mmind::eye Namespace Reference

Namespaces
namespace	laser_setting
namespace	pointcloud_processing_setting
namespace	projector_setting
namespace	scanning2d_setting
namespace	scanning3d_setting
namespace	uhp_setting

Data Structures
class	Array2D
	Represents a 2D container of data. More...
class	BoolParameter
	Represents a _Bool-type device parameter. More...
class	Camera
	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...
struct	CameraDistortion
	Describes the distortion parameters. More...
class	CameraEvent
	The camera event related. Use CameraEvent::getSupportedEvents to get supported events. Use CameraEvent::registerCameraEventCallback to register an event of interest. More...
struct	CameraInfo
	Defines the camera information. More...
struct	CameraIntrinsics
	Defines the 3D camera intrinsic parameters, including the intrinsic parameters of the texture 2D camera, the intrinsic parameters of the depth 2D camera(s), and the transformation between them. More...
struct	CameraMatrix
	Describes the camera intrinsic parameter matrix. More...
struct	CameraResolutions
	Defines the camera image resolutions, including the resolutions of the 2D image (texture) and depth map. More...
struct	CameraStatus
	Describes the camera's statuses. More...
struct	ColorBGR
	Represents a pixel in Color2DImage with blue, green, and red channel information. More...
struct	DeviceTemperature
	Describes the device temperatures. More...
class	EnumParameter
	Represents an _Enum-type device parameter. More...
struct	ErrorStatus
	Describes the types of errors. More...
struct	EventData
	Represents data associated with a camera event. More...
class	FloatArrayParameter
	Represents a _FloatArray-type device parameter. More...
class	FloatParameter
	Represents a _Float-type device parameter. More...
class	Frame2D
	Represents the 2D capture result, which can be obtained by calling Camera::capture2D. The 2D data can be in the form of Gray or ColorBGR and is stored in a 2D array, with each element in the array representing an image pixel. More...
class	Frame2DAnd3D
	Represents the 2D and 3D capture results, which can be obtained by calling Camera::capture2DAnd3D. The 3D data can be in the form of PointZ or PointXYZ and is stored in a 2D array, with each element in the array representing a point. The class also provides methods for saving the point cloud data to a local file. More...
class	Frame3D
	Represents the 3D capture result, which can be obtained by calling Camera::capture3D. The 3D data can be in the form of PointZ or PointXYZ and is stored in a 2D array, with each element in the array representing a point. The class also provides methods for saving the point cloud data to a local file. More...
struct	FrameTransformation
	Defines the rigid body transformations from one reference frame to another, including the rotation matrix and translation vector. More...
struct	Gray
	Represents a pixel in GrayScale2DImage with grayscale channel information. More...
class	HandEyeCalibration
class	IntParameter
	Represents an _Int-type device parameter. More...
struct	Intrinsics2DCamera
	Describes the intrinsic parameters of the 2D camera in the 3D camera based on the pinhole camera model, including the camera matrix and camera distortion parameters. More...
struct	NormalVector
	The pixel element struct with the normal vector coordinate (x, y, z) information. More...
class	Parameter
	Represents a parameter of the device. More...
struct	PointXYZ
	Represents a point in UntexturedPointCloud with the coordinate (x, y, z) information. More...
struct	PointXYZBGR
	Represents a point in TexturedPointCloud with the coordinate (x, y, z) and texture (blue, green, red, and transparency) information. More...
struct	PointXYZBGRWithNormals
	The pixel element struct in TexturedPointCloudWithNormals with the coordinate (x, y, z), texture (blue, green, red and transparency), and normal vector coordinate (x, y, z and curvature) information. More...
struct	PointXYZWithNormals
	The pixel element struct in UntexturedPointCloudWithNormals with the coordinate (x, y, z) and normal vector coordinate (x, y, z, curvature) information. More...
struct	PointZ
	Represents a point in DepthMap with the depth (z-coordinate) information. More...
struct	ProfileROI
	Describes the region of interest (ROI) of a laser profiler. More...
class	ProfileRoiParameter
	Represents an _ProfileRoi-type device parameter. More...
struct	Range
	Describes a value range. More...
class	RangeParameter
	Represents a _Range-type device parameter. More...
struct	ROI
	Describes a region of interest (ROI). More...
class	RoiArrayParameter
	Represents an _RoiArray-type device parameter. More...
class	RoiParameter
	Represents an _Roi-type device parameter. More...
struct	Size
	Describes a two-dimensional size with a width and a height. More...
struct	SizeF
	Describes a two-dimensional size with a width and a height using double-precision floating-point numbers. More...
struct	Transformation
	Defines the rigid body transformations, including rotation matrix and translation vector. More...
class	UserSet
class	UserSetManager
	Manages device user sets. More...
class	Version
	Describes the version information. More...
class	VirtualUserSet

