Migration Guide from Version 2.1.0 to Version 2.2.0

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Mech-Eye API 2.2.0 has been restructured to provide a clearer structure while keeping all the previously available functions. New functions have also been added.

This topic lists the main changes of Mech-Eye API 2.2.0 compared to Mech-Eye API 2.1.0. If you wish to use the 2.2.0 version of Mech-Eye API in your existing client program, you can refer to this topic and modify your client program.

For the overall structure of Mech-Eye API 2.2.0, please refer to Functional Hierarchy of Classes.
For the basic workflow of using Mech-Eye API 2.2.0 to control the camera, please refer to Functional Hierarchy of Classes.

Import Modules

In Mech-Eye API 2.2.0, the following changes have been made to the statement for importing modules:

2.1.0 2.2.0

2.1.0	2.2.0
C++ C# Python `#include "MechEyeApi.h" using namespace mmind::api;` c++	C++ C# Python `#include "Camera.h" using namespace mmind::eye;` c++

C++
C#
Python

#include "MechEyeApi.h"

using namespace mmind::api;

c++

using mmind.apiSharp;

csharp

from MechEye import Device

python

C++
C#
Python

#include "Camera.h"

using namespace mmind::eye;

c++

using MMind.Eye;

csharp

from mecheye.shared import *
from mecheye.area_scan_3d_camera import *
from mecheye.area_scan_3d_camera_utils import *

python

Create Camera Object

In Mech-Eye API 2.2.0, the following changes have been made to the statement for creating an object representing the cameras:

2.1.0 2.2.0

2.1.0	2.2.0
C++ C# Python `mmind::api::MechEyeDevice device;` c++	C++ C# Python `mmind::eye::Camera camera;` c++

C++
C#
Python

mmind::api::MechEyeDevice device;

c++

var device = new MechEyeDevice();

csharp

device = Device()

python

C++
C#
Python

mmind::eye::Camera camera;

c++

var camera = new Camera();

csharp

camera = Camera()

python

Discover and Connect to Camera

In Mech-Eye API 2.2.0, the following changes have been made to the statement for discovering and connecting to a camera:

2.1.0 2.2.0

2.1.0	2.2.0
C++ C# Python `std::vector<mmind::api::MechEyeDeviceInfo> deviceInfoList = mmind::api::MechEyeDevice::enumerateMechEyeDeviceList(); mmind::api::MechEyeDevice device; device.connect(deviceInfoList[0]);` c++	C++ C# Python `std::vector<mmind::eye::CameraInfo> cameraInfoList = mmind::eye::Camera::discoverCameras(); mmind::eye::Camera camera； camera.connect(cameraInfoList[0]);` c++

C++
C#
Python

std::vector<mmind::api::MechEyeDeviceInfo> deviceInfoList = mmind::api::MechEyeDevice::enumerateMechEyeDeviceList();

mmind::api::MechEyeDevice device;
device.connect(deviceInfoList[0]);

c++

var deviceInfoList = MechEyeDevice.EnumerateMechEyeDeviceList();

var device = new MechEyeDevice();
device.Connect(deviceInfoList[0]);

csharp

device_list = Device.get_device_list()

device = Device()
device.connect(device_list[0])

python

C++
C#
Python

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

mmind::eye::Camera camera；
camera.connect(cameraInfoList[0]);

c++

var cameraInfoList = Camera.DiscoverCameras();

var camera = new Camera();
camera.Connect(cameraInfoList[0]);

csharp

camera_infos = Camera.discover_cameras()

camera = Camera()
camera.connect(camera_infos[0])

python

Manage Parameter Groups

Mech-Eye API 2.2.0 uses classes to organize the functions related to parameter groups and parameters. For details, please refer to Functional Hierarchy of Classes. The changes to frequently used functions are listed here.

2.1.0 2.2.0

2.1.0	2.2.0
C++ C# Python `std::vector<std::string> userSets; device.getAllUserSets(userSets); std::string currentUserSetName; device.getCurrentUserSet(currentUserSet); device.setCurrentUserSet(userSets.front()); device.addUserSet("NewSetting"); device.saveAllSettingsToUserSets();` c++	C++ C# Python `std::vector<std::string> userSets; mmind::eye::UserSetManager& userSetManager = camera.userSetManager(); userSetManager.getAllUserSetNames(userSets); mmind::eye::UserSet& curSettings = userSetManager.currentUserSet(); std::string currentName; curSettings.getName(currentName); userSetManager.selectUserSet(userSets.front()); userSetManager.addUserSet("NewSetting"); camera.currentUserSet().saveAllParametersToDevice();` c++

C++
C#
Python

std::vector<std::string> userSets;
device.getAllUserSets(userSets);

std::string currentUserSetName;
device.getCurrentUserSet(currentUserSet);

device.setCurrentUserSet(userSets.front());

device.addUserSet("NewSetting");

device.saveAllSettingsToUserSets();

c++

var userSets = new List<string>();
device.GetAllUserSets(ref userSets);

std::string currentUserSetName = "";
device.GetCurrentUserSet(ref currentUserSetName);

device.SetCurrentUserSet(userSets[0])

device.AddUserSet("NewSetting");

device.SaveAllSettingsToUserSets();

csharp

# Obtain the names of all parameter groups.
user_sets = device.get_all_user_sets()

# Get the name of the current parameter group.
current_user_set = device.get_current_user_set()

# Select a parameter group.
device.set_current_user_set(user_sets[0])

# Add a parameter group.
device.add_user_set("NewSetting")

# Save the current parameter settings to the parameter group.
device.save_all_settings_to_user_set()

python

C++
C#
Python

std::vector<std::string> userSets;
mmind::eye::UserSetManager& userSetManager = camera.userSetManager();
userSetManager.getAllUserSetNames(userSets);

