使用流程

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本章介绍使用Mech-Eye API控制相机的基本流程。本章图片及描述中使用C++ Mech-Eye API的类和方法名称，不同语言的对应名称详见代码示例。

发现

调用Camera类中的discoverCameras()方法枚举当前可连接的全部相机，并获取各个相机的信息。

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C#
Python

std::vector<mmind::eye::CameraInfo> cameraInfoList = mmind::eye::Camera::discoverCameras();

var cameraInfoList = Camera.DiscoverCameras();

camera_info_list = Camera.discover_cameras()

连接

实例化Camera类后，调用该类中的connect()方法，通过IP地址或由discoverCameras()方法获取的设备信息连接对应的相机。

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C#
Python

mmind::eye::Camera camera;
mmind::eye::ErrorStatus status = camera.connect(cameraInfoList[inputIndex]);

mmind::eye::Camera cameras;
mmind::eye::ErrorStatus status = camera.connect("192.168.0.10");

var camera = new Camera();
var status = camera.Connect(cameraInfoList[inputIndex]);

var camera = new Camera();
var status = camera.Connect("192.168.0.10");

camera = Camera()
camera.connect("192.168.0.10")

配置

调用UserSetManager类和UserSet类中的方法，选择相机的参数组并调节参数。

调用UserSetManager类中的selectUserSet方法选择需使用的参数组。

可通过该类中的getAllUserSetNames()方法获取相机所有可用参数组。

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C#
Python

mmind::eye::UserSetManager userSetManager = camera.userSetManager();
std::vector<std::string> userSets;
auto status = userSetManager.getAllUserSetNames(userSets);
status = userSetManager.selectUserSet(userSets.front());

var userSetManager = camera.UserSetManager();
List<string> userSets = new List<string>();
var status = userSetManager.GetAllUserSetNames(ref userSets);
status = userSetManager.SelectUserSet(userSets[0]);

user_set_manager = camera.userSetManager()
error, user_sets = user_set_manager.get_all_user_set_names()
user_set_manager.select_user_set(user_sets[0])

调用UserSet类中的getAvailableParameters()方法获取当前参数组中的全部参数信息，并确认各个参数的数据类型。

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C#
Python

mmind::eye::UserSet currentUserSet = camera.currentUserSet();
std::vector<Parameter*> parameters = currentUserSet.getAvailableParameters();

var currentUserSet = camera.CurrentUserSet();
var parameters = currentUserSet.GetAvailableParameters();

current_user_set = camera.current_user_set()
arameters = current_user_set.get_available_parameters()

调用UserSet类中的getIntValue()及类似方法，获取某一参数当前的值。

C++
C#
Python

int fringeContrastThreshold = 0;
currentUserSet.getIntValue(mmind::eye::pointcloud_processing_setting::FringeContrastThreshold::name, fringeContrastThreshold);

var fringeContrastThreshold = new int();
camera.CurrentUserSet().GetIntValue(MMind.Eye.PointCloudProcessingSetting.FringeContrastThreshold.Name, ref fringeContrastThreshold);

error, fringe_contrast_threshold = current_user_set.get_int_value(PointCloudFringeContrastThreshold.name)

调用UserSet类中的setIntValue()及类似方法，设置某一参数的值。

C++
C#
Python

auto status = currentUserSet.setIntValue(mmind::eye::pointcloud_processing_setting::FringeContrastThreshold::name, 15);

var status = currentUserSet.SetIntValue(MMind.Eye.PointCloudProcessingSetting.FringeContrastThreshold.Name, 15);

status = current_user_set.set_int_value(PointCloudFringeContrastThreshold.name, 15)

调用UserSet类中的saveAllParametersToDevice()方法，将设置的参数值保存至相机中。

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C#
Python

auto status = currentUserSet.SaveAllParametersToDevice();

var status = currentUserSet.SaveAllParametersToDevice();

status = current_user_set.save_all_parameters_to_device()

采集和获取数据

Mech-Eye API提供多种方法用于采集和获取数据，可单独采集2D或3D数据，也可同时采集2D和3D数据。

采集并获取用于生成2D图的数据：

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Python

mmind::eye::Frame2D frame2D;
camera.capture2D(frame2D);
mmind::eye::Color2DImage color = frame2D.getColorImage();
mmind::eye::GrayScale2DImage gray= frame2D.getGrayScaleImage();

var frame = new Frame2D();
camera.Capture2D(ref frame);
var color = frame.GetColorImage();
var gray = frame.GetGrayScaleImage();

frame_2d = Frame2D()
camera.capture_2d(frame_2d)
color = frame.get_color_image()
gray = frame.get_gray_scale_image()

