Camera-SDK-Benutzerhandbuch

Übersicht

Dieses Handbuch richtet sich an Entwickler, die Kamerageräte integrieren. Es behandelt die APIs des Camera SDK für die Produkte M4, M4 Mega, M4 Pro, V1 Pro, S2, S2 Max und der H3-Serie. Das SDK läuft unter x86-Windows sowie auf x86- oder Arm-Linux-Systemen. Das Camera SDK stellt einheitliche APIs für den Gerätezugriff und die Parametrierung bereit. Es unterstützt die synchrone und asynchrone Erfassung von Tiefen-, Intensitäts-, Punktwolken- und RGB-Daten. Einige Kameramodelle liefern zusätzlich Daten zur Hindernisvermeidung, zum Andocken oder zur Lokalisierung.

Die Beispiele und API-Beschreibungen basieren auf der mit dem Produkt ausgelieferten SDK-Version. Verfügbare Parameter können je nach Produkt, Firmware und SDK-Version abweichen.

Die Beispiele dienen als Entwicklungshilfe und decken möglicherweise nicht jedes Gerät oder jeden Anwendungsfall ab.

Einrichten der Umgebung

Empfohlene Hostkonfiguration

Konfigurationselement	Empfohlene Konfiguration
Betriebssystem	Windows 7, Windows 10 oder Windows 11; Ubuntu 16.04 oder höher
Arbeitsspeicher	4 GB oder mehr
CPU	Vierkern-Cortex-A57 oder gleichwertig bzw. höher
Netzwerkadapter	Gigabit-Ethernet oder schneller

Verbinden und installieren

Hardwareverbindung

Die Kamera wird an eine externe 24-V-Spannungsversorgung angeschlossen und über ein Netzwerkkabel mit dem Hostcomputer verbunden, wie in Abbildung 2.1 dargestellt. Abbildung 2.1 Anschlussdiagramm der Kamera

Netzwerkkonfiguration

Das Standard-IP-Netzsegment der Kamera lautet: 192.168.100.*
Lege auf dem Hostcomputer für den mit der Kamera verbundenen Netzwerkanschluss eine IP-Adresse im Netzsegment 192.168.100.x fest und stelle sicher, dass sie nicht mit dem Gerät kollidiert. Die Subnetzmaske lautet 255.255.255.0, wie in der folgenden Abbildung dargestellt:
Beim Verbinden mit der Kamera wird empfohlen, die Firewall zu deaktivieren, damit die Kameradatenpakete nicht vom Host abgefangen werden, auf dem sich das SDK befindet, wie in der folgenden Abbildung dargestellt:
Die Netzwerkkonfiguration unter Linux entspricht der unter Windows. Die Firewall-Befehle unterscheiden sich je nach Distribution. Führe unter Ubuntu Folgendes aus:

sudo systemctl stop ufw.service
sudo systemctl disable ufw.service
sudo ufw status

SDK installieren

Windows

Öffne das Installationspaket und installiere Lanxin-MRDVS-xxx.exe. Wenn du es für alle Benutzer installieren möchtest, benötigst du Administratorrechte, um das Installationspaket auszuführen. Die folgenden Abbildungen zeigen den Installationsvorgang.

Linux

Entpacke das Paket und führe das Installationsskript aus:

tar xvf Lanxin-MRDVS-xxx.tar.gz
cd Lanxin-MRDVS
sudo su root
chmod +x install.sh
./install.sh

Das Installationsskript installiert das SDK unter /opt/Lanxin-MRDVS und setzt Umgebungsvariablen für den aktuellen Benutzer. Wenn das Programm unter einem anderen Benutzer ausgeführt wird, führe das Skript für diesen Benutzer erneut aus oder füge der ~/.bashrc dieses Benutzers die folgende Zeile hinzu:

export LD_LIBRARY_PATH=/opt/Lanxin-MRDVS/lib/:$LD_LIBRARY_PATH

Führe in Terminalsitzungen, die bereits vor der Installation geöffnet waren, vor dem Start des Programms den folgenden Befehl aus:

source ~/.bashrc

Camera SDK verwenden

Verzeichnisstruktur

Das Verzeichnis des Camera SDK enthält die folgenden Verzeichnisse:

Document enthält verschiedene Dokumentationen zum SDK
FirmWare enthält das Firmware-Upgradepaket der Kamera
Sample enthält Beispielcode für das Camera SDK in verschiedenen Programmiersprachen
SDK enthält die Header- und Bibliotheksdateien des Camera SDK

Entwicklungsablauf

Projekt konfigurieren

C/C++ wird für die SDK-Integration empfohlen. Das SDK enthält eine CMakeLists.txt-Datei für CMake-Builds, und der Ordner Sample enthält Beispiele in mehreren Sprachen. Einzelheiten findest du in den Beispielen unter Sample und im Benutzerhandbuch zu Linux-Beispielen.