mmind::eye::UserSet& curSettings = userSetManager.currentUserSet();
std::string currentName;
curSettings.getName(currentName);

userSetManager.selectUserSet(userSets.front());

userSetManager.addUserSet("NewSetting");

camera.currentUserSet().saveAllParametersToDevice();

c++

var userSetManager = camera.UserSetManager();
var userSets = new List<string>();
userSetManager.GetAllUserSetNames(ref userSets);

var currentName = userSetManager.CurrentUserSet().GetName();

userSetManager.SelectUserSet(userSets[0]);

userSetManager.AddUserSet("NewSetting");

camera.CurrentUserSet().SaveAllParametersToDevice();

csharp

# Obtain the names of all parameter groups.
user_set_manager = camera.userSetManager()
error, user_sets = user_set_manager.get_all_user_set_names()

# Get the name of the current parameter group.
current_user_set = user_set_manager.current_user_set().get_name()

# Select a parameter group.
user_set_manager.select_user_set(user_sets[0])

# Add a parameter group.
user_set_manager.add_user_set("NewSetting")

# Save the current parameter settings to the parameter group.
camera.current_user_set().save_all_parameters_to_device()

python

Set and Obtain Parameter Values

Mech-Eye API 2.2.0 uses classes to organize the functions related to parameter groups and parameters. For details, please refer to Functional Hierarchy of Classes.

Meanwhile, Mech-Eye API 2.2.0 provides methods for setting and obtaining parameters according to the data types of the parameters.

The following data types of parameters are distinguished in Mech-Eye API 2.2.0:

_Int
_Float
_Bool
_Enum
_Roi
_Range
_FloatArray

The following sections provide examples of each data type.

_Int Type

The Stripe Contrast Threshold parameter in the Point Cloud Processing category is used as an example.

2.1.0 2.2.0

2.1.0	2.2.0
C++ C# Python `device.setFringeContrastThreshold(15); int fringeContrastThreshold = 0; device.getFringeContrastThreshold(fringeContrastThreshold);` c++	C++ C# Python `#include "area_scan_3d_camera/parameters/PointCloudProcessing.h" camera.currentUserSet().setIntValue(mmind::eye::pointcloud_processing_setting::FringeContrastThreshold::name, 15); int fringeContrastThreshold = 0; camera.currentUserSet().getIntValue(mmind::eye::pointcloud_processing_setting::FringeContrastThreshold::name, fringeContrastThreshold);` c++

C++
C#
Python

device.setFringeContrastThreshold(15);

int fringeContrastThreshold = 0;
device.getFringeContrastThreshold(fringeContrastThreshold);

c++

device.SetFringeContrastThreshold(15);

var fringeContrastThreshold = new int();
device.GetFringeContrastThreshold(ref fringeContrastThreshold);

csharp

device.set_fringe_contrast_threshold(15)

fringe_contrast_threshold = device.get_fringe_contrast_threshold()

python

C++
C#
Python

#include "area_scan_3d_camera/parameters/PointCloudProcessing.h"

camera.currentUserSet().setIntValue(mmind::eye::pointcloud_processing_setting::FringeContrastThreshold::name, 15);

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

c++

camera.CurrentUserSet().SetIntValue(MMind.Eye.PointCloudProcessingSetting.FringeContrastThreshold.Name, 15);

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

csharp

camera.current_user_set().set_int_value(PointCloudFringeContrastThreshold.name, 15)

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

python

_Float Type

The Exposure Time parameter in the 2D Parameters category is used as an example.

2.1.0 2.2.0

2.1.0	2.2.0
C++ C# Python `device.setScan2DExposureTime(100); double scan2DExposureTime = 0; device.getScan2DExposureTime(scan2DExposureTime);` c++	C++ C# Python `#include "area_scan_3d_camera/parameters/Scanning2D.h" camera.currentUserSet().setFloatValue(mmind::eye::scanning2d_setting::ExposureTime::name, 100); double scan2DExposureTime = 0; camera.currentUserSet().getFloatValue(mmind::eye::scanning2d_setting::ExposureTime::name, scan2DExposureTime);` c++

C++
C#
Python

device.setScan2DExposureTime(100);

double scan2DExposureTime = 0;
device.getScan2DExposureTime(scan2DExposureTime);

c++

device.setScan2DExposureTime(100);

var scan2DExposureTime = new double();
device.GetScan2DExposureTime(ref scan2DExposureTime);

csharp

device.set_scan_2d_exposure_time(100)

scan_2d_exposure_time = device.get_scan_2d_exposure_time()

python

C++
C#
Python

#include "area_scan_3d_camera/parameters/Scanning2D.h"

camera.currentUserSet().setFloatValue(mmind::eye::scanning2d_setting::ExposureTime::name, 100);

double scan2DExposureTime = 0;
camera.currentUserSet().getFloatValue(mmind::eye::scanning2d_setting::ExposureTime::name, scan2DExposureTime);

c++

camera.CurrentUserSet().SetFloatValue(MMind.Eye.Scanning2DSetting.ExposureTime.Name, true);

var scan2DExposureTime = new double();
camera.CurrentUserSet().GetFloatValue(MMind.Eye.Scanning2DSetting.ExposureTime.Name, ref scan2DExposureTime);

csharp

camera.current_user_set().set_float_value(Scanning2DExposureTime.name, 100)

error, scan_2d_exposure_time = camera.current_user_set().get_float_value(Scanning2DExposureTime.name)

python

_Bool Type

The Tone Mapping parameter in the 2D Parameters category is used as an example.

