653 lines
21 KiB
C++
653 lines
21 KiB
C++
/*******************************************************************************
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*BSD 3-Clause License
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*
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*Copyright (c) 2016-2025, Mech-Mind Robotics Technologies Co., Ltd.
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*All rights reserved.
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*
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*Redistribution and use in source and binary forms, with or without
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*modification, are permitted provided that the following conditions are met:
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*
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*1. Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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*
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*2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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*3. Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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*THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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*AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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*IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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*DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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*FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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*DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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*SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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*CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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*OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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*OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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******************************************************************************/
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#pragma once
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#include <memory>
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#include <vector>
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#include "api_global.h"
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#include "MechEyeFrame.hpp"
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#include "MechEyeDataType.h"
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#include "MechEyeSettings.h"
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namespace mmind {
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namespace api {
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class MechEyeDeviceImpl;
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namespace lnxapi {
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/**
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* @brief Gets the API basic information including version and manufacturing company.
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* @return API information string.
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*/
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std::string MMIND_API_EXPORT getApiInformation();
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/**
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* @brief Interface that is used to connect the LNX Mech-Eye device and access basic information of
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* the device.
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*/
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class MMIND_API_EXPORT MechEyeDevice
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{
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public:
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/**
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* Constructor.
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*/
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MechEyeDevice();
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/**
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* Destructor.
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*/
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~MechEyeDevice();
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/**
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* @brief Enumerate Mech-Eye devices by the @ref MechEyeDeviceInfo identifying the
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* device.
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* @return
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* Information on all detectable Mech-Eye devices.
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*/
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static std::vector<api::MechEyeDeviceInfo> enumerateMechEyeDeviceList();
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/**
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* @brief Connect to the device by the @ref MechEyeDeviceInfo identifying a device.
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* @param [in] info the device information used to connect to the device which can be obtained
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* by @ref enumerateMechEyeDeviceList function.
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* @param [in] timeout the timeout value (ms).
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus connect(const MechEyeDeviceInfo& info, const int timeout = 10000);
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/**
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* @brief Connects to a device by the IP address and port of the device.
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* @param [in] ipAddress the IP address of the device to be connected.
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* @param [in] port the port of the device to be connected.
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* @param [in] timeout the timeout value (ms).
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus connect(const std::string& ipAddress, const int port = 5577,
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const int timeout = 10000);
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/**
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* @brief Disconnect from the device.
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*/
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void disconnect();
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/**
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* @brief Get the basic information of the connected device.
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* @param [out] info See @ref MechEyeDeviceInfo for details.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getDeviceInfo(api::MechEyeDeviceInfo& info) const;
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/**
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* @brief Save all parameter values to the current parameter group.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus saveAllSettingsToUserSets() const;
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/**
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* Select the parameter group to use by its name. \n
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* @param [in] userSetName
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* @return See @ref ErrorStatus for details.
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* @see saveAllSettingsToUserSets
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*/
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ErrorStatus setCurrentUserSet(const std::string& userSetName) const;
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/**
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* @brief Get the name of the currently selected parameter group.
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* @param [out] userSetName
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* @return See @ref ErrorStatus for details.
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* @see getAllUserSets
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*/
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ErrorStatus getCurrentUserSet(std::string& userSetName) const;
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/**
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* @brief Get the names of all available parameter groups.
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* @param [out] userSetNames
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* @return See @ref ErrorStatus for details.
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* @see getCurrentUserSet
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*/
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ErrorStatus getAllUserSets(std::vector<std::string>& userSetNames) const;
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/**
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* Delete the specified parameter group. If the input name is the currently selected parameter
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* group's, the parameter group of the previous index value in the list will be selected
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* instead.
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* @param [in] userSetName
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* @return See @ref ErrorStatus for details.
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* @see saveAllSettingsToUserSets
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*/
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ErrorStatus deleteUserSet(const std::string& userSetName) const;
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/**
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* Add a new parameter group, set all the current parameter values to it, and select it as the
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* current parameter group.
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* @param [in] userSetName
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* @return See @ref ErrorStatus for details.
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* @see saveAllSettingsToUserSets
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*/
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ErrorStatus addUserSet(const std::string& userSetName) const;
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/**
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* @brief Perform scanning of one line and obtain the line scan image.
