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cmvr-es/third_party/mech-eye-sdk/include/area_scan_3d_camera/Camera.h

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feat:add eye hand calibration and pose follow
2025-08-22 16:57:29 +08:00
/*******************************************************************************
* BSD 3-Clause License
*
* Copyright (c) 2016-2025, Mech-Mind Robotics
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
* Info: https://www.mech-mind.com/
*
******************************************************************************/
#pragma once
#include <memory>
#include <vector>
#include "api_global.h"
#include "CameraProperties.h"
#include "ErrorStatus.h"
#include "Frame2DAnd3D.h"
#include "UserSetManager.h"
namespace mmind {
namespace eye {
/**
* @brief Operates the camera.
* Use @ref Camera.connect to connect an available camera, and then call the corresponding methods
* to perform data acquisition, configure parameters, and so on.
*/
class MMIND_API_EXPORT Camera
{
public:
/**
* @brief Constructor.
*/
Camera();
/**
* @brief Destructor.
*/
~Camera();
/**
* @brief Copy constructor.
*/
Camera(const Camera& other) noexcept;
/**
* @brief Copy assignment.
*/
Camera& operator=(const Camera& other) noexcept;
/**
* @brief 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.
* @param [in] timeoutMs The timeout period (in ms) for discovering cameras. If no cameras are
* discovered after the timeout period has passed, this method returns an empty list.
* @return The list of information of all available cameras.
*/
static std::vector<CameraInfo> discoverCameras(unsigned int timeoutMs = 5000);
/**
* @brief Connects to a camera using @ref CameraInfo.
* @param [in] info The information of the camera to be connected. You can use @ref
* Camera.discoverCameras to discover all available cameras.
* @param [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 @ref
* ErrorStatus.MMIND_STATUS_TIMEOUT_ERROR.
* @return
* @ref ErrorStatus.MMIND_STATUS_SUCCESS Success.\n
* @ref ErrorStatus.MMIND_STATUS_INVALID_INPUT_ERROR IP address format error.\n
* @ref ErrorStatus.MMIND_STATUS_INVALID_DEVICE IP address not corresponding to an available
* device.\n
* @ref ErrorStatus.MMIND_STATUS_NO_SUPPORT_ERROR Unsupported camera model or firmware
* version.\n
* @ref ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR Timeout error.\n
*/
ErrorStatus connect(const CameraInfo& info, unsigned int timeoutMs = 5000);
/**
* @brief Connects to a camera using the IP address.
* @param [in] ipAddress The IP address of the camera to be connected. The format of a valid IP
* address: 100.100.1.1.
* @param [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 @ref
* ErrorStatus.MMIND_STATUS_TIMEOUT_ERROR.
* @return
* @ref ErrorStatus.MMIND_STATUS_SUCCESS Success.\n
* @ref ErrorStatus.MMIND_STATUS_INVALID_INPUT_ERROR IP address format error.\n
* @ref ErrorStatus.MMIND_STATUS_INVALID_DEVICE IP address not corresponding to an available
* device.\n
* @ref ErrorStatus.MMIND_STATUS_NO_SUPPORT_ERROR Unsupported camera model or firmware
* version.\n
* @ref ErrorStatus.MMIND_STATUS_TIMEOUT_ERROR Timeout error.\n
*/
ErrorStatus connect(const std::string& ipAddress, unsigned int timeoutMs = 5000);
/**
* @brief Disconnects from the camera and releases the associated resources.
*/
void disconnect();
/**
* @brief Sets the time interval at which the client sends periodic heartbeat messages to the
* camera side. The default time interval is 10s.
* @param [in] timeIntervalMs The time interval for periodic sending heartbeat messages in
* milliseconds. The valid setting range is from 1s to 3600s.
* @return
* @ref ErrorStatus.MMIND_STATUS_SUCCESS Success.\n
* @ref ErrorStatus.MMIND_STATUS_INVALID_DEVICE Invalid camera handle.\n
* @ref ErrorStatus.MMIND_STATUS_DEVICE_OFFLINE Camera disconnected.\n
* @ref ErrorStatus.MMIND_STATUS_OUT_OF_RANGE_ERROR Invalid parameter input.\n
*/
ErrorStatus setHeartbeatInterval(unsigned int timeIntervalMs);
/**
* @brief Gets the basic information of the camera, such as the model, serial number,
* firmware version, and IP configuration.
* @param [out] See @ref CameraInfo for details.