2.1.0 2.2.0

2.1.0	2.2.0
C++ C# Python `device.setScan2DToneMappingEnable(true); bool toneMappingEnable = false; device.getScan2DToneMappingEnable(toneMappingEnable);` c++	C++ C# Python `#include "area_scan_3d_camera/parameters/Scanning2D.h" camera.currentUserSet().setBoolValue(mmind::eye::scanning2d_setting::ToneMappingEnable::name, true); bool toneMappingEnable = false; camera.currentUserSet().getBoolValue(mmind::eye::scanning2d_setting::ToneMappingEnable::name, toneMappingEnable);` c++

C++
C#
Python

device.setScan2DToneMappingEnable(true);

bool toneMappingEnable = false;
device.getScan2DToneMappingEnable(toneMappingEnable);

c++

device.SetScan2DToneMappingEnable(true);

var toneMappingEnable = new bool();
device.GetScan2DToneMappingEnable(ref toneMappingEnable);

csharp

device.set_scan_2d_tone_mapping_enable(True)

tone_mapping_enable = device.get_scan_2d_tone_mapping_enable()

python

C++
C#
Python

#include "area_scan_3d_camera/parameters/Scanning2D.h"

camera.currentUserSet().setBoolValue(mmind::eye::scanning2d_setting::ToneMappingEnable::name, true);

bool toneMappingEnable = false;
camera.currentUserSet().getBoolValue(mmind::eye::scanning2d_setting::ToneMappingEnable::name, toneMappingEnable);

c++

camera.CurrentUserSet().SetBoolValue(MMind.Eye.Scanning2DSetting.ToneMappingEnable.Name, true);

var toneMappingEnable = new bool();
camera.CurrentUserSet().GetBoolValue(MMind.Eye.Scanning2DSetting.ToneMappingEnable.Name, ref toneMappingEnable);

csharp

camera.current_user_set().set_bool_value(Scanning2DToneMappingEnable.name, True)

error, tone_mapping_enable = camera.current_user_set().get_bool_value(Scanning2DToneMappingEnable.name)

python

_Enum Type

The Surface Smoothing parameter in the Point Cloud Processing category is used as an example.

2.1.0 2.2.0

2.1.0	2.2.0
C++ C# Python `device.setCloudSurfaceSmoothingMode(mmind::api::PointCloudProcessingSettings::PointCloudSurfaceSmoothing::Normal); mmind::api::PointCloudProcessingSettings::PointCloudSurfaceSmoothing surfaceSmoothing; device.getCloudSurfaceSmoothingMode(surfaceSmoothing);` c++	C++ C# Python `#include "area_scan_3d_camera/parameters/PointCloudProcessing.h" camera.currentUserSet().setEnumValue(mmind::eye::pointcloud_processing_setting::SurfaceSmoothing::name, static_cast<int>(mmind::eye::pointcloud_processing_setting::SurfaceSmoothing::Value::Normal)); int surfaceSmoothing = 0; camera.currentUserSet().currentUserSet.getEnumValue(mmind::eye::pointcloud_processing_setting::SurfaceSmoothing::name, surfaceSmoothing);` c++

C++
C#
Python

device.setCloudSurfaceSmoothingMode(mmind::api::PointCloudProcessingSettings::PointCloudSurfaceSmoothing::Normal);

mmind::api::PointCloudProcessingSettings::PointCloudSurfaceSmoothing surfaceSmoothing;
device.getCloudSurfaceSmoothingMode(surfaceSmoothing);

c++

device.SetCloudSurfaceSmoothingMode(PointCloudSurfaceSmoothing.Normal);

var surfaceSmoothingMode = new PointCloudSurfaceSmoothing();
device.GetCloudSurfaceSmoothingMode(ref surfaceSmoothingMode);

csharp

device.set_cloud_surface_smoothing_mode("Normal")
cloud_surface_smoothing_mode = device.get_cloud_surface_smoothing_mode()

python

C++
C#
Python

#include "area_scan_3d_camera/parameters/PointCloudProcessing.h"

camera.currentUserSet().setEnumValue(mmind::eye::pointcloud_processing_setting::SurfaceSmoothing::name,
        static_cast<int>(mmind::eye::pointcloud_processing_setting::SurfaceSmoothing::Value::Normal));

int surfaceSmoothing = 0;
camera.currentUserSet().currentUserSet.getEnumValue(mmind::eye::pointcloud_processing_setting::SurfaceSmoothing::name, surfaceSmoothing);

c++

camera.currentUserSet().SetEnumValue(MMind.Eye.PointCloudProcessingSetting.SurfaceSmoothing.Name, (int)MMind.Eye.PointCloudProcessingSetting.SurfaceSmoothing.Value.Normal);

var surfaceSmoothingMode = new int();
camera.currentUserSet().GetEnumValue(MMind.Eye.PointCloudProcessingSetting.SurfaceSmoothing.Name, ref surfaceSmoothingMode);

csharp

camera.current_user_set().set_enum_value(PointCloudSurfaceSmoothing.name, PointCloudSurfaceSmoothing.Value_Normal)
error, cloud_surface_smoothing_mode = camera.current_user_set().get_enum_value(PointCloudSurfaceSmoothing.name)

python

_Roi Type

The ROI parameter is used as an example.

