorStatus	setScan2DToneMappingEnable (bool value) const
	Sets whether gray level transformation algorithm is used or not.
ErrorStatus	getScan2DToneMappingEnable (bool &value) const
	Gets whether gray level transformation algorithm is used or not.
ErrorStatus	setScan2DSharpenFactor (double value) const
	Sets the image sharpen factor.
ErrorStatus	getScan2DSharpenFactor (double &value) const
	Gets the image sharpen factor.
ErrorStatus	setScan2DROI (const ROI &value) const
	Sets ROI to capture the 2D image.
ErrorStatus	getScan2DROI (ROI &value) const
	Gets ROI to capture the 2D image.
ErrorStatus	setScan3DExposure (const std::vector< double > &valueSequence) const
	Sets the exposure time of the camera to capture the 3D image.
ErrorStatus	getScan3DExposure (std::vector< double > &valueSequence) const
	Gets the exposure time sequence of the camera to capture the 3D image.
ErrorStatus	setScan3DGain (double value) const
	Sets gain to capture the 3d image.
ErrorStatus	getScan3DGain (double &value) const
	Gets gain to capture the 3d image.
ErrorStatus	setScan3DROI (const ROI &value) const
	Sets ROI to capture the 3D image.
ErrorStatus	getScan3DROI (ROI &value) const
	Gets ROI to capture the 3D image. MechEye UHP serials in capture mode 'Merge' does not support this parameter.
ErrorStatus	setDepthRange (const DepthRange &value) const
	Sets depth range in 3D image.
ErrorStatus	getDepthRange (DepthRange &value) const
	Gets depth range in 3D image.
ErrorStatus	setFringeContrastThreshold (int value) const
	Sets the signal contrast threshold for effective pixels.
ErrorStatus	getFringeContrastThreshold (int &value) const
	Gets the signal contrast threshold for effective pixels.
ErrorStatus	setFringeMinThreshold (int value) const
	Sets the signal minimum threshold for effective pixels.
ErrorStatus	getFringeMinThreshold (int &value) const
	Gets the signal minimum threshold for effective pixels.
ErrorStatus	setCloudOutlierFilterMode (PointCloudProcessingSettings::CloudOutlierFilterMode value) const
	Sets the point cloud outliers removal algorithm.
ErrorStatus	getCloudOutlierFilterMode (PointCloudProcessingSettings::CloudOutlierFilterMode &value) const
	Gets the point cloud outliers removal algorithm.
ErrorStatus	setCloudSmoothMode (PointCloudProcessingSettings::CloudSmoothMode value) const
	Sets the point cloud smoothing algorithm.
ErrorStatus	getCloudSmoothMode (PointCloudProcessingSettings::CloudSmoothMode &value) const
	Gets the point cloud smoothing algorithm.
ErrorStatus	setCloudSurfaceSmoothingMode (PointCloudProcessingSettings::PointCloudSurfaceSmoothing value) const
	Sets the point cloud surface smoothing mode.
ErrorStatus	getCloudSurfaceSmoothingMode (PointCloudProcessingSettings::PointCloudSurfaceSmoothing &value) const
	Gets the point cloud surface smoothing mode.
ErrorStatus	setCloudNoiseRemovalMode (PointCloudProcessingSettings::PointCloudNoiseRemoval value) const
	Sets the point cloud noise removal mode.
ErrorStatus	getCloudNoiseRemovalMode (PointCloudProcessingSettings::PointCloudNoiseRemoval &value) const
	Gets the point cloud noise removal mode.
ErrorStatus	setCloudOutlierRemovalMode (PointCloudProcessingSettings::PointCloudOutlierRemoval value) const
	Sets the point cloud outlier removal mode.
ErrorStatus	getCloudOutlierRemovalMode (PointCloudProcessingSettings::PointCloudOutlierRemoval &value) const
	Gets the point cloud outlier removal mode.
ErrorStatus	setCloudEdgePreservationMode (PointCloudProcessingSettings::PointCloudEdgePreservation value) const
	Sets the point cloud edge preservation mode.
ErrorStatus	getCloudEdgePreservationMode (PointCloudProcessingSettings::PointCloudEdgePreservation &value) const
