static void Main()
{
CameraClient camera = new CameraClient();
//The camera IP should be modified to the actual IP Address.
//Always set IP before you do anything else.
if (Status.Error == camera.connect("192.168.3.99"))
{
return;
}
//Get some camera information like intrincis, IP, ID and version.
double[] intri = camera.getCameraIntri(); //[fx,fy,u,v]
Console.WriteLine("Camera ID: " + camera.getCameraId());
Console.WriteLine("Version: " + camera.getCameraVersion());
int[] colorImgSize = camera.getColorImgSize();
int[] depthImgSize = camera.getDepthImgSize();
Console.WriteLine("Color Image Size: {0} * {1}", colorImgSize[0], colorImgSize[1]);
Console.WriteLine("Depth Image Size: {0} * {1}", depthImgSize[0], depthImgSize[1]);
string save_path = "D:\\";
//Capture the color image and depth image and save them.
Mat color = camera.captureColorImg();
Mat depth = camera.captureDepthImg();
if (color == null || depth == null)
{
Console.WriteLine("Empty images");
return;
}
else
{
Cv2.ImWrite(save_path + "color.jpg", color);
Cv2.ImWrite(save_path + "depth.tif", depth);
}
double[,] rel = camera.captureRGBCloud();//point cloud data in xyzrgb3
Console.WriteLine("Cloud has " + rel.Length.ToString() + " points");
//Set some parameters of camera which you can refer to parameters' names in Mech_Eye Viewer.
Console.WriteLine(camera.setParameter("scan2dExposureMode", 0)); //Set exposure mode to timed.
Console.WriteLine(camera.getParameter("scan2dExposureMode"));
Console.WriteLine(camera.setParameter("scan2dExposureTime", 20)); //Set expsosure time to 20ms.
Console.WriteLine(camera.getParameter("scan2dExposureTime"));
int[] roi = { 500, 500, 100, 100 }; // roi: height, width, X, Y
Console.WriteLine(camera.setParameter("roi", roi));
Console.WriteLine(camera.getParameter("roi"));
}
static void Main()
{
CameraClient camera = new CameraClient();
//camera ip should be modified to actual ip address
//always set ip before do anything else
camera.setIp("192.168.3.146");
//get some camera info like intrincis, ip, id and version
double[] intri = camera.getCameraIntri(); //[fx,fy,u,v]
Console.WriteLine("Camera IP: " + camera.getCameraIp());
Console.WriteLine("Camera ID: " + camera.getCameraId());
Console.WriteLine("Version: " + camera.getCameraVersion());
string save_path = "D:\\";
//capture color image and depth image and save them
Mat color = camera.captureColorImg();
Mat depth = camera.captureDepthImg();
if (color.Empty() || depth.Empty())
{
Console.WriteLine("Empty images");
}
else
{
Cv2.ImWrite(save_path + "color.jpg", color);
Cv2.ImWrite(save_path + "depth.png", depth);
}
//set some parameters of camera, you can refer to parameters' names in Mech_eye
Console.WriteLine(camera.setParameter("camera2DExpTime", 15));
Console.WriteLine(camera.getParameter("camera2DExpTime"));
Console.WriteLine(camera.setParameter("camera2DExpTime", 20));
Console.WriteLine(camera.getParameter("camera2DExpTime"));
//get point cloud in a 2-dim array,each element is [x,y,z,b,g,r]
double[,] rel = camera.captureRGBCloud();//point cloud data in xyzrgb3
Console.WriteLine("Cloud has " + rel.Length.ToString() + " points");
}