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* @param [out] colorMap See @ref Frame for details.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus captureLnx2DImage(ColorMap& colorMap) const;
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/**
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* @brief Get the acquired batch data.
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* @param [out] depth the depth value or profile value (mm)
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* @param [out] intensity the intensity value
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* @param [out] encoder the encoder value
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* @param [out] frameId the frame ID
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* @param [out] lineCount the count of frame
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getLnxBatchRollData(float* depth, unsigned char* intensity, unsigned int* encoder,
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long long* frameId, int& lineCount) const;
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/**
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* @brief Get the acquired batch data.
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* @param [out] LineBatch See @ref Frame for details.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getLnxBatchRollData(LineBatch& LineBatch) const;
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/**
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* @brief Stop scanning.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus stopLnxCaptureImage();
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/**
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* @brief Start scanning.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus startLnxCaptureImage();
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/**
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* @brief Set scan mode.
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* @param [in] value See @ref CaptureMode for details.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus setLnxCaptureMode(CaptureMode value) const;
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/**
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* @brief Get the current scan mode.
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* @param [out] value See @ref CaptureMode for details.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getLnxCaptureMode(CaptureMode& value) const;
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/**
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* @brief Set the timeout value for obtaining the line scan image.
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* @param [in] time (ms)
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus setLnxRawTimeout(int time) const;
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/**
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* @brief Get the current timeout value for obtaining the line scan image.
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* @param [out] time (ms)
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getLnxRawTimeout(int& time) const;
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/**
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* @brief Set the timeout value for obtaining the depth map.
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* @param [in] time (ms)
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus setLnxDepthTimeout(int time) const;
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/**
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* @brief Get the current timeout value for obtaining the depth map.
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* @param [out] time (ms)
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getLnxDepthTimeout(int& time) const;
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/**
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* @brief Get the line width in the X direction.
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* @param [out] xDataWidth
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getLnxXDataWidth(int& xDataWidth) const;
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/**
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* @brief Get the X resolution.
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* @param [out] xScale(um)
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getLnxXScale(float& xScale) const;
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/**
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* @brief Set the laser power level.
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* @param [in] powerLevel
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus setLnxLaserPowerLevel(int powerLevel) const;
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/**
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* @brief Get the current laser power level.
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* @param [out] powerLevel
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getLnxLaserPowerLevel(int& powerLevel) const;
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/**
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* @brief Set the exposure mode.
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* @param [in] mode @ref ExposureMode for details.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus setScanExposureMode(ExposureMode mode) const;
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/**
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* @brief Get the current exposure mode.
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* @param [out] mode @ref ExposureMode for details.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getScanExposureMode(ExposureMode& mode) const;
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/**
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* @brief Set the exposure time for the Timed exposure mode.
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* @param [in] time (μs)
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus setLnxExposure(int time) const;
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/**
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* @brief Get the current exposure time for the Timed exposure mode.
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* @param [in] time (μs)
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getLnxExposure(int& time) const;
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/**
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* @brief Set the exposure sequence for the HDR exposure mode.
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* @param [in] time1 the exposure time1 (μs)
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* @param [in] time2 the exposure time2 (μs)
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* @param [in] time3 the exposure time3 (μs)
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus setScan3DHDRExposureSequence(int time1, int time2, int time3) const;
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/**
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* @brief Get the current exposure sequence for the HDR exposure mode.
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* @param [out] time1 the exposure time1 (μs)
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* @param [out] time2 the exposure time2 (μs)
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* @param [out] time3 the exposure time3 (μs)
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getScan3DHDRExposureSequence(int& time1, int& time2, int& time3) const;
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/**
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* @brief Set the y-coordinate of the first HDR knee point.
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* @param [in] value.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus setLnxHDRDualSlope(int value) const;
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/**
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* @brief Get the current y-coordinate of the first HDR knee point.
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* @param [out] value.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getLnxHDRDualSlope(int& value) const;
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/**
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* @brief Set the y-coordinate of the second HDR knee point.
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* @param [in] value.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus setLnxHDRTripleSlope(int value) const;
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/**
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* @brief Get the current y-coordinate of the second HDR knee point.