	Gets the point cloud edge preservation mode.
ErrorStatus	setProjectorFringeCodingMode (ProjectorSettings::FringeCodingMode value) const
	Sets projector's fringe coding mode. Only support with Mech-Eye NANO and PRO series industrial 3D cameras.
ErrorStatus	getProjectorFringeCodingMode (ProjectorSettings::FringeCodingMode &value) const
	Gets projector's fringe coding mode. Only support with Mech-Eye NANO and PRO series industrial 3D cameras.
ErrorStatus	setProjectorPowerLevel (ProjectorSettings::PowerLevel value) const
	Sets projector's powerl level. Only support with Mech-Eye NANO, LOG and PRO series industrial 3D cameras.
ErrorStatus	getProjectorPowerLevel (ProjectorSettings::PowerLevel &value) const
	Gets projector's powerl level. Only support with Mech-Eye NANO, LOG and PRO series industrial 3D cameras.
ErrorStatus	setProjectorAntiFlickerMode (ProjectorSettings::AntiFlickerMode value) const
	Sets projector's anti-flicker mode. Only support with Mech-Eye NANO and PRO series industrial 3D camera.
ErrorStatus	getProjectorAntiFlickerMode (ProjectorSettings::AntiFlickerMode &value) const
	Gets projector's anti-flicker mode. Only support with Mech-Eye NANO and PRO series industrial 3D camera.
ErrorStatus	setLaserSettings (const LaserSettings &value) const
	Sets laser device settings. Only support with Mech-Eye Laser series industrial 3D camera.
ErrorStatus	getLaserSettings (LaserSettings &value) const
	Gets laser device settings. Only support with Mech-Eye Laser series industrial 3D camera.
ErrorStatus	setUhpSettings (UhpSettings value) const
	Sets UHP device settings. Only support with Mech-Eye UHP series industrial 3D camera.
ErrorStatus	getUhpSettings (UhpSettings &value) const
	Gets UHP device settings. Only support with Mech-Eye UHP series industrial 3D camera.
ErrorStatus	setUhpCaptureMode (UhpSettings::UhpCaptureMode value) const
	Sets UHP camera capture mode. Only support with Mech-Eye UHP series industrial 3D camera.
ErrorStatus	getUhpCaptureMode (UhpSettings::UhpCaptureMode &value) const
	Gets UHP camera capture mode. Only support with Mech-Eye UHP series industrial 3D camera.
ErrorStatus	setUhpFringeCodingMode (UhpSettings::UhpFringeCodingMode value) const
	Sets UHP camera fringe coding mode. Only support with Mech-Eye UHP series industrial 3D camera.
ErrorStatus	getUhpFringeCodingMode (UhpSettings::UhpFringeCodingMode &value) const
	Gets UHP camera fringe coding mode. Only support with Mech-Eye UHP series industrial 3D camera.
ErrorStatus	saveAllSettingsToUserSets () const
	Saves all parameters to the current user set.
ErrorStatus	setBoardType (HandeyeCalibrationSettings::boardType boardType) const
	Set the board type for this calibration.
ErrorStatus	setCalibrateType (HandeyeCalibrationSettings::calibrationType calibrationType) const
	Set the calibration type for this calibration.
ErrorStatus	addPoseAndDetect (const std::vector< double > &poseData) const
	Add current pose of robot, capture the image and calculate necessary parameters prepared for calibration.
ErrorStatus	calculateExtrinsics (std::string &extrinsic) const
	Start to calculate the result of handeye calibration.
ErrorStatus	captureCalibrationFeatureImage (ColorMap &colorMap) const
	Only capture current image with feature recognition result for test.
ErrorStatus	setCurrentUserSet (const std::string &userSetName) const
ErrorStatus	getCurrentUserSet (std::string &userSetName) const
	Gets the name of the current user set.
ErrorStatus	getAllUserSets (std::vector< std::string > &userSetNames) const
	Gets the names of all user sets.
ErrorStatus	deleteUserSet (const std::string &userSetName) const
ErrorStatus	addUserSet (const std::string &userSetName) const