Synchroner Aufrufablauf

Asynchroner Aufrufablauf

Anforderungen an Aufrufe

Parametertypen und zugehörige APIs

Verwende für Aufzählungstypen mit dem Präfix LX_INT DcSetIntValue oder DcGetIntValue, um Parameter vom Typ INT zu setzen oder abzurufen.
Verwende für Aufzählungstypen mit dem Präfix LX_FLOAT DcSetFloatValue oder DcGetFloatValue, um Parameter vom Typ FLOAT zu setzen oder abzurufen.
Verwende für Aufzählungstypen mit dem Präfix LX_BOOL DcSetBoolValue oder DcGetBoolValue, um Parameter vom Typ BOOL zu setzen oder abzurufen.
Verwende für Aufzählungstypen mit dem Präfix LX_STRING DcSetStringValue oder DcGetStringValue, um Parameter vom Typ String zu setzen oder abzurufen.
Verwende DcSetCmd, um Befehle für Aufzählungstypen mit dem Präfix LX_CMD auszuführen.
Verwende für Aufzählungstypen mit dem Präfix LX_PTR DcGetPtrValue, um Ergebnisse vom Typ Pointer abzurufen.

API-Voraussetzungen

Wenn Streaming aktiv ist oder LX_INT_WORK_MODE auf den Dauerbetriebsmodus gesetzt ist, dürfen die unten aufgeführten Funktionen nicht gesetzt werden.

1. Wenn der Datenfluss gestartet wurde oder der Arbeitsmodus (LX_INT_WORK_MODE) dem Dauerbetriebsmodus entspricht, dürfen die folgenden Funktionen nicht gesetzt werden:

DcSetRoi
LX_INT_3D_BINNING_MODE;
LX_INT_2D_BINNING_MODE;
LX_BOOL_ENABLE_2D_TO_DEPTH;
LX_BOOL_ENABLE_MULTI_EXPOSURE_HDR;
LX_BOOL_ENABLE_MULTI_MACHINE;
LX_INT_TRIGGER_MODE;
LX_INT_CALCULATE_UP;
LX_BOOL_ENABLE_HDR;
LX_BOOL_ENABLE_TOF_DEPTH_CALIBE;
LX_BOOL_ENABLE_SYNC_FRAME
LX_INT_SAVE_PARAMS_GROUP

2. Die Einstellungen sind auch dann nicht zulässig, wenn der Arbeitsmodus (LX_INT_WORK_MODE) dem Dauerbetriebsmodus entspricht:

LX_INT_TOF_FREQMODE

3. Wenn die 3D-Automatikbelichtung (LX_BOOL_ENABLE_3D_AUTO_EXPOSURE) aktiviert ist, sind die folgenden Operationen für Funktionsaufzählungen nicht zulässig:

LX_BOOL_ENABLE_MULTI_EXPOSURE_HDR ;
LX_INT_FIRST_EXPOSURE;
LX_INT_SECOND_EXPOSURE;
LX_INT_THIRD_EXPOSURE;
LX_INT_GAIN;

4. Wenn die 3D-Automatikbelichtung (LX_BOOL_ENABLE_3D_AUTO_EXPOSURE) deaktiviert ist, darf die folgende Funktionsaufzählung nicht verwendet werden:

LX_INT_3D_AUTO_EXPOSURE_LEVEL

Das Setzen des Maximalwerts (LX_INT_3D_AUTO_EXPOSURE_MAX) und des Minimalwerts der 3D-Automatikbelichtung ist nicht zulässig.

(LX_INT_3D_AUTO_EXPOSURE_MIN)

5. Wenn die 2D-Automatikbelichtung (LX_BOOL_ENABLE_2D_AUTO_EXPOSURE) aktiviert ist, sind die folgenden Operationen für Funktionsaufzählungen nicht zulässig:

LX_INT_2D_MANUAL_EXPOSURE

6. Wenn die 2D-Automatikbelichtung (LX_BOOL_ENABLE_2D_AUTO_EXPOSURE) deaktiviert ist, darf die folgende Funktionsaufzählung nicht verwendet werden:

LX_INT_2D_AUTO_EXPOSURE_LEVEL;

7.Im Sonderfiltermodus sind die folgenden Einstellungen nicht zulässig:

LX_INT_FILTER_SMOOTH_LEVEL LX_INT_FILTER_NOISE_LEVEL
LX_INT_FILTER_TIME_LEVEL

8.Vor dem Aktivieren der 2D-Verzerrungskorrektur muss zuerst die RGB-D-Ausrichtung aktiviert werden:

LX_BOOL_ENABLE_2D_TO_DEPTH

9.Bei Geräten, die nicht vom Typ S2 sind, muss beim Aktivieren des integrierten Algorithmus zuerst der ToF-Algorithmus gesetzt werden. Die Algorithmusparameter dürfen nur gesetzt werden, wenn der integrierte Algorithmus (LX_INT_ALGORITHM_MODE) aktiviert ist.