* @return
* @ref ErrorStatus.MMIND_STATUS_SUCCESS Success.\n
* @ref ErrorStatus.MMIND_STATUS_INVALID_DEVICE Invalid camera handle.\n
* @ref ErrorStatus.MMIND_STATUS_DEVICE_OFFLINE Camera disconnected.\n
*/
ErrorStatus getCameraInfo(CameraInfo& info) const;
/**
* @brief Gets various statuses of the camera.
* @param [out] See @ref CameraStatus for details.
* @return
* @ref ErrorStatus.MMIND_STATUS_SUCCESS Success.\n
* @ref ErrorStatus.MMIND_STATUS_INVALID_DEVICE Invalid camera handle.\n
* @ref ErrorStatus.MMIND_STATUS_DEVICE_OFFLINE Camera disconnected.\n
*/
ErrorStatus getCameraStatus(CameraStatus& status) const;
/**
* @brief 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 @ref Frame2D and @ref Frame3D. The camera intrinsic parameters also include the
* transformation relationship between the texture 2D camera and depth 2D camera(s).
* @param [out] See @ref CameraIntrinsics for details.
* @return
* @ref ErrorStatus.MMIND_STATUS_SUCCESS Success.\n
* @ref ErrorStatus.MMIND_STATUS_INVALID_DEVICE Invalid camera handle.\n
* @ref ErrorStatus.MMIND_STATUS_DEVICE_OFFLINE Camera disconnected.\n
*/
ErrorStatus getCameraIntrinsics(CameraIntrinsics& intrinsics) const;
/**
* @brief 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 @ref
* Frame2D and @ref Frame3D.
* @param [out] See @ref CameraResolutions for details.
* @return
* @ref ErrorStatus.MMIND_STATUS_SUCCESS Success.\n
* @ref ErrorStatus.MMIND_STATUS_INVALID_DEVICE Invalid camera handle.\n
* @ref ErrorStatus.MMIND_STATUS_DEVICE_OFFLINE Camera disconnected.\n
*/
ErrorStatus getCameraResolutions(CameraResolutions& resolutions) const;
/**
* @brief Gets the @ref UserSet currently in use.Through @ref UserSet, you can access all
* available parameters of the camera related to 2D and 3D data acquisition. You can also use
* @ref UserSet to directly set and get the parameter values instead of using @ref Parameter
* interface.
* @return See @ref UserSet for details.
*/
UserSet& currentUserSet();
/**
* @brief Gets the @ref UserSetManager of the camera. @ref 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.
* @return See @ref UserSetManager for details.
*/
UserSetManager& userSetManager();
/**
* @brief 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.
* @param [out] frame3D The capture result. See @ref Frame3D for details.
* @param [in] timeoutMs The timeout period (in ms) for the capturing process. If no data is
* received within the timeout period, this method returns
* @ref ErrorStatus.MMIND_STATUS_TIMEOUT_ERROR.
* @return
* @ref ErrorStatus.MMIND_STATUS_SUCCESS Success.\n
* @ref ErrorStatus.MMIND_STATUS_INVALID_DEVICE Invalid camera handle.\n
* @ref ErrorStatus.MMIND_STATUS_DEVICE_OFFLINE Camera disconnected.\n
* @ref ErrorStatus.MMIND_STATUS_NO_DATA_ERROR No frame data obtained. Some error may have
* occurred on the device.\n
* @ref ErrorStatus.MMIND_STATUS_NO_SUPPORT_ERROR Unsupported camera model.\n
* @ref ErrorStatus.MMIND_STATUS_TIMEOUT_ERROR Timeout error.\n
*
*/
ErrorStatus capture3D(Frame3D& frame3D, unsigned int timeoutMs = 5000) const;
/**
* @brief 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.
* @param [out] frame3D The capture result. See @ref Frame3D for details.
* @param [in] timeoutMs The timeout period (in ms) for the capturing process. If no data is
* received within the timeout period, this method returns
* @ref ErrorStatus.MMIND_STATUS_TIMEOUT_ERROR.
* @return
* @ref ErrorStatus.MMIND_STATUS_SUCCESS Success.\n
* @ref ErrorStatus.MMIND_STATUS_INVALID_DEVICE Invalid camera handle.\n
* @ref ErrorStatus.MMIND_STATUS_DEVICE_OFFLINE Camera disconnected.\n
* @ref ErrorStatus.MMIND_STATUS_NO_DATA_ERROR No frame data obtained. Some error may have
* occurred on the device.\n
* @ref ErrorStatus.MMIND_STATUS_NO_SUPPORT_ERROR Unsupported camera model.\n
* @ref ErrorStatus.MMIND_STATUS_TIMEOUT_ERROR Timeout error.\n
*/
ErrorStatus capture3DWithNormal(Frame3D& frame3D, unsigned int timeoutMs = 10000) const;
/**
* @brief Captures a single 2D frame using the 2D camera in the 3D camera. The result is
* retrieved after the capture is completed.