Static Public Member Functions
static std::vector< MechEyeDeviceInfo >	enumerateMechEyeDeviceList ()
	Enumerates Mech-Eye Industrial 3D Camera by the type of MechEyeDeviceInfo identifying the device.
static ErrorStatus	getCloudFromTextureMask (const DepthMap &depthMap, const ColorMap &textureMask, const DeviceIntri &intri, PointXYZMap &pointXYZMask)
	Gets the point cloud image within the mask specified by the texture map.
static ErrorStatus	getCloudFromTextureMask (const DepthMap &depthMap, const ColorMap &textureMask, const ColorMap &texture, const DeviceIntri &intri, PointXYZBGRMap &pointXYZBGRMask)
	Gets the colored point cloud image within the mask specified by the texture map.

Detailed Description

Interface that is used to connect the Mech-Eye Industrial 3D Camera and access basic information of the device.

Definition at line 57 of file MechEyeApi.h.

Constructor & Destructor Documentation

MechEyeDevice()

mmind::api::MechEyeDevice::MechEyeDevice

(

)

Constructor.

~MechEyeDevice()

mmind::api::MechEyeDevice::~MechEyeDevice

(

)

Destructor.

Member Function Documentation

addPoseAndDetect()

ErrorStatus mmind::api::MechEyeDevice::addPoseAndDetect

(

const std::vector< double > &

poseData

)

const

Add current pose of robot, capture the image and calculate necessary parameters prepared for calibration.

Parameters

[in]

value

See poseData.

Returns

See ErrorStatus for details.

addUserSet()

ErrorStatus mmind::api::MechEyeDevice::addUserSet

(

const std::string &

userSetName

)

const

Adds a new user set by the user set name and sets all the current device settings to it. It will also change the current user set to the input value if adds success.

Call saveAllSettingsToUserSets to take effect permanently on the device.

Parameters

[in]

userSetName

Returns

See ErrorStatus for details.

See also

saveAllSettingsToUserSets

calculateExtrinsics()

ErrorStatus mmind::api::MechEyeDevice::calculateExtrinsics

(

std::string &

extrinsic

)

const

Start to calculate the result of handeye calibration.

Parameters

[out]

value

See extrinsic.

Returns

See ErrorStatus for details.

captureCalibrationFeatureImage()

ErrorStatus mmind::api::MechEyeDevice::captureCalibrationFeatureImage

(

ColorMap &

colorMap

)

const

Only capture current image with feature recognition result for test.

Parameters

[in]

value

See colorMap.

Returns

See ErrorStatus for details.

captureColorMap()

ErrorStatus mmind::api::MechEyeDevice::captureColorMap

(

ColorMap &

colorMap

)

const

Captures a color image.

Parameters

[out]

colorMap

See Frame for details.

Returns

See ErrorStatus for details.

captureDepthMap()

ErrorStatus mmind::api::MechEyeDevice::captureDepthMap

(

DepthMap &

depthMap

)

const

Captures a depth image.

Parameters

[out]

depthMap

See Frame for details.

Returns

See ErrorStatus for details.

captureOrthogonalDepthMap()

ErrorStatus mmind::api::MechEyeDevice::captureOrthogonalDepthMap	(	DepthMap &	depthMap,
		double &	xScale,
		double &	yScale,
		double &	xOffset,
		double &	yOffset ) const

Captures an orthogonal depth image.

Parameters

[out]	depthMap	See Frame for details.
[out]	xScale	Scale value in x axis.
[out]	yScale	Scale value in y axis.
[out]	xOffset	Offset value in x axis.
[out]	yOffset	Offset value in y axis.

Returns

See ErrorStatus for details.

capturePointXYZBGRMap()

ErrorStatus mmind::api::MechEyeDevice::capturePointXYZBGRMap

(

PointXYZBGRMap &

pointXYZBGRMap

)

const

Captures a colored point cloud image.

Parameters

[out]

pointXYZBGRMap

See Frame for details.

Returns

See ErrorStatus for details.

capturePointXYZMap()

ErrorStatus mmind::api::MechEyeDevice::capturePointXYZMap

(

PointXYZMap &

pointXYZMap

)

const

Captures a point cloud image.

Parameters

[out]

pointXYZMap

See Frame for details.

Returns

See ErrorStatus for details.

connect() [1/2]

ErrorStatus mmind::api::MechEyeDevice::connect	(	const MechEyeDeviceInfo &	info,
		int	timeout = 10000 )

Connects to the device by the MechEyeDeviceInfo identifying a device.

Parameters

[in]	info	the device information used to connect the device which can be obtained by enumerateMechEyeDeviceList function.
[in]	timeout	the timeout value (ms)

Returns

See ErrorStatus for details.

connect() [2/2]

ErrorStatus mmind::api::MechEyeDevice::connect	(	const std::string &	ipAddress,
		int	port = 5577,
		int	timeout = 10000 )

Connects to the device by the ip address and port identifying a device.

Parameters

[in]	ipAddress	the device ip address used to connect the device
[in]	port	the device port used to connect the device
[in]	timeout	the timeout value (ms)

Returns

See ErrorStatus for details.

deleteUserSet()

ErrorStatus mmind::api::MechEyeDevice::deleteUserSet

(

const std::string &

userSetName

)

const

Deletes the user set by the user set name. If input name is the current user set it will change the current user set to the previous index value in the user set list.

Call saveAllSettingsToUserSets to take effect permanently on the device.

Parameters

[in]

userSetName

Returns

See ErrorStatus for details.

See also

saveAllSettingsToUserSets

enumerateMechEyeDeviceList()

static std::vector< MechEyeDeviceInfo > mmind::api::MechEyeDevice::enumerateMechEyeDeviceList ( )

static

Enumerates Mech-Eye Industrial 3D Camera by the type of MechEyeDeviceInfo identifying the device.