(LX_STRING_ALGORITHM_PARAMS)

10.Um Punktwolkendaten (LX_PTR_XYZ_DATA) abzurufen, musst du zuerst die Tiefenkarte aktivieren.

(LX_BOOL_ENABLE_3D_DEPTH_STREAM)

Data types

5.1 LX_STATE

Function: SDK interface function return value status code

Keywords	Description
LX_SUCCESS	Function execution successful
LX_ERROR	Function execution failed
LX_E_NOT_SUPPORT	The connected camera does not support this function
LX_E_NETWORK_ERROR	Network communication error
LX_E_INPUT_ILLEGAL	Illegal function parameters passed in
LX_E_RECONNECTING	Device reconnecting
LX_E_DEVICE_ERROR	Equipment failure
LX_E_DEVICE_NEED_UPDATE	The device version is too low and the firmware version needs to be upgraded
LX_E_API_NEED_UPDATE	API version is too low, SDK needs to be upgraded
LX_E_CTRL_PERMISS_ERROR	Exclusive control permission failed (the device can only have one SDK connection at the same time)
LX_E_GET_DEVICEINFO_ERROR	Failed to obtain device information
LX_E_IMAGE_SIZE_ERROR	Image size does not match, reopen the camera
LX_E_IMAGE_PARTITION_ERROR	Image parsing failed
LX_E_DEVICE_NOT_CONNECTED	Camera not connected
LX_E_DEVICE_INIT_FAILED	Camera initialization failed
LX_E_DEVICE_NOT_FOUND	No matching camera found
LX_E_FILE_INVALID	File error (incorrect file name or type or format)
LX_E_CRC_CHECK_FAILED	File crc or md5 verification failed
LX_E_TIME_OUT	Timeout
LX_E_FRAME_LOSS	Missing frame
LX_E_ENABLE_ANYSTREAM_FAILED	Failed to open any stream
LX_E_NOT_RECEIVE_STREAM	Streaming data not received
LX_E_PARSE_STREAM_FAILED	Streaming started successfully but failed to parse stream data
LX_E_PROCESS_IMAGE_FAILED	Image calculation processing failed
LX_E_SETTING_NOT_ALLOWED	Setting is not allowed in normally open mode
LX_E_LOAD_DATAPROCESSLIB_ERROR	Error loading image processing algorithm library
LX_E_FUNCTION_CALL_LOGIC_ERROR	Function call logic error
LX_E_IPAPPDR_UNREACHABLE_ERROR	IP unreachable or network configuration error
LX_E_FRAME_ID_NOT_MATCH	Frame out of sync error within timeout range
LX_E_FRAME_MULTI_MACHINE	Multi-machine interference signal detected in the frame

5.2 LX_DATA_TYPE

Function: data format. 3D intensity map and depth map have different data formats. To obtain the data pointer, you need to use the corresponding feature.

Keywords	Description
LX_DATA_UNSIGNED_CHAR	Unsigned character type
LX_DATA_UNSIGNED_SHORT	Unsigned short integer
LX_DATA_SIGNED_SHORT	Signed short
LX_DATA_FLOAT	Floating point type
LX_DATA_OBSTACLE	Obstacle avoidance algorithm structure type
LX_DATA_PALLET	Pallet algorithm structure type
LX_DATA_LOCATION	Visual positioning algorithm structure type
LX_DATA_OBSTACLE	Obstacle avoidance algorithm V2 structure type

5.3 LX_BINNING_MODE

Function: Bining mode

Keywords	Description
LX_BINNING_1X1	1x1Binning
LX_BINNING_2X2	2x2Binning
LX_BINNING_4X4	4x4Binning

5.4 LX_STRUCT_LIGHT_CODE_MODE

Function:

Keywords	Description
LX_CODE_NORMAL	General
LX_CODE_STATBLE	Stable
LX_CODE_ENHANCE	High precision enhancement

5.5 LX_ALGORITHM_MODE

Function:

Keywords	Description
MODE_ALL_OFF	Turn off the camera’s built-in algorithm
MODE_AVOID_OBSTACLE	Built-in obstacle avoidance algorithm
MODE_PALLET_LOCATE	Built-in pallet algorithm
MODE_VISION_LOCATION	Built-in visual positioning algorithm
MODE_AVOID_OBSTACLE2	Built-in obstacle avoidance algorithm V2

5.6 LX_CAMERA_WORK_MODE

Function:

Keywords	Description
KEEP_HEARTBEAT	Heartbeat mode, SDK camera enters standby state after heartbeat interruption
WORK_FOREVER	Normally on mode, the camera always keeps working

5.7 LX_TRIGGER_MODE

Function:

Keywords	Description
LX_TRIGGER_MODE_OFF	Close trigger mode, streaming mode, default
LX_TRIGGER_SOFTWARE	Soft trigger mode
LX_TRIGGER_HARDWARE	Hard trigger mode

5.8 LX_CAMERA_FEATURE

Function: Various readable and writable parameters

5.8.1 int type parameters

5.8.1.1 General parameters

Keywords	Description
LX_INT_FIRST_EXPOSURE	Exposure value, unit us, for multiple points, it is the exposure time of the first point
LX_INT_SECOND_EXPOSURE	For multiple points, the exposure time of the second point
LX_INT_THIRD_EXPOSURE	In the case of multiple points, the exposure time of the third point is supported by some models
LX_INT_FOURTH_EXPOSURE	In the case of multiple points, the exposure time of the fourth point is supported by some models
LX_INT_GAIN	Gain, equivalent to exposure effect. Noise will be introduced, and the gain can be appropriately adjusted to prevent the exposure parameters from being too large
LX_INT_MIN_DEPTH	Minimum depth value, values outside the range are invalid
LX_INT_MAX_DEPTH	Maximum depth value, values outside the range are invalid
LX_INT_MIN_AMPLITUDE	Minimum effective signal strength value, depth value beyond the range is invalid
LX_INT_MAX_AMPLITUDE	The maximum strength value of the valid signal, the depth value beyond the range is set to be invalid
LX_INT_CODE_MODE	Structural light camera encoding mode, refer to CODE_MODE (supported by some models)
LX_INT_WORK_MODE	Working mode, refer to LX_CAMERA_WORK_MODE
LX_INT_LINK_SPEED	The negotiated network card speed is 100-100 Mbit/s, 1000-1000 Mbit/s, only supports acquisition and cannot be set
LX_INT_TOF_GLOBAL_OFFSET	ToF depth data offset
LX_INT_ALGORITHM_MODE	Built-in algorithm enable mode, supported by some models, the corresponding values refer to LX_ALGORITHM_MODE
LX_INT_TRIGGER_MODE	Trigger mode, the corresponding value refers to LX_TRIGGER_MODE
LX_INT_MODBUS_ADDR	modbus address, some models support MODBUS protocol output through the serial port
LX_INT_HEART_TIME	Heartbeat time, the camera will automatically standby if it times out and does not receive a heartbeat
LX_INT_GVSP_PACKET_SIZE	GVSP single packet data packet size, unit byte
LX_INT_CALCULATE_UP	Allow the tof or rgb algorithm to move up and down, saving the computing power of the host computer or camera, which may affect the frame rate and delay
LX_INT_CAN_BAUD_RATE	baud rate value of can, unit bps
LX_INT_SAVE_PARAMS_GROUP	Save the current camera configuration as the specified parameter group
LX_INT_LOAD_PARAMS_GROUP	Load the parameter group of the specified index with one click

5.8.1.2 3D image parameters

Keywords	Description
LX_INT_3D_IMAGE_WIDTH	3D image resolution current width
LX_INT_3D_IMAGE_HEIGHT	3D image resolution current height
LX_INT_3D_IMAGE_OFFSET_X	ROI horizontal offset pixels, please use DcSetRoI to set parameters
LX_INT_3D_IMAGE_OFFSET_Y	ROI vertical offset pixels, please use DcSetRoI to set parameters
LX_INT_3D_BINNING_MODE	Pixel merging, refer to LX_BINNING_MODE
LX_INT_3D_DEPTH_DATA_TYPE	Depth image data format, can only be obtained. For the corresponding value, refer to LX_DATA_TYPE
LX_INT_3D_AMPLITUDE_CHANNEL	Number of 3D intensity image channels, shared with depth image channels
LX_INT_3D_AMPLITUDE_DATA_TYPE	Intensity image data format, can only be obtained. For the corresponding value, refer to LX_DATA_TYPE
LX_INT_3D_AUTO_EXPOSURE_LEVEL	The exposure level when 3D automatic exposure is turned on, during which exposure value and gain are not allowed to be set
LX_INT_3D_AUTO_EXPOSURE_MAX	3D automatic exposure upper limit
LX_INT_3D_AUTO_EXPOSURE_MIN	3D automatic exposure lower limit value
LX_INT_3D_UNDISTORT_SCALE	3D image anti-distortion coefficient