采集并获取用于生成深度图和无纹理点云的数据：

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C#
Python

mmind::eye::Frame3D frame3D;
camera.capture3D(frame3D);
mmind::eye::DepthMap depth = frame3D.getDepthMap();
mmind::eye::PointCloud cloud= frame3D.getUntexturedPointCloud();

var frame = new Frame3D();
camera.Capture3D(ref frame);
var depth = frame.GetDepthMap();
var cloud = frame.GetUntexturedPointCloud();

frame_3d = Frame3D()
camera.capture_3d(frame_3d)
depth = frame.get_depth_map()
cloud = frame_3d.get_untextured_point_cloud()

采集并获取用于生成2D图、深度图和纹理点云的数据：

C++
C#
Python

mmind::eye::Frame2DAnd3D frame2DAnd3D;
camera.capture2DAnd3D(frame2DAnd3D);
mmind::eye::Color2DImage color = frame2DAnd3D.frame2D().getColorImage();
mmind::eye::DepthMap depth = frame2DAnd3D.frame3D().getDepthMap();
mmind::eye::TexturedPointCloud cloud = frame2DAnd3D.getTexturedPointCloud();

var frame = new Frame2DAnd3D();
camera.Capture2DAnd3D(ref frame);
var color = frame2DAnd3D.Frame2D().GetColorImage();
var depth = frame2DAnd3D.Frame3D().GetDepthMap();
var cloud = frame2DAnd3D.GetTexturedPointCloud();

frame = Frame2DAnd3D()
camera.capture_2d_and_3d(frame)
color = frame.frame_2d().get_color_image()
depth = frame.frame_3d().get_depth_image()
cloud = frame.get_textured_point_cloud()

采集并获取用于生成深度图和含法向量的无纹理点云的数据：

C++
C#
Python

mmind::eye::Frame3D frame3D;
camera.capture3DWithNormal(frame3D);
mmind::eye::DepthMap depth = frame3D.getDepthMap();
PointCloudWithNormals pointCloud = frame3D.getUntexturedPointCloudWithNormals();

var frame3D = new Frame3D();
camera.Capture3DWithNormal(ref frame3D);
var depth = frame3D.GetDepthMap();
var pointCloud = frame3D.GetUntexturedPointCloudWithNormals();

frame_3d = Frame3D()
camera.capture_3d_with_normal(frame_3d)
depth = frame_3d.get_depth_map()
point_cloud = frame_3d.get_untextured_point_cloud_with_normals()

采集并获取用于生成2D图、深度图和含法向量的纹理点云的数据：

C++
C#
Python

mmind::eye::Frame2DAnd3D frame2DAnd3D;
camera.capture2DAnd3DWithNormal(frame2DAnd3D);
mmind::eye::Color2DImage color = frame2DAnd3D.frame2D().getColorImage();
mmind::eye::DepthMap depth = frame2DAnd3D.frame3D().getDepthMap();
TexturedPointCloudWithNormals pointCloud = frame2DAnd3D.getTexturedPointCloudWithNormals();

var frame2DAnd3D = new Frame2DAnd3D();
camera.Capture2DAnd3DWithNormal(ref frame2DAnd3D);
var color = frame2DAnd3D.Frame2D().GetColorImage();
var depth = frame2DAnd3D.Frame3D().GetDepthMap();
var pointCloud = frame2DAnd3D.GetTexturedPointCloudWithNormals();

frame_2d_and_3d = Frame2DAnd3D()
camera.capture_2d_and_3d_with_normal(frame_2d_and_3d)
color = frame_2d_and_3d.frame_2d().get_color_image()
depth = frame_2d_and_3d.frame_3d().get_depth_map()
point_cloud = frame_2d_and_3d.get_textured_point_cloud_with_normals()

断开连接

调用Camera类中的disconnect()方法，断开与当前相机的连接。

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C#
Python

camera.disconnect();

camera.Disconnect();

camera.disconnect()

本章介绍了使用Mech-Eye API控制相机的基本流程。下一章提供Mech-Eye API的参考手册。

使用流程

发现

连接

配置

采集和获取数据

断开连接

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