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* @param [out] value.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getLnxHDRTripleSlope(int& value) const;
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/**
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* @brief Set the analog gain.
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* @param [in] gainVal See @ref ImageAnalogGain for details.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus setScan3DAnalogGain(ImageAnalogGain gainVal) const;
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/**
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* @brief Get the current analog gain.
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* @param [out] gainVal See @ref ImageAnalogGain for details.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getScan3DAnalogGain(ImageAnalogGain& gainVal) const;
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/**
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* @brief Set the analog gain of LNX-8030.
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* @param [in] gainVal See @ref ImageAnalogGainFor8030 for details.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus setScan3DAnalogGainFor8030(ImageAnalogGainFor8030 gainVal) const;
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/**
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* @brief Get the current analog gain of LNX-8030.
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* @param [out] gainVal See @ref ImageAnalogGainFor8030 for details.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getScan3DAnalogGainFor8030(ImageAnalogGainFor8030& gainVal) const;
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/**
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* @brief Set the digital gain.
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* @param [in] gainVal
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus setScan3DDigitalGain(int gainVal) const;
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/**
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* @brief Get the current digital gain.
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* @param [out] gainVal
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getScan3DDigitalGain(int& gainVal) const;
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/**
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* @brief Set the ROI mode.
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* @param [in] mode See @ref ROIMode for details.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus setLnxROIMode(ROIMode mode) const;
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/**
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* @brief Get the current ROI mode.
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* @param [out] mode See @ref ROIMode for details.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getLnxROIMode(ROIMode& mode) const;
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/**
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* @brief Set the trigger delay time.
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* @param [in] delay (1-2600us)
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus setLnxTriggerDelay(int delay) const;
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/**
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* @brief Get the current trigger delay time.
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* @param [out] delay (1-2600us)
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getLnxTriggerDelay(int& delay) const;
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/**
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* @brief Set the trigger source for the Depth scan mode. \n
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* Note: this function can only be used in
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* CaptureMode::Depth. It does not take effect in CaptureMode::Raw.
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* @param [in] triggerSource See @ref TriggerSource for details.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus setLnxDepthTriggerSource(TriggerSource triggerSource) const;
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/**
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* @brief Get the current trigger source for the Depth scan mode.
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* @param [out] triggerSource See @ref TriggerSource for details.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getLnxDepthTriggerSource(TriggerSource& triggerSource) const;
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/**
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* @brief Set the line rate for the Software trigger source.
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* @param [in] rate
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus setLnxLineRate(double rate) const;
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/**
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* @brief Get the current line rate for the Software trigger source.
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* @param [out] rate
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getLnxLineRate(double& rate) const;
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/**
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* @brief Set the maximum number of lines to be scanned.
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* @param [in] profileNum
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus setLnxProfileNum(int profileNum) const;
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/**
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* @brief Get the current maximum number of lines to be scanned.
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* @param [out] profileNum
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getLnxProfileNum(int& profileNum) const;
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/**
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* @brief Set the encoder trigger mode.
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* @param [in] mode See @ref EncoderTriggerMode for details.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus setLnxEncoderTriggerMode(EncoderTriggerMode mode) const;
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/**
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* @brief Get the current encoder trigger mode.
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* @param [out] mode See @ref EncoderTriggerMode for details.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getLnxEncoderTriggerMode(EncoderTriggerMode& mode) const;
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/**
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* @brief Set the encoder divider value. Camera frame rate = encoder signal rate * encoder
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* multiplier / encoder divider.
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* @param [in] interval
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus setLnxEncoderDivide(int interval) const;
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/**
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* @brief Get the current encoder divider value.
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* @param [out] interval
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getLnxEncoderDivide(int& interval) const;
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/**
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* @brief Set the encoder multiplier value.
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* @param [in] multiple See @ref EncoderMultiplier for details.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus setLnxEncoderMultiplier(EncoderMultiplier multiple) const;
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/**
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* @brief Get the current encoder multiplier value.
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* @param [out] multiple See @ref EncoderMultiplier for details.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getLnxEncoderMultiplier(EncoderMultiplier& multiple) const;
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/**
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* @brief Set the filter type.
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* @param [in] type See @ref FilterType for details.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus setLnxFilterType(FilterType type) const;
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/**
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* @brief Get the filter type.