2.1.0 2.2.0

2.1.0	2.2.0
C++ C# Python `device.setScan3DROI(mmind::api::ROI(0, 0, 500, 500)); mmind::api::ROI roi; device.getScan3DROI(roi);` c++	C++ C# Python `#include "area_scan_3d_camera/parameters/Scanning3D.h" camera.currentUserSet().setRoiValue(mmind::eye::scanning3d_setting::ROI::name, mmind::eye::ROI(0, 0, 500, 500)); mmind::eye::ROI roi; camera.currentUserSet().getRoiValue(mmind::eye::scanning3d_setting::ROI::name, roi);` c++

C++
C#
Python

device.setScan3DROI(mmind::api::ROI(0, 0, 500, 500));

mmind::api::ROI roi;
device.getScan3DROI(roi);

c++

device.SetScan3DROI(new ROI(0, 0, 500, 500));

var roi = new ROI();
device.GetScan3DROI(ref roi);

csharp

device.set_scan_3d_roi(0, 0, 500, 500)

roi = device.get_scan_3d_roi()

python

C++
C#
Python

#include "area_scan_3d_camera/parameters/Scanning3D.h"

camera.currentUserSet().setRoiValue(mmind::eye::scanning3d_setting::ROI::name, mmind::eye::ROI(0, 0, 500, 500));

mmind::eye::ROI roi;
camera.currentUserSet().getRoiValue(mmind::eye::scanning3d_setting::ROI::name, roi);

c++

camera.CurrentUserSet().SetRoiValue(MMind.Eye.Scanning3DSetting.ROI.Name, new ROI(0, 0, 500, 500));

var roi = new ROI();
camera.CurrentUserSet().GetRoiValue(MMind.Eye.Scanning3DSetting.ROI.Name, ref roi);

csharp

camera.current_user_set().set_roi_value(Scanning3DROI.name, ROI(0, 0, 500, 500))

error, roi = camera.current_user_set().get_roi_value(Scanning3DROI.name)

python

_Range Type

The Depth Range parameter is used as an example.

2.1.0 2.2.0

2.1.0	2.2.0
C++ C# Python `device.setDepthRange(mmind::api::DepthRange(100, 2000)); mmind::api::DepthRange depthRange; device.getDepthRange(depthRange);` c++	C++ C# Python `#include "area_scan_3d_camera/parameters/Scanning3D.h" camera.currentUserSet().setRangeValue(mmind::eye::scanning3d_setting::DepthRange::name, mmind::eye::Range<int>{100, 2000}); mmind::eye::Range<int> rangeValue; camera.currentUserSet().getRangeValue(mmind::eye::scanning3d_setting::DepthRange::name, rangeValue);` c++

C++
C#
Python

device.setDepthRange(mmind::api::DepthRange(100, 2000));

mmind::api::DepthRange depthRange;
device.getDepthRange(depthRange);

c++

device.SetDepthRange(new DepthRange(100, 2000));

val depthRange = new DepthRange();
device.GetDepthRange(ref depthRange);

csharp

device.set_depth_range(100, 2000)

depth_range = device.get_depth_range()

python

C++
C#
Python

#include "area_scan_3d_camera/parameters/Scanning3D.h"

camera.currentUserSet().setRangeValue(mmind::eye::scanning3d_setting::DepthRange::name, mmind::eye::Range<int>{100, 2000});

mmind::eye::Range<int> rangeValue;
camera.currentUserSet().getRangeValue(mmind::eye::scanning3d_setting::DepthRange::name, rangeValue);

c++

camera.CurrentUserSet().SetRangeValue(MMind.Eye.Scanning3DSetting.DepthRange.Name, new IntRange(100, 2000));

var range = new IntRange();
camera.CurrentUserSet().GetRangeValue(MMind.Eye.Scanning3DSetting.DepthRange.Name, ref range);

csharp

camera.current_user_set().set_range_value(Scanning3DDepthRange.name, RangeInt(100, 1000))

error, range = camera.current_user_set().get_range_value(Scanning3DDepthRange.name)

python

_FloatArray Type

The Exposure Time parameters in the 3D Parameters category is used as an example.

2.1.0 2.2.0

2.1.0	2.2.0
C++ C# Python `device.setScan3DExposure(std::vector<double>{5, 10}); std::vector<double> exposureSequence; device.getScan3DExposure(exposureSequence);` c++	C++ C# Python `#include "area_scan_3d_camera/parameters/Scanning3D.h" camera.currentUserSet().setFloatArrayValue(mmind::eye::scanning3d_setting::ExposureSequence::name, std::vector<double>{5, 10}); std::vector<double> exposureSequence; camera.currentUserSet().getFloatArrayValue(mmind::eye::scanning3d_setting::ExposureSequence::name, exposureSequence);` c++

C++
C#
Python

device.setScan3DExposure(std::vector<double>{5, 10});

std::vector<double> exposureSequence;
device.getScan3DExposure(exposureSequence);

c++

device.SetScan3DExposure(new List<double> { 5, 10 });

var exposureSequence = new List<double>();
device.GetScan3DExposure(ref exposureSequence);

csharp

device.set_scan_3d_exposure([5.0, 10.0])

exposure_sequence = device.get_scan_3d_exposure()

python

C++
C#
Python

#include "area_scan_3d_camera/parameters/Scanning3D.h"

camera.currentUserSet().setFloatArrayValue(mmind::eye::scanning3d_setting::ExposureSequence::name, std::vector<double>{5, 10});

std::vector<double> exposureSequence;
camera.currentUserSet().getFloatArrayValue(mmind::eye::scanning3d_setting::ExposureSequence::name, exposureSequence);

c++

camera.CurrentUserSet().SetFloatArrayValue(MMind.Eye.Scanning3DSetting.ExposureSequence.Name, new List<double> { 5, 10 });

var exposureSequence = new List<double>();
camera.CurrentUserSet().GetFloatArrayValue(MMind.Eye.Scanning3DSetting.ExposureSequence.Name, ref exposureSequence);

csharp

camera.current_user_set().set_float_array_value(Scanning3DExposureSequence.name, [5, 10])

error, exposure_sequence = camera.current_user_set().get_float_array_value(Scanning3DExposureSequence.name)

python

Acquire data

In Mech-Eye API 2.2.0, the following changes have been made to the statements for acquiring data:

