Operates the camera. Use Camera::connect to connect an available camera, and then call the corresponding methods to perform data acquisition, 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 using CameraInfo.

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

void	disconnect ()
	Disconnects from 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 the model, serial number, firmware version, and IP configuration.

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

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

ErrorStatus	getCameraResolutions (CameraResolutions &resolutions) const
	Gets the image resolutions of the camera. Two image resolutions are provided, 2D image (texture) and depth map, which correspond to the 2D and 3D capture results Frame2D and Frame3D.

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

UserSetManager &	userSetManager ()
	Gets the UserSetManager of the camera. UserSetManager provides various operations for managing all user sets saved in the camera, including adding and deleting user sets and selecting the user set to be used. It also provides the methods for saving all user sets to a JSON file and load all user sets from a JSON file.

ErrorStatus	capture3D (Frame3D &frame3D, unsigned int timeoutMs=5000) const
	Projects structured light and captures a single 3D frame. 3D information is computed on the camera. The result is retrieved after the computation is completed.

ErrorStatus	capture3DWithNormal (Frame3D &frame3D, unsigned int timeoutMs=10000) const
	Projects structured light and captures a single 3D frame. 3D information and normal vector are computed on the camera. The result is retrieved after the computation is completed.

ErrorStatus	capture2D (Frame2D &frame2D, unsigned int timeoutMs=5000) const
	Captures a single 2D frame using the 2D camera in the 3D camera. The result is retrieved after the capture is completed.

ErrorStatus	capture2DAnd3D (Frame2DAnd3D &frame2DAnd3D, unsigned int timeoutMs=10000) const
	Simultaneously captures a single 2D frame and 3D frame. 3D information is computed on the camera. Both 2D and 3D capture results are retrieved after the capturing and computation processes are completed. Using this method, you can easily generate the textured point cloud from both 2D and 3D data.

ErrorStatus	capture2DAnd3DWithNormal (Frame2DAnd3D &frame2DAnd3D, unsigned int timeoutMs=15000) const
	Simultaneously captures a single 2D frame and 3D frame. 3D information and normal vector are computed on the camera. Both 2D and 3D capture results are retrieved after the capturing and computation processes are completed. Using this method, you can easily generate the texture point cloud from both 2D and 3D data.

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.

ErrorStatus	setPointCloudUnit (CoordinateUnit unit)
	Sets the unit of the point cloud.

ErrorStatus	getPointCloudUnit (CoordinateUnit &unit) const
	Gets the current unit of the point cloud.

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

Friends
class	HandEyeCalibration

class	CameraEvent

class	InternalInterfaces

Detailed Description

Operates the camera. Use Camera::connect to connect an available camera, and then call the corresponding methods to perform data acquisition, 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 the 2D camera in the 3D camera. The result is retrieved after the capture is completed.

Parameters

[out]	frame2D	The capture result. See Frame2D for details.
[in]	timeoutMs	The timeout period (in ms) for the capturing process. If no data is received within the timeout period, this method returns 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 Unsupported camera model.
ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR Timeout error.

◆ capture2DAnd3D()

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

Simultaneously captures a single 2D frame and 3D frame. 3D information is computed on the camera. Both 2D and 3D capture results are retrieved after the capturing and computation processes are completed. Using this method, you can easily generate the textured point cloud from both 2D and 3D data.

Parameters

[out]	frame2DAnd3D	The capture result containing Frame2D and Frame3D. See Frame2DAnd3D for details.
[in]	timeoutMs	The timeout period (in ms) for the capturing process. If no data is received within the timeout period, this method returns 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 Unsupported camera model.
ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR Timeout error.

◆ capture2DAnd3DWithNormal()

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

Simultaneously captures a single 2D frame and 3D frame. 3D information and normal vector are computed on the camera. Both 2D and 3D capture results are retrieved after the capturing and computation processes are completed. Using this method, you can easily generate the texture point cloud from both 2D and 3D data.

Parameters

[out]	frame2DAnd3D	The capture result containing Frame2D and Frame3D. See Frame2DAnd3D for details.
[in]	timeoutMs	The timeout period (in ms) for the capturing process. If no data is received within the timeout period, this method returns 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 Unsupported 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. 3D information is computed on the camera. The result is retrieved after the computation is completed.