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* @param [out] type See @ref FilterType for details.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getLnxFilterType(FilterType& type) const;
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/**
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* @brief Set the window size for mean filtering.
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* @param [in] window See @ref MeanFilterWindow for details.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus setLnxMeanFilterWindow(MeanFilterWindow window) const;
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/**
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* @brief Get the current window size for mean filtering.
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* @param [out] window See @ref MeanFilterWindow for details.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getLnxMeanFilterWindow(MeanFilterWindow& window) const;
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/**
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* @brief Set the window size for median filtering.
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* @param [in] window See @ref MedianFilterWindow for details.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus setLnxMedianFilterWindow(MedianFilterWindow window) const;
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/**
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* @brief Get the current window size for median filtering.
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* @param [out] window See @ref MedianFilterWindow for details.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getLnxMedianFilterWindow(MedianFilterWindow& window) const;
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/**
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* @brief Set the maximum number of invalid points to be interpolated.
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* @param [in] value
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus setLnxMaxFillingPointCount(int value) const;
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/**
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* @brief Get the current maximum number of invalid points to be interpolated.
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* @param [out] value
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getLnxMaxFillingPointCount(int& value) const;
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/**
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* @brief Set profile extraction strategy.
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* @param [in] value See @ref ProfileStrategy for details.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus setLnxProfileStrategy(ProfileStrategy value) const;
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/**
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* @brief Get the current profile extraction strategy.
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* @param [out] value See @ref ProfileStrategy for details.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getLnxProfileStrategy(ProfileStrategy& value) const;
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/**
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* @brief Set the grayscale value threshold. Grayscale values of pixels below this threshold are
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* set to zero before profile extraction.
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* @param [in] value
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus setLnxGrayFilterThresh(int value) const;
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/**
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* @brief Get the current grayscale value threshold.
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* @param [out] value
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus getLnxGrayFilterThresh(int& value) const;
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/**
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* @brief Set the minimum laser line width.
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* @param [in] value
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* @return See @ref ErrorStatus for details.
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|
*/
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ErrorStatus setLnxMinStripeWidth(int value);
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/**
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* @brief Get the current minimum laser line width.
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* @param [out] value
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* @return See @ref ErrorStatus for details.
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|
*/
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ErrorStatus getLnxMinStripeWidth(int& value) const;
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/**
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* @brief Set the maximum laser line width.
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* @param [in] value
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|
* @return See @ref ErrorStatus for details.
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|
*/
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ErrorStatus setLnxMaxStripeWidth(int value);
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/**
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* @brief Get the current maximum laser line width.
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|
* @param [out] value
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|
* @return See @ref ErrorStatus for details.
|
|
*/
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ErrorStatus getLnxMaxStripeWidth(int& value) const;
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/**
|
|
* @brief Set the minimum laser line intensity.
|
|
* @param [in] value
|
|
* @return See @ref ErrorStatus for details.
|
|
*/
|
|
ErrorStatus setLnxMinStripeIntensity(int value);
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|
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/**
|
|
* @brief Get the current minimum laser line intensity.
|
|
* @param [out] value
|
|
* @return See @ref ErrorStatus for details.
|
|
*/
|
|
ErrorStatus getLnxMinStripeIntensity(int& value) const;
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|
|
/**
|
|
* @brief Set the maximum laser line intensity.
|
|
* @param [in] value
|
|
* @return See @ref ErrorStatus for details.
|
|
*/
|
|
ErrorStatus setLnxMaxStripeIntensity(int value);
|
|
|
|
/**
|
|
* @brief Get the current maximum laser line intensity.
|
|
* @param [out] value
|
|
* @return See @ref ErrorStatus for details.
|
|
*/
|
|
ErrorStatus getLnxMaxStripeIntensity(int& value) const;
|
|
|
|
/**
|
|
* @brief Get the current encoder value.
|
|
* @param [out] value
|
|
* @return See @ref ErrorStatus for details.
|
|
*/
|
|
ErrorStatus getLnxEncoderValue(unsigned int& value) const;
|
|
|
|
private:
|
|
MechEyeDeviceImpl* _d;
|
|
};
|
|
} // namespace lnxapi
|
|
} // namespace api
|
|
} // namespace mmind
|