Typedefs
using	GrayScale2DImage = Array2D< Gray >
using	Color2DImage = Array2D< ColorBGR >
using	TexturedPointCloud = Array2D< PointXYZBGR >
using	TexturedPointCloudWithNormals = Array2D< PointXYZBGRWithNormals >
using	DepthMap = Array2D< PointZ >
using	UntexturedPointCloud = Array2D< PointXYZ >
using	UntexturedPointCloudWithNormals = Array2D< PointXYZWithNormals >
using	PointCloud = UntexturedPointCloud
using	PointCloudWithNormals = UntexturedPointCloudWithNormals

Enumerations
enum class	ColorTypeOf2DCamera { Monochrome , Color , Undefined }
	Defines the color type of the 2D camera in the 3D camera. More...
enum struct	CoordinateUnit { Millimeter , Meter }
	The unit of the coordinate data of the point cloud. More...
enum struct	FileFormat { PLY , PCD , CSV }
enum struct	IpAssignmentMethod { Unknown , DHCP = 4 , Static , LLA }
	Describes the assignment method of the device IP address. More...
enum struct	Platform {   PLATFORM_A , PLATFORM_B , PLATFORM_C , PLATFORM_D ,   PLATFORM_E , PLATFORM_F , PLATFORM_G , PLATFORM_H }
	Describes the platform of the camera. More...

Functions
MMIND_API_EXPORT ErrorStatus	getPointCloudAfterMapping (const DepthMap &depthMap, const GrayScale2DImage &textureValidMask, const CameraIntrinsics &intrinsics, PointCloud &pointCloud)
	Uses a gray scale image as a mask to transform a depth map into a point cloud, the valid points in the point cloud only contain the mapped depth for each valid pixel in the mask.
MMIND_API_EXPORT ErrorStatus	getPointCloudAfterMapping (const DepthMap &depthMap, const GrayScale2DImage &textureValidMask, const Color2DImage &texture, const CameraIntrinsics &intrinsics, TexturedPointCloud &pointCloud)
	Uses a gray scale image as a mask to transform a depth map and a texture image into a textured point cloud, the valid points in the point cloud only contain the mapped depth for each valid pixel in the mask.
MMIND_API_EXPORT PointCloud	transformPointCloud (const FrameTransformation &coordinateTransformation, const PointCloud &originalPointCloud)
	Transforms the reference frame of a point cloud.
MMIND_API_EXPORT PointCloudWithNormals	transformPointCloudWithNormals (const FrameTransformation &coordinateTransformation, const PointCloud &originalPointCloud)
	Transforms the reference frame of a point cloud with normals.
MMIND_API_EXPORT TexturedPointCloud	transformTexturedPointCloud (const FrameTransformation &coordinateTransformation, const TexturedPointCloud &originalTexturedPointCloud)
	Transforms the reference frame of a textured point cloud.
MMIND_API_EXPORT TexturedPointCloudWithNormals	transformTexturedPointCloudWithNormals (const FrameTransformation &coordinateTransformation, const TexturedPointCloud &originalTexturedPointCloud)
	Transforms the reference frame of a textured point cloud with normals.
MMIND_API_EXPORT FrameTransformation	getTransformationParams (Camera &camera)
	Obtains the rigid body transformations of the custom reference frame of a camera. The custom reference frame can be adjusted using the "Custom Reference Frame" tool in Mech-Eye Viewer. The rigid body transformations are automatically calculated after the settings in this tool have been applied. The "Custom Reference Frame" tool is recommended as the GUI allows you to adjust the reference frame easily and conveniently. Alternatively, you can use the rotation and translation methods in FrameTransformation to define the transformations manually.
void	showError (const mmind::eye::ErrorStatus &status, const std::string &successMessage={})
	Prints the error code and its description.
MMIND_API_EXPORT ErrorStatus	exportLogs (const std::string &dstPath, bool coverIfExist)
	Exports the API logs.
MMIND_API_EXPORT std::string	getApiVersionInfo ()
	Gets the version of Mech-Eye API.