Acquire 2D Image

2.1.0 2.2.0

2.1.0	2.2.0
C++ C# Python `mmind::api::ColorMap color; device.captureColorMap(color);` c++	C++ C# Python `mmind::eye::Frame2D frame2D; camera.capture2D(frame2D); mmind::eye::Color2DImage color = frame3D.getColorImage();` c++

C++
C#
Python

mmind::api::ColorMap color;
device.captureColorMap(color);

c++

var color = new ColorMap();
device.CaptureColorMap(ref color);

csharp

color_map = device.capture_color()

python

C++
C#
Python

mmind::eye::Frame2D frame2D;
camera.capture2D(frame2D);
mmind::eye::Color2DImage color = frame3D.getColorImage();

c++

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

csharp

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

python

Acquire Depth Map

2.1.0 2.2.0

2.1.0	2.2.0
C++ C# Python `mmind::api::DepthMap depth; device.captureDepthMap(depth);` c++	C++ C# Python `mmind::eye::Frame3D frame3D; camera.capture3D(frame3D); mmind::eye::DepthMap depth = frame3D.getDepthMap();` c++

C++
C#
Python

mmind::api::DepthMap depth;
device.captureDepthMap(depth);

c++

var depth = new DepthMap();
device.CaptureDepthMap(ref depth);

csharp

depth_map = device.capture_depth()

python

C++
C#
Python

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

c++

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

csharp

frame_3d = Frame3D()
camera.capture_3d(frame_3d)
depth = frame_3d.get_depth_map()

python

Acquire Untextured Point Cloud

2.1.0 2.2.0

2.1.0	2.2.0
C++ C# Python `mmind::api::PointXYZMap pointXYZMap; device.capturePointXYZMap(pointXYZMap);` c++	C++ C# Python `mmind::eye::Frame3D frame3D; camera.capture3D(frame3D); mmind::eye::PointCloud cloud = frame3D.getUntexturedPointCloud();` c++

C++
C#
Python

mmind::api::PointXYZMap pointXYZMap;
device.capturePointXYZMap(pointXYZMap);

c++

var pointXYZMap = new PointXYZMap();
device.CapturePointXYZMap(ref pointXYZMap);

csharp

points_xyz = device.capture_point_xyz()

python

C++
C#
Python

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

c++

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

csharp

frame_3d = Frame3D()
camera.capture_3d(frame_3d)
cloud = frame_3d.get_untextured_point_cloud()

python

Acquire Textured Point Cloud

2.1.0 2.2.0

2.1.0	2.2.0
C++ C# Python `mmind::api::PointXYZBGRMap pointXYZBGRMap; device.capturePointXYZBGRMap(pointXYZBGRMap);` c++	C++ C# Python `mmind::eye::Frame2DAnd3D frame2DAnd3D; camera.capture2DAnd3D(frame2DAnd3D); mmind::eye::TexturedPointCloud cloud = frame2DAnd3D.getTexturedPointCloud();` c++

C++
C#
Python

mmind::api::PointXYZBGRMap pointXYZBGRMap;
device.capturePointXYZBGRMap(pointXYZBGRMap);

c++

var pointXYZBGRMap = new PointXYZBGRMap();
device.CapturePointXYZBGRMap(ref pointXYZBGRMap)

csharp

points_xyz_bgr = device.capture_point_xyz_bgr()

python

C++
C#
Python

mmind::eye::Frame2DAnd3D frame2DAnd3D;
camera.capture2DAnd3D(frame2DAnd3D);
mmind::eye::TexturedPointCloud cloud = frame2DAnd3D.getTexturedPointCloud();

c++

var frame = new Frame2DAnd3D();
camera.Capture2DAnd3D(ref frame);
var cloud = frame.GetTexturedPointCloud();

csharp

frame = Frame2DAnd3D()
camera.capture_2d_and_3d(frame)
cloud = frame.get_textured_point_cloud()

python

Obtain Camera Information and Properties

Mech-Eye API 2.2.0 uses classes to organize the information and properties of the camera. For details, please refer to Functional Hierarchy of Classes.

Obtain Camera Information

2.1.0 2.2.0

2.1.0	2.2.0
C++ C# Python `mmind::api::MechEyeDeviceInfo deviceInfo; device.getDeviceInfo(deviceInfo); std::string model = deviceInfo.model; std::string serialNumber = deviceInfo.id; std::string firmwareVersion = deviceInfo.firmwareVersion;` c++	C++ C# Python `mmind::eye::CameraInfo cameraInfo; camera.getCameraInfo(cameraInfo); std::string model = cameraInfo.model; std::string serialNumber = cameraInfo.serialNumber; std::string firmwareVersion = cameraInfo.firmwareVersion.toString();` c++