Returns

Information on all detectable Mech-Eye Industrial 3D Camera.

getAllUserSets()

ErrorStatus mmind::api::MechEyeDevice::getAllUserSets

(

std::vector< std::string > &

userSetNames

)

const

Gets the names of all user sets.

Parameters

[out]

userSetNames

Returns

See ErrorStatus for details.

See also

getCurrentUserSet

getCloudEdgePreservationMode()

ErrorStatus mmind::api::MechEyeDevice::getCloudEdgePreservationMode

(

PointCloudProcessingSettings::PointCloudEdgePreservation &

value

)

const

Gets the point cloud edge preservation mode.

Parameters

[out]

value

See PointCloudProcessingSettings::edgePreservation for details.

Returns

See ErrorStatus for details.

getCloudFromTextureMask() [1/2]

static ErrorStatus mmind::api::MechEyeDevice::getCloudFromTextureMask ( const DepthMap & depthMap, const ColorMap & textureMask, const ColorMap & texture, const DeviceIntri & intri, PointXYZBGRMap & pointXYZBGRMask )

static

Gets the colored point cloud image within the mask specified by the texture map.

Parameters

[in]	depthMap	See Frame for details.
[in]	textureMask	See Frame for details.
[in]	texture	See Frame for details.
[in]	intri	See DeviceIntri for details.
[out]	pointXYZBGRMask	See Frame for details.

Returns

See ErrorStatus for details.

getCloudFromTextureMask() [2/2]

static ErrorStatus mmind::api::MechEyeDevice::getCloudFromTextureMask ( const DepthMap & depthMap, const ColorMap & textureMask, const DeviceIntri & intri, PointXYZMap & pointXYZMask )

static

Gets the point cloud image within the mask specified by the texture map.

Parameters

[in]	depthMap	See Frame for details.
[in]	textureMask	See Frame for details.
[in]	intri	See DeviceIntri for details.
[out]	pointXYZMask	See Frame for details.

Returns

See ErrorStatus for details.

getCloudNoiseRemovalMode()

ErrorStatus mmind::api::MechEyeDevice::getCloudNoiseRemovalMode

(

PointCloudProcessingSettings::PointCloudNoiseRemoval &

value

)

const

Gets the point cloud noise removal mode.

Parameters

[out]

value

See PointCloudProcessingSettings::noiseRemoval for details.

Returns

See ErrorStatus for details.

getCloudOutlierFilterMode()

ErrorStatus mmind::api::MechEyeDevice::getCloudOutlierFilterMode

(

PointCloudProcessingSettings::CloudOutlierFilterMode &

value

)

const

Gets the point cloud outliers removal algorithm.

Parameters

[out]

value

See PointCloudProcessingSettings::outlierFilterMode for details.

Returns

See ErrorStatus for details.

Deprecated

Please use MechEyeDevice::getCloudOutlierRemovalMode() instead.

getCloudOutlierRemovalMode()

ErrorStatus mmind::api::MechEyeDevice::getCloudOutlierRemovalMode

(

PointCloudProcessingSettings::PointCloudOutlierRemoval &

value

)

const

Gets the point cloud outlier removal mode.

Parameters

[out]

value

See PointCloudProcessingSettings::outlierRemoval for details.

Returns

See ErrorStatus for details.

getCloudSmoothMode()

ErrorStatus mmind::api::MechEyeDevice::getCloudSmoothMode

(

PointCloudProcessingSettings::CloudSmoothMode &

value

)

const

Gets the point cloud smoothing algorithm.

Parameters

[out]

value

See PointCloudProcessingSettings::smoothMode for details.

Returns

See ErrorStatus for details.

Deprecated

Please use MechEyeDevice::getCloudSurfaceSmoothingMode() instead.

getCloudSurfaceSmoothingMode()

ErrorStatus mmind::api::MechEyeDevice::getCloudSurfaceSmoothingMode

(

PointCloudProcessingSettings::PointCloudSurfaceSmoothing &

value

)

const

Gets the point cloud surface smoothing mode.

Parameters

[out]

value

See PointCloudProcessingSettings::surfaceSmoothing for details.

Returns

See ErrorStatus for details.

getCurrentUserSet()

ErrorStatus mmind::api::MechEyeDevice::getCurrentUserSet

(

std::string &

userSetName

)

const

Gets the name of the current user set.

Parameters

[out]

userSetName

Returns

See ErrorStatus for details.

See also

getAllUserSets

getDepthRange()

ErrorStatus mmind::api::MechEyeDevice::getDepthRange

(

DepthRange &

value

)

const

Gets depth range in 3D image.

Parameters

[out]

value

See Scanning3DSettings::depthRange for details.