Parameters

[out]	frame3D	The capture result. See Frame3D for details.
[in]	timeoutMs	The timeout period (in ms) for the capturing process. If no data is received within the timeout period, this method returns 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 Unsupported 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. 3D information and normal vector are computed on the camera. The result is retrieved after the computation is completed.

Parameters

[out]	frame3D	The capture result. See Frame3D for details.
[in]	timeoutMs	The timeout period (in ms) for the capturing process. If no data is received within the timeout period, this method returns 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 Unsupported 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 original images are returned.
[in]	timeoutMs	The timeout period (in ms) for the capturing process. If no data is received within the timeout period, this method returns 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 Unsupported camera model or firmware version.
ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR Timeout error.

Note: Different camera models have different parameters for adjusting the exposure of these 2D images. For DEEP, LSR S, and LSR L, adjust DepthSourceExposureMode and DepthSourceExposureTime. For the other models, adjust ExposureMode and ExposureTime.

◆ connect() [1/2]

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

Connects to a camera using CameraInfo.

Parameters

[in]	info	The information of the camera to be connected. You can use Camera::discoverCameras to discover all available cameras.
[in]	timeoutMs	The timeout period (in ms) for connecting to a camera. If the camera connection does not succeed after the timeout period has passed, this method returns 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 Unsupported 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 using the IP address.

Parameters

[in]	ipAddress	The IP address of the camera to be connected. The format of a valid IP address: 100.100.1.1.
[in]	timeoutMs	The timeout period (in ms) for connecting to a camera. If the camera connection does not succeed after the timeout period has passed, this method returns 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 Unsupported camera model or firmware version.
ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR Timeout error.

◆ currentUserSet()

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

Gets the UserSet currently in use.Through UserSet, you can access all available parameters of the camera related to 2D and 3D data acquisition. You can also use UserSet to directly set and get the parameter values 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 list of information of all available cameras. If a camera is not successfully discovered, please check the network connection and indicator lights on the camera.

Returns: The list of information of all available cameras.

◆ getCameraInfo()

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

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

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 intrinsic parameters. The camera intrinsic parameters include the intrinsic parameters of the texture 2D camera and the intrinsic parameters of the depth 2D camera(s) based on the pinhole camera model, which correspond to the 2D and 3D capture results Frame2D and Frame3D. The camera intrinsic parameters also include the transformation relationship between the texture 2D camera and depth 2D camera(s).

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 image resolutions of the camera. Two image resolutions are provided, 2D image (texture) and depth map, which correspond to the 2D and 3D capture 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 various statuses 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.

◆ getPointCloudUnit()

ErrorStatus mmind::eye::Camera::getPointCloudUnit ( CoordinateUnit & unit ) const

Gets the current unit of the point cloud.

Parameters

[out] unit The current CoordinateUnit of the point cloud.

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 Unsupported camera model.
ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR Timeout error.

◆ 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.

◆ setPointCloudUnit()

ErrorStatus mmind::eye::Camera::setPointCloudUnit ( CoordinateUnit unit )

Sets the unit of the point cloud.

Parameters

[in] unit The new CoordinateUnit of the point cloud.

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 Unsupported camera model.
ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR Timeout error.

◆ userSetManager()

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

Gets the UserSetManager of the camera. UserSetManager provides various operations for managing all user sets saved in the camera, including adding and deleting user sets and selecting the user set to be used. It also provides the methods for saving all user sets to a JSON file and load all user sets from a JSON file.

Returns: See UserSetManager for details.

Friends And Related Symbol Documentation

◆ CameraEvent

friend class CameraEvent

friend

Definition at line 364 of file Camera.h.

◆ HandEyeCalibration

friend class HandEyeCalibration

friend

Definition at line 363 of file Camera.h.

◆ InternalInterfaces

friend class InternalInterfaces

friend

Definition at line 365 of file Camera.h.

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

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()

◆ getPointCloudUnit()

◆ setHeartbeatInterval()

◆ setPointCloudUnit()

◆ userSetManager()

Friends And Related Symbol Documentation

◆ CameraEvent

◆ HandEyeCalibration

◆ InternalInterfaces