C++
C#
Python

mmind::api::MechEyeDeviceInfo deviceInfo;
device.getDeviceInfo(deviceInfo);

std::string model = deviceInfo.model;
std::string serialNumber = deviceInfo.id;
std::string firmwareVersion = deviceInfo.firmwareVersion;

c++

var deviceInfo = new MechEyeDeviceInfo();
device.GetDeviceInfo(ref deviceInfo);

var model = deviceInfo.model;
var serialNumber = deviceInfo.id;
var firmwareVersion = deviceInfo.firmwareVersion;

csharp

device_info = device.get_device_info()

python

C++
C#
Python

mmind::eye::CameraInfo cameraInfo;
camera.getCameraInfo(cameraInfo);

std::string model = cameraInfo.model;
std::string serialNumber = cameraInfo.serialNumber;
std::string firmwareVersion = cameraInfo.firmwareVersion.toString();

c++

var cameraInfo = new CameraInfo();
camera.GetCameraInfo(ref cameraInfo);

var model = cameraInfo.Model;
var serialNumber = cameraInfo.SerialNumber;
var firmwareVersion = cameraInfo.FirmwareVersion.ToString();

csharp

camera_info = CameraInfo()
camera.get_camera_info(camera_info)

python

Obtain Camera Temperatures

2.1.0 2.2.0

2.1.0	2.2.0
C++ C# Python `mmind::api::DeviceTemperature devicetemperature; device.getDeviceTemperature(devicetemperature); float cpu = devicetemperature.cpuTemperature; float projector = devicetemperature.projectorModuleTemperature;` c++	C++ C# Python `mmind::eye::CameraStatus cameraStatus; camera.getCameraStatus(cameraStatus); float cpu = cameraStatus.temperature.cpuTemperature; float projector = cameraStatus.temperature.projectorTemperature;` c++

C++
C#
Python

mmind::api::DeviceTemperature devicetemperature;
device.getDeviceTemperature(devicetemperature);

float cpu = devicetemperature.cpuTemperature;
float projector = devicetemperature.projectorModuleTemperature;

c++

var temperature = new DeviceTemperature();
device.GetDeviceTemperature(ref temperature);

var cpu = temperature.cpu;
var projector = temperature.projectorModule;

csharp

device_temperature = device.get_device_temperature()

cpu = device_temperature.cpu_temperature()
projector = device_temperature.projector_module_temperature()

python

C++
C#
Python

mmind::eye::CameraStatus cameraStatus;
camera.getCameraStatus(cameraStatus);

float cpu = cameraStatus.temperature.cpuTemperature;
float projector = cameraStatus.temperature.projectorTemperature;

c++

var cameraStatus = new CameraStatus();
camera.GetCameraStatus(ref cameraStatus);

var cpu = cameraStatus.Temperature.CpuTemperature;
var projector = cameraStatus.Temperature.ProjectorModuleTemperature;

csharp

camera_status = CameraStatus()
camera.get_camera_status(camera_status)

cpu = camera_status.temperature.cpu_temperature
projector = camera_status.temperature.projector_module_temperature

python

Obtain Image Resolutions

2.1.0 2.2.0

2.1.0	2.2.0
C++ C# Python `mmind::api::DeviceResolution deviceResolution; device.getDeviceResolution(deviceResolution); unsigned int textureWidth = deviceResolution.colorMapWidth; unsigned int textureHeight = deviceResolution.colorMapHeight; unsigned int depthWidth = deviceResolution.depthMapWidth; unsigned int depthHeight = deviceResolution.depthMapHeight;` c++	C++ C# Python `mmind::eye::CameraResolutions cameraResolutions; camera.getCameraResolutions(cameraResolutions); unsigned int textureWidth = cameraResolutions.texture.width; unsigned int textureHeight = cameraResolutions.texture.height; unsigned int depthWidth = cameraResolutions.depth.width; unsigned int depthHeight = cameraResolutions.depth.height;` c++

C++
C#
Python

mmind::api::DeviceResolution deviceResolution;
device.getDeviceResolution(deviceResolution);

unsigned int textureWidth = deviceResolution.colorMapWidth;
unsigned int textureHeight = deviceResolution.colorMapHeight;
unsigned int depthWidth = deviceResolution.depthMapWidth;
unsigned int depthHeight = deviceResolution.depthMapHeight;

c++

var deviceResolution = new DeviceResolution();
device.GetDeviceResolution(ref deviceResolution);

var textureWidth = deviceResolution.colorMapWidth;
var textureHeight = deviceResolution.colorMapHeight;
var depthWidth = deviceResolution.depthMapWidth;
var depthHeight = deviceResolution.depthMapHeight;

csharp

device_resolution = device.get_device_resolution()

texture_width = device_resolution.color_width()
texture_height = device_resolution.color_height()
depth_width = device_resoution.depth_width()
depth_height = device_resolution.depth_height()

python

C++
C#
Python

mmind::eye::CameraResolutions cameraResolutions;
camera.getCameraResolutions(cameraResolutions);

unsigned int textureWidth = cameraResolutions.texture.width;
unsigned int textureHeight = cameraResolutions.texture.height;
unsigned int depthWidth = cameraResolutions.depth.width;
unsigned int depthHeight = cameraResolutions.depth.height;

c++

var cameraResolutions = new CameraResolutions();
camera.GetCameraResolutions(ref cameraResolutions);

var textureWidth = cameraResolutions.Texture.Width;
var textureHeight = cameraResolutions.Texture.Height;
var depthWidth = cameraResolutions.Depth.Width;
var depthHeight = cameraResolutions.Depth.Height;

csharp

camera_resolutions = CameraResolutions()
camera.get_camera_resolutions(camera_resolutions)

texture_width = camera_resolutions.texture.width
texture_height = camera_resolutions.texture.height
depth_width = camera_resolutions.depth.width
depth_height = camera_resolutions.depth.height