Returns

See ErrorStatus for details.

getDeviceInfo()

ErrorStatus mmind::api::MechEyeDevice::getDeviceInfo

(

MechEyeDeviceInfo &

info

)

const

Gets the basic information about the connected device.

Parameters

[out]

info

See MechEyeDeviceInfo for details.

Returns

See ErrorStatus for details.

getDeviceIntri()

ErrorStatus mmind::api::MechEyeDevice::getDeviceIntri

(

DeviceIntri &

intri

)

const

Gets the intrinsic camera parameter about the connected device.

Parameters

[out]

intri

See DeviceIntri for details.

Returns

See ErrorStatus for details.

getDeviceResolution()

ErrorStatus mmind::api::MechEyeDevice::getDeviceResolution

(

DeviceResolution &

imageResolution

)

const

Gets the device resolution.

Parameters

[out]

imageResolution

See DeviceResolution for details.

Returns

See ErrorStatus for details.

getDeviceTemperature()

ErrorStatus mmind::api::MechEyeDevice::getDeviceTemperature

(

DeviceTemperature &

temperature

)

const

Gets the temperature information about the connected device.

Parameters

[out]

temperature

See DeviceTemperature for details.

Returns

See ErrorStatus for details.

getFringeContrastThreshold()

ErrorStatus mmind::api::MechEyeDevice::getFringeContrastThreshold

(

int &

value

)

const

Gets the signal contrast threshold for effective pixels.

Parameters

[out]

value

See PointCloudProcessingSettings::fringeContrastThreshold for details.

Returns

See ErrorStatus for details.

getFringeMinThreshold()

ErrorStatus mmind::api::MechEyeDevice::getFringeMinThreshold

(

int &

value

)

const

Gets the signal minimum threshold for effective pixels.

Parameters

[out]

value

See PointCloudProcessingSettings::fringeMinThreshold for details.

Returns

See ErrorStatus for details.

getLaserSettings()

ErrorStatus mmind::api::MechEyeDevice::getLaserSettings

(

LaserSettings &

value

)

const

Gets laser device settings. Only support with Mech-Eye Laser series industrial 3D camera.

Parameters

[out]

value

See LaserSettings for details.

Returns

See ErrorStatus for details.

getProjectorAntiFlickerMode()

ErrorStatus mmind::api::MechEyeDevice::getProjectorAntiFlickerMode

(

ProjectorSettings::AntiFlickerMode &

value

)

const

Gets projector's anti-flicker mode. Only support with Mech-Eye NANO and PRO series industrial 3D camera.

Parameters

[out]

value

See ProjectorSettings::antiFlickerMode for details.

Returns

See ErrorStatus for details.

getProjectorFringeCodingMode()

ErrorStatus mmind::api::MechEyeDevice::getProjectorFringeCodingMode

(

ProjectorSettings::FringeCodingMode &

value

)

const

Gets projector's fringe coding mode. Only support with Mech-Eye NANO and PRO series industrial 3D cameras.

Parameters

[out]

value

See ProjectorSettings::fringeCodingMode for details.

Returns

See ErrorStatus for details.

getProjectorPowerLevel()

ErrorStatus mmind::api::MechEyeDevice::getProjectorPowerLevel

(

ProjectorSettings::PowerLevel &

value

)

const

Gets projector's powerl level. Only support with Mech-Eye NANO, LOG and PRO series industrial 3D cameras.

Parameters

[out]

value

See ProjectorSettings::powerLevel for details.

Returns

See ErrorStatus for details.

getScan2DExpectedGrayValue()

ErrorStatus mmind::api::MechEyeDevice::getScan2DExpectedGrayValue

(

int &

value

)

const

Gets the expected gray value in Scanning2DSettings::Auto exposure mode.

Parameters

[out]

valus

See Scanning2DSettings::expectedGrayValue for details.

Returns

See ErrorStatus for details.

getScan2DExposureMode()

ErrorStatus mmind::api::MechEyeDevice::getScan2DExposureMode

(

Scanning2DSettings::Scan2DExposureMode &

value

)

const

Gets the camera exposure mode to capture the 2D images.

Parameters

[out]

value

See Scanning2DSettings::exposureMode for details.

Returns

See ErrorStatus for details.

getScan2DExposureTime()

ErrorStatus mmind::api::MechEyeDevice::getScan2DExposureTime

(

double &

value

)

const

Gets the camera exposure time in Scanning2DSettings::Timed exposure mode.

Parameters

[out]

value

See Scanning2DSettings::exposureTime for details.

Returns

See ErrorStatus for details.

getScan2DHDRExposureSequence()

ErrorStatus mmind::api::MechEyeDevice::getScan2DHDRExposureSequence

(

std::vector< double > &

values

)

const

Gets the camera HDR exposure sequence in Scanning2DSettings::HDR exposure mode.