Typedef Documentation

Color2DImage

using Color2DImage = Array2D<ColorBGR>

DepthMap

using DepthMap = Array2D<PointZ>

GrayScale2DImage

using GrayScale2DImage = Array2D<Gray>

PointCloud

using PointCloud = UntexturedPointCloud

PointCloudWithNormals

using PointCloudWithNormals = UntexturedPointCloudWithNormals

TexturedPointCloud

using TexturedPointCloud = Array2D<PointXYZBGR>

TexturedPointCloudWithNormals

using TexturedPointCloudWithNormals = Array2D<PointXYZBGRWithNormals>

UntexturedPointCloud

using UntexturedPointCloud = Array2D<PointXYZ>

UntexturedPointCloudWithNormals

using UntexturedPointCloudWithNormals = Array2D<PointXYZWithNormals>

Enumeration Type Documentation

ColorTypeOf2DCamera

enum class ColorTypeOf2DCamera

strong

Defines the color type of the 2D camera in the 3D camera.

Enumerator
Monochrome
Color
Undefined

CoordinateUnit

enum struct CoordinateUnit

strong

The unit of the coordinate data of the point cloud.

Enumerator
Millimeter
Meter

FileFormat

enum struct FileFormat

strong

Enumerator
PLY
PCD
CSV

IpAssignmentMethod

enum struct IpAssignmentMethod

strong

Describes the assignment method of the device IP address.

Enumerator
Unknown
DHCP
Static
LLA

Platform

enum struct Platform

strong

Describes the platform of the camera.

Enumerator
PLATFORM_A
PLATFORM_B
PLATFORM_C
PLATFORM_D
PLATFORM_E
PLATFORM_F
PLATFORM_G
PLATFORM_H

Function Documentation

exportLogs()

MMIND_API_EXPORT ErrorStatus exportLogs	(	const std::string &	dstPath,
		bool	coverIfExist
	)

Exports the API logs.

Parameters

[in]	The	folder path used to store the exported logs.
[in]	Whether	to overwrite an existing file with the same name.

Returns

ErrorStatus::MMIND_STATUS_SUCCESS Log export successful.
ErrorStatus::MMIND_STATUS_FILE_IO_ERROR. Failed to save the logs.

getApiVersionInfo()

MMIND_API_EXPORT std::string getApiVersionInfo

(

)

Gets the version of Mech-Eye API.

getPointCloudAfterMapping() [1/2]

MMIND_API_EXPORT ErrorStatus getPointCloudAfterMapping	(	const DepthMap &	depthMap,
		const GrayScale2DImage &	textureValidMask,
		const CameraIntrinsics &	intrinsics,
		PointCloud &	pointCloud
	)

Uses a gray scale image as a mask to transform a depth map into a point cloud, the valid points in the point cloud only contain the mapped depth for each valid pixel in the mask.

Note

The unit of the translational component of the CameraIntrinsics is mm. If the unit of the point cloud is m, the point cloud cannot be correctly masked. Therefore, please set the unit of the point cloud to mm using Camera::setPointCloudUnit before calling this method.

Parameters

[in]	depthMap	The input depth map. See DepthMap for details.
[in]	textureValidMask	A mask image of the same size as the camera's 2D image, with valid points set to 255 and invalid points to 0.
[in]	intrinsics	The camera intrinsics. See CameraIntrinsics for details.
[out]	pointCloud	The output point cloud. See PointCloud for details.

Returns

ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_INVALID_INPUT_ERROR Input error.

getPointCloudAfterMapping() [2/2]

MMIND_API_EXPORT ErrorStatus getPointCloudAfterMapping	(	const DepthMap &	depthMap,
		const GrayScale2DImage &	textureValidMask,
		const Color2DImage &	texture,
		const CameraIntrinsics &	intrinsics,
		TexturedPointCloud &	pointCloud
	)

Uses a gray scale image as a mask to transform a depth map and a texture image into a textured point cloud, the valid points in the point cloud only contain the mapped depth for each valid pixel in the mask.

Note

The unit of the translational component of the CameraIntrinsics is mm. If the unit of the point cloud is m, the point cloud cannot be correctly masked and textured. Therefore, please set the unit of the point cloud to mm using Camera::setPointCloudUnit before calling this method.