python

Obtain Camera Intrinsic Parameters

2.1.0 2.2.0

2.1.0	2.2.0
C++ C# Python mmind::api::DeviceIntri deviceIntri; device.getDeviceIntri(deviceIntri); const mmind::eye::CameraIntri textureIntri = deviceIntri.textureCameraIntri; const double fx = textureIntri.cameraMatrix[0]; const double fy = textureIntri.cameraMatrix[1]; const double cx = textureIntri.cameraMatrix[2]; const double cy = textureIntri.cameraMatrix[3]; const double k1 = textureIntri.distortion[0]; const double k2 = textureIntri.distortion[1]; const double p1 = textureIntri.distortion[2]; const double p2 = textureIntri.distortion[3]; const double k3 = textureIntri.distortion[4]; c++	C++ C# Python mmind::eye::CameraIntrinsics intrinsics; camera.getCameraIntrinsics(intrinsics); const mmind::eye::Intrinsics2dCamera textureIntrinsics = intrinsics.texture; const mmind::eye::CameraMatrix cameraMatrix = textureIntrinsics.cameraMatrix; const double fx = cameraMatrix.fx; const double fy = cameraMatrix.fy; const double cx = cameraMatrix.cx; const double cy = cameraMatrix.cy; const mmind::eye::CameraDistortion distCoeffs = intrinsics.texture.cameraDistortion; const double k1 = distCoeffs.k1; const double k2 = distCoeffs.k2; const double p1 = distCoeffs.p1; const double p2 = distCoeffs.p2; const double k3 = distCoeffs.k3; c++

C++
C#
Python

mmind::api::DeviceIntri deviceIntri;
device.getDeviceIntri(deviceIntri);

const mmind::eye::CameraIntri textureIntri = deviceIntri.textureCameraIntri;

const double fx = textureIntri.cameraMatrix[0];
const double fy = textureIntri.cameraMatrix[1];
const double cx = textureIntri.cameraMatrix[2];
const double cy = textureIntri.cameraMatrix[3];

const double k1 = textureIntri.distortion[0];
const double k2 = textureIntri.distortion[1];
const double p1 = textureIntri.distortion[2];
const double p2 = textureIntri.distortion[3];
const double k3 = textureIntri.distortion[4];

c++

var deviceIntri = new DeviceIntri();
device.GetDeviceIntri(ref deviceIntri);

var textureCameraIntri = deviceIntri.textureCameraIntri;

const double fx = textureCameraIntri.fx;
const double fy = textureCameraIntri.fy;
const double cx = textureCameraIntri.cx;
const double cy = textureCameraIntri.cy;

const double k1 = textureCameraIntri.k1;
const double k2 = textureCameraIntri.k2;
const double p1 = textureCameraIntri.p1;
const double p2 = textureCameraIntri.p2;
const double k3 = textureCameraIntri.k3;

csharp

device_intri = device.get_device_intrinsic()

texture_intri = device_intri.texture_camera_intrinsic()

fx = texture_intri.camera_matrix_fx()
fy = textrue_intri.camera_matrix_fy()
cx = texture_intri.camera_matrix_cx()
cy = texture_intri.camera_matrix_cy()

k1 = texture_intri.dist_coeffs_k1()
k2 = texture_intri.dist_coeffs_k2()
p1 = texture_intri.dist_coeffs_p1()
p2 = texture_intri.dist_coeffs_p2()
k3 = texture_intri.dist_coeffs_k3()

python

C++
C#
Python

mmind::eye::CameraIntrinsics intrinsics;
camera.getCameraIntrinsics(intrinsics);

const mmind::eye::Intrinsics2dCamera textureIntrinsics = intrinsics.texture;
const mmind::eye::CameraMatrix cameraMatrix = textureIntrinsics.cameraMatrix;
const double fx = cameraMatrix.fx;
const double fy = cameraMatrix.fy;
const double cx = cameraMatrix.cx;
const double cy = cameraMatrix.cy;

const mmind::eye::CameraDistortion distCoeffs = intrinsics.texture.cameraDistortion;
const double k1 = distCoeffs.k1;
const double k2 = distCoeffs.k2;
const double p1 = distCoeffs.p1;
const double p2 = distCoeffs.p2;
const double k3 = distCoeffs.k3;

c++

var intrinsics = new CameraIntrinsics();
camera.GetCameraIntrinsics(ref intrinsics);

var textureIntrinsics = intrinsics.Texture;

const double fx = textureIntrinsics.CameraMatrix.Fx;
const double fy = textureIntrinsics.CameraMatrix.Fy;
const double cx = textureIntrinsics.CameraMatrix.Cx;
const double cy = textureIntrinsics.CameraMatrix.Cy;

const double k1 = textureIntrinsics.CameraDistortion.K1;
const double k2 = textureIntrinsics.CameraDistortion.K2;
const double p1 = textureIntrinsics.CameraDistortion.P1;
const double p2 = textureIntrinsics.CameraDistortion.P2;
const double k3 = textureIntrinsics.CameraDistortion.K3;

csharp

intrinsics = CameraIntrinsics()
camera.get_camera_intrinsics(intrinsics)

texture_intrinsics = intrinsics.texture
camera_matrix = texture_intrinsics.camera_matrix
fx = camera_matrix.fx
fy = camera_matrix.fy
cx = camera_matrix.cx
cy = camera_matrix.cy

camera_distortion = texture_intrinsics.camera_distortion
k1 = camera_distortion.k1
k2 = camera_distortion.k2
p1 = camera_distortion.p1
p2 = camera_distortion.p2
k3 = camera_distortion.k3

python

New Functions

Multiple convenient new functions have been added to Mech-Eye API 2.2.0.