Parameters

[out]

values

See Scanning2DSettings::hdrExposureSequence for details.

Returns

See ErrorStatus for details.

getScan2DROI()

ErrorStatus mmind::api::MechEyeDevice::getScan2DROI

(

ROI &

value

)

const

Gets ROI to capture the 2D image.

Parameters

[out]

value

See Scanning2DSettings::scan2DROI for details.

Returns

See ErrorStatus for details.

getScan2DSharpenFactor()

ErrorStatus mmind::api::MechEyeDevice::getScan2DSharpenFactor

(

double &

value

)

const

Gets the image sharpen factor.

Parameters

[out]

value

See Scanning2DSettings::sharpenFactor for details.

Returns

See ErrorStatus for details.

getScan2DToneMappingEnable()

ErrorStatus mmind::api::MechEyeDevice::getScan2DToneMappingEnable

(

bool &

value

)

const

Gets whether gray level transformation algorithm is used or not.

Parameters

[out]

value

See Scanning2DSettings::toneMappingEnable for details.

Returns

See ErrorStatus for details.

getScan3DExposure()

ErrorStatus mmind::api::MechEyeDevice::getScan3DExposure

(

std::vector< double > &

valueSequence

)

const

Gets the exposure time sequence of the camera to capture the 3D image.

Parameters

[out]

valueSequence

See Scanning3DSettings::exposureSequence for details.

Returns

See ErrorStatus for details.

getScan3DGain()

ErrorStatus mmind::api::MechEyeDevice::getScan3DGain

(

double &

value

)

const

Gets gain to capture the 3d image.

Parameters

[out]

value

See Scanning3DSettings::gain for details.

Returns

See ErrorStatus for details.

getScan3DROI()

ErrorStatus mmind::api::MechEyeDevice::getScan3DROI

(

ROI &

value

)

const

Gets ROI to capture the 3D image. MechEye UHP serials in capture mode 'Merge' does not support this parameter.

Parameters

[out]

value

See Scanning3DSettings::scan3DROI for details.

Returns

See ErrorStatus for details.

getUhpCaptureMode()

ErrorStatus mmind::api::MechEyeDevice::getUhpCaptureMode

(

UhpSettings::UhpCaptureMode &

value

)

const

Gets UHP camera capture mode. Only support with Mech-Eye UHP series industrial 3D camera.

Parameters

[out]

value

See UhpSettings::captureMode and UhpSettings::UhpCaptureMode for details.

Returns

See ErrorStatus for details.

getUhpFringeCodingMode()

ErrorStatus mmind::api::MechEyeDevice::getUhpFringeCodingMode

(

UhpSettings::UhpFringeCodingMode &

value

)

const

Gets UHP camera fringe coding mode. Only support with Mech-Eye UHP series industrial 3D camera.

Parameters

[out]

value

See UhpSettings::fringeCodingMode and UhpSettings::UhpFringeCodingMode for details.

Returns

See ErrorStatus for details.

getUhpSettings()

ErrorStatus mmind::api::MechEyeDevice::getUhpSettings

(

UhpSettings &

value

)

const

Gets UHP device settings. Only support with Mech-Eye UHP series industrial 3D camera.

Parameters

[out]

value

See UhpSettings for details.

Returns

See ErrorStatus for details.

saveAllSettingsToUserSets()

ErrorStatus mmind::api::MechEyeDevice::saveAllSettingsToUserSets

(

)

const

Saves all parameters to the current user set.

Returns

See ErrorStatus for details.

setBoardType()

ErrorStatus mmind::api::MechEyeDevice::setBoardType

(

HandeyeCalibrationSettings::boardType

boardType

)

const

Set the board type for this calibration.

Parameters

[in]

value

See boardType.

Returns

See ErrorStatus for details.

setCalibrateType()

ErrorStatus mmind::api::MechEyeDevice::setCalibrateType

(

HandeyeCalibrationSettings::calibrationType

calibrationType

)

const

Set the calibration type for this calibration.

Parameters

[in]

value

See calibrationType.

Returns

See ErrorStatus for details.

setCloudEdgePreservationMode()

ErrorStatus mmind::api::MechEyeDevice::setCloudEdgePreservationMode

(

PointCloudProcessingSettings::PointCloudEdgePreservation

value

)

const

Sets the point cloud edge preservation mode.

Parameters

[in]

value

See PointCloudProcessingSettings::edgePreservation for details.

Returns

See ErrorStatus for details.

setCloudNoiseRemovalMode()

ErrorStatus mmind::api::MechEyeDevice::setCloudNoiseRemovalMode

(

PointCloudProcessingSettings::PointCloudNoiseRemoval

value

)

const

Sets the point cloud noise removal mode.