Parameters

[in]	depthMap	The input depth map. See DepthMap for details.
[in]	textureValidMask	A mask image of the same size as the camera's 2D image, with valid points set to 255 and invalid points to 0.
[in]	texture	The input texture image. See Color2DImage for details.
[in]	intrinsics	The camera intrinsics. See CameraIntrinsics for details.
[out]	pointCloud	The output textured point cloud. See TexturedPointCloud for details.

Returns

ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_INVALID_INPUT_ERROR Input error.

getTransformationParams()

MMIND_API_EXPORT FrameTransformation getTransformationParams

(

Camera &

camera

)

Obtains the rigid body transformations of the custom reference frame of a camera. The custom reference frame can be adjusted using the "Custom Reference Frame" tool in Mech-Eye Viewer. The rigid body transformations are automatically calculated after the settings in this tool have been applied. The "Custom Reference Frame" tool is recommended as the GUI allows you to adjust the reference frame easily and conveniently. Alternatively, you can use the rotation and translation methods in FrameTransformation to define the transformations manually.

Parameters

[in]

camera

The Camera handle.

Returns

The rigid body transformations from the camera reference frame to the custom reference frame. Refer to FrameTransformation for more details.

showError()

void showError ( const mmind::eye::ErrorStatus &  status, const std::string &  successMessage = {}  )

inline

Prints the error code and its description.

transformPointCloud()

MMIND_API_EXPORT PointCloud transformPointCloud	(	const FrameTransformation &	coordinateTransformation,
		const PointCloud &	originalPointCloud
	)

Transforms the reference frame of a point cloud.

Parameters

[in]	coordinateTransformation	The rigid body transformations from the original reference frame to the new reference frame. Refer to FrameTransformation for more details.
[in]	originalPointCloud	The PointCloud whose reference frame is to be transformed.

Returns

The PointCloud after reference frame transformation.

Note

This method must be called after Camera::capture3D and Frame3D::getUntexturedPointCloud so that the PointCloud data is available.

transformPointCloudWithNormals()

MMIND_API_EXPORT PointCloudWithNormals transformPointCloudWithNormals	(	const FrameTransformation &	coordinateTransformation,
		const PointCloud &	originalPointCloud
	)

Transforms the reference frame of a point cloud with normals.

Parameters

[in]	coordinateTransformation	The rigid body transformations from the original reference frame to the new reference frame. Refer to FrameTransformation for more details.
[in]	originalPointCloud	The PointCloud whose reference frame is to be transformed.

Returns

The PointCloudWithNormals after reference frame transformation.

Note

This method must be called after Camera::capture3D and Frame3D::getUntexturedPointCloud so that the PointCloud data is available.

transformTexturedPointCloud()

MMIND_API_EXPORT TexturedPointCloud transformTexturedPointCloud	(	const FrameTransformation &	coordinateTransformation,
		const TexturedPointCloud &	originalTexturedPointCloud
	)

Transforms the reference frame of a textured point cloud.

Parameters

[in]	coordinateTransformation	The rigid body transformations from the original reference frame to the new reference frame. Refer to FrameTransformation for more details.
[in]	originalTexturedPointCloud	The TexturedPointCloud whose reference frame is to be transformed.

Returns

The TexturedPointCloud after reference frame transformation.

Note

This method must be called after Camera::capture2DAnd3D and Frame2DAnd3D::getTexturedPointCloud so that the TexturedPointCloud data is available.

transformTexturedPointCloudWithNormals()

MMIND_API_EXPORT TexturedPointCloudWithNormals transformTexturedPointCloudWithNormals	(	const FrameTransformation &	coordinateTransformation,
		const TexturedPointCloud &	originalTexturedPointCloud
	)

Transforms the reference frame of a textured point cloud with normals.

Parameters

[in]	coordinateTransformation	The rigid body transformations from the original reference frame to the new reference frame. Refer to FrameTransformation for more details.
[in]	originalTexturedPointCloud	The TexturedPointCloud whose reference frame is to be transformed.

Returns

The TexturedPointCloudWithNormals after reference frame transformation.

Note

This method must be called after Camera::capture2DAnd3D and Frame2DAnd3D::getTexturedPointCloud so that the TexturedPointCloud data is available.