* @param [out] frame2D The capture result. See @ref Frame2D for details.
* @param [in] timeoutMs The timeout period (in ms) for the capturing process. If no data is
* received within the timeout period, this method returns
* @ref ErrorStatus.MMIND_STATUS_TIMEOUT_ERROR.
* @return
* @ref ErrorStatus.MMIND_STATUS_SUCCESS Success.\n
* @ref ErrorStatus.MMIND_STATUS_INVALID_DEVICE Invalid camera handle.\n
* @ref ErrorStatus.MMIND_STATUS_DEVICE_OFFLINE Camera disconnected.\n
* @ref ErrorStatus.MMIND_STATUS_NO_DATA_ERROR No frame data obtained. Some error may have
* occurred on the device.\n
* @ref ErrorStatus.MMIND_STATUS_NO_SUPPORT_ERROR Unsupported camera model.\n
* @ref ErrorStatus.MMIND_STATUS_TIMEOUT_ERROR Timeout error.\n
*/
ErrorStatus capture2D(Frame2D& frame2D, unsigned int timeoutMs = 5000) const;
/**
* @brief 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.
* @param [out] frame2DAnd3D The capture result containing @ref Frame2D and @ref Frame3D. See
* @ref Frame2DAnd3D for details.
* @param [in] timeoutMs The timeout period (in ms) for the capturing process. If no data is
* received within the timeout period, this method returns
* @ref ErrorStatus.MMIND_STATUS_TIMEOUT_ERROR.
* @return
* @ref ErrorStatus.MMIND_STATUS_SUCCESS Success.\n
* @ref ErrorStatus.MMIND_STATUS_INVALID_DEVICE Invalid camera handle.\n
* @ref ErrorStatus.MMIND_STATUS_DEVICE_OFFLINE Camera disconnected.\n
* @ref ErrorStatus.MMIND_STATUS_NO_DATA_ERROR No frame data obtained. Some error may have
* occurred on the device.\n
* @ref ErrorStatus.MMIND_STATUS_NO_SUPPORT_ERROR Unsupported camera model. \n
* @ref ErrorStatus.MMIND_STATUS_TIMEOUT_ERROR Timeout error.\n
*/
ErrorStatus capture2DAnd3D(Frame2DAnd3D& frame2DAnd3D, unsigned int timeoutMs = 10000) const;
/**
* @brief 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.
* @param [out] frame2DAnd3D The capture result containing @ref Frame2D and @ref Frame3D. See
* @ref Frame2DAnd3D for details.
* @param [in] timeoutMs The timeout period (in ms) for the capturing process. If no data is
* received within the timeout period, this method returns
* @ref ErrorStatus.MMIND_STATUS_TIMEOUT_ERROR.
* @return
* @ref ErrorStatus.MMIND_STATUS_SUCCESS Success.\n
* @ref ErrorStatus.MMIND_STATUS_INVALID_DEVICE Invalid camera handle.\n
* @ref ErrorStatus.MMIND_STATUS_DEVICE_OFFLINE Camera disconnected.\n
* @ref ErrorStatus.MMIND_STATUS_NO_DATA_ERROR No frame data obtained. Some error may have
* occurred on the device.\n
* @ref ErrorStatus.MMIND_STATUS_NO_SUPPORT_ERROR Unsupported camera model. \n
* @ref ErrorStatus.MMIND_STATUS_TIMEOUT_ERROR Timeout error.\n
*/
ErrorStatus capture2DAnd3DWithNormal(Frame2DAnd3D& frame2DAnd3D,
unsigned int timeoutMs = 15000) const;
/**
* @brief Captures the 2D images from both 2D cameras in the 3D camera. This method is
* only available for DEEP, DEEP-GL, LSR S, LSR S-GL, LSR L, LSR L-GL, PRO XS, and PRO XS-GL.
* @since V2.2.1
* @param [out] left The 2D image of the left 2D camera. See @ref Frame2D for details.
* @param [out] right The 2D image of the right 2D camera. See @ref Frame2D for details.
* @param [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.
* @param [in] timeoutMs The timeout period (in ms) for the capturing process. If no data is
* received within the timeout period, this method returns @ref
* ErrorStatus.MMIND_STATUS_TIMEOUT_ERROR.