Parameters

[in]

value

See PointCloudProcessingSettings::noiseRemoval for details.

Returns

See ErrorStatus for details.

setCloudOutlierFilterMode()

ErrorStatus mmind::api::MechEyeDevice::setCloudOutlierFilterMode

(

PointCloudProcessingSettings::CloudOutlierFilterMode

value

)

const

Sets the point cloud outliers removal algorithm.

Parameters

[in]

value

See PointCloudProcessingSettings::outlierFilterMode for details.

Returns

See ErrorStatus for details.

Deprecated

Please use MechEyeDevice::getCloudOutlierRemovalMode() instead.

setCloudOutlierRemovalMode()

ErrorStatus mmind::api::MechEyeDevice::setCloudOutlierRemovalMode

(

PointCloudProcessingSettings::PointCloudOutlierRemoval

value

)

const

Sets the point cloud outlier removal mode.

Parameters

[in]

value

See PointCloudProcessingSettings::outlierRemoval for details.

Returns

See ErrorStatus for details.

setCloudSmoothMode()

ErrorStatus mmind::api::MechEyeDevice::setCloudSmoothMode

(

PointCloudProcessingSettings::CloudSmoothMode

value

)

const

Sets the point cloud smoothing algorithm.

Parameters

[in]

value

See PointCloudProcessingSettings::smoothMode for details.

Returns

See ErrorStatus for details.

Deprecated

Please use MechEyeDevice::setCloudSurfaceSmoothingMode() instead.

setCloudSurfaceSmoothingMode()

ErrorStatus mmind::api::MechEyeDevice::setCloudSurfaceSmoothingMode

(

PointCloudProcessingSettings::PointCloudSurfaceSmoothing

value

)

const

Sets the point cloud surface smoothing mode.

Parameters

[in]

value

See PointCloudProcessingSettings::surfaceSmoothing for details.

Returns

See ErrorStatus for details.

setCurrentUserSet()

ErrorStatus mmind::api::MechEyeDevice::setCurrentUserSet

(

const std::string &

userSetName

)

const

Sets the current user set by user set name.

Call saveAllSettingsToUserSets to take effect permanently on the device.

Parameters

[in]

userSetName

Returns

See ErrorStatus for details.

See also

saveAllSettingsToUserSets

setDepthRange()

ErrorStatus mmind::api::MechEyeDevice::setDepthRange

(

const DepthRange &

value

)

const

Sets depth range in 3D image.

Parameters

[in]

value

See Scanning3DSettings::depthRange for details.

Returns

See ErrorStatus for details.

setFringeContrastThreshold()

ErrorStatus mmind::api::MechEyeDevice::setFringeContrastThreshold

(

int

value

)

const

Sets the signal contrast threshold for effective pixels.

Parameters

[in]

value

See PointCloudProcessingSettings::fringeContrastThreshold for details.

Returns

See ErrorStatus for details.

setFringeMinThreshold()

ErrorStatus mmind::api::MechEyeDevice::setFringeMinThreshold

(

int

value

)

const

Sets the signal minimum threshold for effective pixels.

Parameters

[in]

value

See PointCloudProcessingSettings::fringeMinThreshold for details.

Returns

See ErrorStatus for details.

setLaserSettings()

ErrorStatus mmind::api::MechEyeDevice::setLaserSettings

(

const LaserSettings &

value

)

const

Sets laser device settings. Only support with Mech-Eye Laser series industrial 3D camera.

Parameters

[in]

value

See LaserSettings for details.

Returns

See ErrorStatus for details.

setProjectorAntiFlickerMode()

ErrorStatus mmind::api::MechEyeDevice::setProjectorAntiFlickerMode

(

ProjectorSettings::AntiFlickerMode

value

)

const

Sets projector's anti-flicker mode. Only support with Mech-Eye NANO and PRO series industrial 3D camera.

Parameters

[in]

value

See ProjectorSettings::antiFlickerMode for details.

Returns

See ErrorStatus for details.

setProjectorFringeCodingMode()

ErrorStatus mmind::api::MechEyeDevice::setProjectorFringeCodingMode

(

ProjectorSettings::FringeCodingMode

value

)

const

Sets projector's fringe coding mode. Only support with Mech-Eye NANO and PRO series industrial 3D cameras.

Parameters

[in]

value

See ProjectorSettings::fringeCodingMode for details.

Returns

See ErrorStatus for details.

setProjectorPowerLevel()

ErrorStatus mmind::api::MechEyeDevice::setProjectorPowerLevel

(

ProjectorSettings::PowerLevel

value

)

const

Sets projector's powerl level. Only support with Mech-Eye NANO, LOG and PRO series industrial 3D cameras.