If you want to use the following new functions, please modify your client program according to this topic to use the 2.2.0 version of Mech-Eye API.

Compute Point Cloud Normals

By calling the following methods you can now obtain 3D data containing normals directly, reducing the workload of subsequent data processing.

Obtain Untextured Point Cloud with Normals

C++
C#
Python

mmind::eye::Frame3D frame3D;
camera.capture3DWithNormal(frame3D);

PointCloudWithNormals pointCloud = frame3D.getUntexturedPointCloudWithNormals();

C++

var frame3D = new Frame3D();
camera.Capture3DWithNormal(ref frame3D);

var pointCloud = frame3D.GetUntexturedPointCloudWithNormals();

frame_3d = Frame3D()
camera.capture_3d_with_normal(frame_3d)

point_cloud = frame_3d.get_untextured_point_cloud_with_normals()

python

Obtain Textured Point Cloud with Normals

C++
C#
Python

mmind::eye::Frame2DAnd3D frame2DAnd3D;
camera.capture2DAnd3DWithNormal(frame2DAnd3D);

TexturedPointCloudWithNormals pointCloud = frame2DAnd3D.getTexturedPointCloudWithNormals();

C++

var frame2DAnd3D = new Frame2DAnd3D();
camera.Capture2DAnd3DWithNormal(ref frame2DAnd3D);

var pointCloud = frame2DAnd3D.GetTexturedPointCloudWithNormals();

frame_2d_and_3d = Frame2DAnd3D()
camera.capture_2d_and_3d_with_normal(frame_2d_and_3d)

point_cloud = frame_2d_and_3d.get_textured_point_cloud_with_normals()

python

Save Point Cloud

By calling the following methods, you can now save the point cloud in PLY, PCD or CSV format directly, without the need to reply on any third-party software libraries.

Save Untextured Point Cloud

C++
C#
Python

mmind::eye::Frame3D frame3D;
camera.capture3D(frame3D);

frame3D.saveUntexturedPointCloud(mmind::eye::FileFormat::PLY, "PointCloud.ply");

C++

var frame3D = new frame3D();
camera.Capture3D(ref frame3D);

frame3D.SaveUntexturedPointCloud(FileFormat.PLY, "PointCloud.ply");

frame_3d = Frame3D()
camera.capture_3d(frame_3d)

frame_3d.save_untextured_point_cloud(FileFormat_PLY, "PointCloud.ply")

python

Save Textured Point Cloud

C++
C#
Python

mmind::eye::Frame2DAnd3D frame2DAnd3D;
camera.capture2DAnd3D(frame2DAnd3D);

frame2DAnd3D.saveTexturedPointCloud(mmind::eye::FileFormat::PLY, "TexturedPointCloud.ply");

C++

var frame2DAnd3D = new Frame2DAnd3D();
camera.Capture2DAnd3D(ref frame2DAnd3D);

frame2DAnd3D.SaveTexturedPointCloud(FileFormat.PLY, "TexturedPointCloud.ply");

frame_2d_and_3d = Frame2DAnd3D()
camera.capture_2d_and_3d(frame_2d_and_3d)

frame_2d_and_3d.save_textured_point_cloud(FileFormat_PLY, "TexturedPointCloud.ply")

python

Import and Export Parameter Groups

By calling the following methods, you can now import and replace all parameter groups from a JSON file, or save all parameter groups to a JSON file.

Import parameter groups

C++
C#
Python

camera.userSetManager().loadFromFile("camera_config.json");

C++

camera.UserSetManager().LoadFromFile("camera_config.json");

camera.user_set_manager().load_from_file("camera_config.json")

python

C++
C#
Python

camera.userSetManager().saveToFile("camera_config.json");

C++

camera.UserSetManager().SaveToFile("camera_config.json");

camera.user_set_manager().save_to_file("camera_config.json")

python

Check Camera Connection Status

The new heartbeat mechanism can be used to detect device disconnections.

Set Heartbeat Interval

Use the following method to set the interval of the heartbeat signals:

C++
C#
Python

camera.setHeartbeatInterval(1000);

C++

camera.SetHeartbeatInterval(1000);

camera.set_heartbeat_interval(1000)

python

Register Callback Function

Use the following method to register the callback function that automatically detects a camera disconnection and reports error:

C++
C#
Python

mmind::eye::CameraEvent::EventCallback callback = [](mmind::eye::CameraEvent::Event event, void* pUser) {
        std::cout << "A camera event has occurred. The event ID is " << event << "." << std::endl;
    };

mmind::eye::CameraEvent::registerCameraEventCallback(camera, callback, nullptr, mmind::eye::CameraEvent::CAMERA_EVENT_DISCONNECTED);

C++

private static void CallbackFunc(CameraEvent.Event cameraEvent, IntPtr pUser)
{
    Console.WriteLine("A camera event has occurred. The event ID is {0}.", cameraEvent);
}

Utils.ShowError(CameraEvent.RegisterCameraEventCallback(ref camera, CallbackFunc, IntPtr.Zero, (uint)CameraEvent.Event.CAMERA_EVENT_DISCONNECTED));

class CustomCallback(EventCallbackBase):
    def __init__(self):
        super().__init__()

    def run(self, event):
        print("A camera event has occurred. The event ID is {0}.".format(event))

camera_event = CameraEvent()
callback = CustomCallback()
show_error(camera_event.register_camera_event_callback(camera, callback, CameraEvent.CAMERA_EVENT_ALL))

python

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