* @return
* @ref ErrorStatus.MMIND_STATUS_SUCCESS Success.\n
* @ref ErrorStatus.MMIND_STATUS_INVALID_DEVICE Invalid camera handle.\n
* @ref ErrorStatus.MMIND_STATUS_DEVICE_OFFLINE Camera disconnected.\n
* @ref ErrorStatus.MMIND_STATUS_NO_DATA_ERROR No frame data obtained. Some error may have
* occurred on the device.\n
* @ref ErrorStatus.MMIND_STATUS_NO_SUPPORT_ERROR Unsupported camera model or firmware
* version.\n
* @ref ErrorStatus.MMIND_STATUS_TIMEOUT_ERROR Timeout error.\n
* @note Different camera models have different parameters for adjusting the exposure of
* these 2D images. For DEEP, DEEP-GL, LSR S, LSR S-GL, LSR L, and LSR L-GL,adjust @ref
* DepthSourceExposureMode and @ref DepthSourceExposureTime. For the other models,
* adjust @ref ExposureMode and @ref ExposureTime.
*/
ErrorStatus captureStereo2D(Frame2D& left, Frame2D& right, bool isRectified = false,
unsigned int timeoutMs = 5000) const;
/**
* @brief Sets the unit of the point cloud.
* @param [in] unit The new @ref CoordinateUnit of the point cloud.
* @return
* @ref ErrorStatus.MMIND_STATUS_SUCCESS Success.\n
* @ref ErrorStatus.MMIND_STATUS_INVALID_DEVICE Invalid camera handle.\n
* @ref ErrorStatus.MMIND_STATUS_DEVICE_OFFLINE Camera disconnected.\n
* @ref ErrorStatus.MMIND_STATUS_NO_DATA_ERROR No frame data obtained. Some error may have
* occurred on the device.\n
* @ref ErrorStatus.MMIND_STATUS_NO_SUPPORT_ERROR Unsupported camera model.\n
* @ref ErrorStatus.MMIND_STATUS_TIMEOUT_ERROR Timeout error.\n
*/
ErrorStatus setPointCloudUnit(CoordinateUnit unit);
/**
* @brief Gets the current unit of the point cloud.
* @param [out] unit The current @ref CoordinateUnit of the point cloud.
* @return
* @ref ErrorStatus.MMIND_STATUS_SUCCESS Success.\n
* @ref ErrorStatus.MMIND_STATUS_INVALID_DEVICE Invalid camera handle.\n
* @ref ErrorStatus.MMIND_STATUS_DEVICE_OFFLINE Camera disconnected.\n
* @ref ErrorStatus.MMIND_STATUS_NO_DATA_ERROR No frame data obtained. Some error may have
* occurred on the device.\n
* @ref ErrorStatus.MMIND_STATUS_NO_SUPPORT_ERROR Unsupported camera model.\n
* @ref ErrorStatus.MMIND_STATUS_TIMEOUT_ERROR Timeout error.\n
*/
ErrorStatus getPointCloudUnit(CoordinateUnit& unit) const;
/**
* @brief Saves the acquired data, @ref Parameter s, and @ref CameraInfo in an MRAW format file
* that can be loaded as a virtual device in Mech-Eye Viewer.
*
* @param fileName The name of the MRAW file to be saved. You can add a path before the name to
* specify the path for saving the file.
* @note Depending on the parameter settings and amount of data to be saved, it may take up to a
* few minutes to save the virtual device file. Please ensure that the file name is encoded in
* UTF-8 format.
* @return
* @ref ErrorStatus.MMIND_STATUS_SUCCESS Success.\n
* @ref ErrorStatus.MMIND_STATUS_INVALID_DEVICE Invalid camera handle.\n
* @ref ErrorStatus.MMIND_STATUS_DEVICE_OFFLINE Camera disconnected.\n
* @ref ErrorStatus.MMIND_STATUS_TIMEOUT_ERROR Timeout error.\n
* @ref ErrorStatus.MMIND_STATUS_RESPONSE_PARSE_ERROR Parse response error.\n
* @ref ErrorStatus.MMIND_STATUS_REPLY_WITH_ERROR There are errors in reply.\n
* @ref ErrorStatus.MMIND_STATUS_FILE_IO_ERROR Failed to create the virtual device file.\n
* @ref ErrorStatus.MMIND_STATUS_NO_DATA_ERROR No data available for saving.
*/
ErrorStatus saveVirtualDeviceFile(const std::string& fileName);
private:
friend class HandEyeCalibration;
friend class CameraEvent;
friend class InternalInterfaces;
std::shared_ptr<class CameraImpl> _cameraImpl;
};
} // namespace eye
} // namespace mmind
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