Parameters

[in]

value

See ProjectorSettings::powerLevel for details.

Returns

See ErrorStatus for details.

setScan2DExpectedGrayValue()

ErrorStatus mmind::api::MechEyeDevice::setScan2DExpectedGrayValue

(

int

value

)

const

Sets the expected gray value in Scanning2DSettings::Auto exposure mode.

Parameters

[in]

value

See Scanning2DSettings::expectedGrayValue for details.

Returns

See ErrorStatus for details.

setScan2DExposureMode()

ErrorStatus mmind::api::MechEyeDevice::setScan2DExposureMode

(

Scanning2DSettings::Scan2DExposureMode

value

)

const

Sets the camera exposure mode to capture the 2D images.

Parameters

[in]

value

See Scanning2DSettings::exposureMode for details.

Returns

See ErrorStatus for details.

setScan2DExposureTime()

ErrorStatus mmind::api::MechEyeDevice::setScan2DExposureTime

(

double

value

)

const

Sets the camera exposure time in Scanning2DSettings::Timed exposure mode.

Parameters

[in]

value

See Scanning2DSettings::exposureTime for details.

Returns

See ErrorStatus for details.

setScan2DHDRExposureSequence()

ErrorStatus mmind::api::MechEyeDevice::setScan2DHDRExposureSequence

(

std::vector< double > &

values

)

const

Sets the camera HDR exposure sequence in Scanning2DSettings::HDR exposure mode.

Parameters

[in]

values

See Scanning2DSettings::hdrExposureSequence for details.

Returns

See ErrorStatus for details.

setScan2DROI()

ErrorStatus mmind::api::MechEyeDevice::setScan2DROI

(

const ROI &

value

)

const

Sets ROI to capture the 2D image.

Parameters

[in]

value

See Scanning2DSettings::scan2DROI for details.

Returns

See ErrorStatus for details.

setScan2DSharpenFactor()

ErrorStatus mmind::api::MechEyeDevice::setScan2DSharpenFactor

(

double

value

)

const

Sets the image sharpen factor.

Parameters

[in]

value

See Scanning2DSettings::sharpenFactor for details.

Returns

See ErrorStatus for details.

setScan2DToneMappingEnable()

ErrorStatus mmind::api::MechEyeDevice::setScan2DToneMappingEnable

(

bool

value

)

const

Sets whether gray level transformation algorithm is used or not.

Parameters

[in]

value

See Scanning2DSettings::toneMappingEnable for details.

Returns

See ErrorStatus for details.

setScan3DExposure()

ErrorStatus mmind::api::MechEyeDevice::setScan3DExposure

(

const std::vector< double > &

valueSequence

)

const

Sets the exposure time of the camera to capture the 3D image.

Parameters

[in]

valueSequence

See Scanning3DSettings::exposureSequence for details.

Returns

See ErrorStatus for details.

setScan3DGain()

ErrorStatus mmind::api::MechEyeDevice::setScan3DGain

(

double

value

)

const

Sets gain to capture the 3d image.

Parameters

[in]

value

See Scanning3DSettings::gain for details.

Returns

See ErrorStatus for details.

setScan3DROI()

ErrorStatus mmind::api::MechEyeDevice::setScan3DROI

(

const ROI &

value

)

const

Sets ROI to capture the 3D image.

Parameters

[in]

value

See Scanning3DSettings::scan3DROI for details.

Returns

See ErrorStatus for details.

setUhpCaptureMode()

ErrorStatus mmind::api::MechEyeDevice::setUhpCaptureMode

(

UhpSettings::UhpCaptureMode

value

)

const

Sets UHP camera capture mode. Only support with Mech-Eye UHP series industrial 3D camera.

Parameters

[in]

value

See UhpSettings::captureMode and UhpSettings::UhpCaptureMode for details.

Returns

See ErrorStatus for details.

setUhpFringeCodingMode()

ErrorStatus mmind::api::MechEyeDevice::setUhpFringeCodingMode

(

UhpSettings::UhpFringeCodingMode

value

)

const

Sets UHP camera fringe coding mode. Only support with Mech-Eye UHP series industrial 3D camera.

Parameters

[in]

value

See UhpSettings::fringeCodingMode and UhpSettings::UhpFringeCodingMode for details.

Returns

See ErrorStatus for details.

setUhpSettings()

ErrorStatus mmind::api::MechEyeDevice::setUhpSettings

(

UhpSettings

value

)

const

Sets UHP device settings. Only support with Mech-Eye UHP series industrial 3D camera.

Parameters

[in]

value

See UhpSettings for details.

Returns

See ErrorStatus for details.

---

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

• include/camera/deprecated/MechEyeApi.h