5.8.1.4 2D image parameters

Keywords	Description
LX_INT_2D_IMAGE_CHANNEL	2D image channel number, monochrome is 1, color is 3
LX_INT_2D_IMAGE_WIDTH	2D image resolution current width
LX_INT_2D_IMAGE_HEIGHT	2D image resolution current height
LX_INT_2D_IMAGE_OFFSET_X	2D image ROI horizontal offset pixels, can only be obtained, please use DcSetRoI to set parameters
LX_INT_2D_IMAGE_OFFSET_Y	2D image ROI vertical offset pixels, can only be obtained, please use DcSetRoI to set parameters
LX_INT_2D_BINNING_MODE	Pixel merging, refer to LX_BINNING_MODE
LX_INT_2D_MANUAL_EXPOSURE	Exposure value during 2D manual exposure
LX_INT_2D_MANUAL_GAIN	Gain value during 2D manual exposure
LX_INT_2D_AUTO_EXPOSURE_LEVEL	Exposure level during automatic exposure of 2D images
LX_INT_2D_IMAGE_DATA_TYPE	2D image data format, can only be obtained. For the corresponding value, refer to LX_DATA_TYPE
LX_INT_2D_UNDISTORT_SCALE	2D image anti-distortion coefficient

5.8.1.5 Trigger parameters

Keywords	Description
LX_INT_TRIGGER_MODE	Trigger mode, the corresponding value refers to LX_TRIGGER_MODE
LX_INT_HARDWARE_TRIGGER_FILTER_TIME	Hard trigger filter time, unit us
LX_INT_TRIGGER_MIN_PERIOD_TIME	Minimum trigger time interval, unit us
LX_INT_TRIGGER_DELAY_TIME	Trigger delay time in µs. A value <= 1000 takes effect immediately. Values greater than 1000 take effect after a delay. This feature is reserved.
LX_INT_TRIGGER_FRAME_COUNT	Single trigger frame number
LX_INT_IO_WORK_MODE	GPIO signal output control mode, refer to LX_IO_WORK_MODE
LX_INT_IO_OUTPUT_STATE	User control mode of GPIO signal output, refer to LX_IO_OUTPUT_STATE

5.8.1.6 Filter parameters

Keywords	Description
LX_INT_FILTER_MODE	Filter mode, refer to LX_FILTER_MODE
LX_INT_FILTER_SMOOTH_LEVEL	When LX_INT_FILTER_MODE is FILTER_NORMAL, can set the filter smoothing level, [0, 3], the larger the value, the stronger the filtering
LX_INT_FILTER_NOISE_LEVEL	When LX_INT_FILTER_MODE is FILTER_NORMAL, can set the filter noise level, [0, 3], the larger the value, the stronger the filtering
LX_INT_FILTER_TIME_LEVEL	When LX_INT_FILTER_MODE is FILTER_NORMAL, can set the filter time domain level, [0, 3]. The larger the value, the stronger the filtering

5.8.2 float type parameters

Keywords	Description
LX_FLOAT_FILTER_LEVEL	Filtering level, 0-1, the larger the value, the higher the filtering intensity
LX_FLOAT_EST_OUT_EXPOSURE	Whether to evaluate overexposure data, 0-1, if 1, the overexposure data is invalid
LX_FLOAT_LIGHT_INTENSITY	Light intensity, supported by some models
LX_FLOAT_3D_DEPTH_FPS	Current frame rate of depth map
LX_FLOAT_3D_AMPLITUDE_FPS	Current frame rate of intensity map
LX_FLOAT_2D_IAMGE_FPS	RGB image current frame rate
LX_FLOAT_DEVICE_TEMPERATURE	Get the current camera temperature

5.8.3 bool type parameter

Keywords	Description
LX_BOOL_CONNECT_STATE	Current connection status
LX_BOOL_ENABLE_3D_DEPTH_STREAM	Turn on/off the depth map (supported by some cameras)
LX_BOOL_ENABLE_3D_AMP_STREAM	Turn on/off intensity map (supported by some cameras)
LX_BOOL_ENABLE_3D_AUTO_EXPOSURE	3D automatic exposure enablement
LX_BOOL_ENABLE_3D_UNDISTORT	3D anti-distortion enable
LX_BOOL_ENABLE_BACKGROUND_AMP	Intensity background light enable
LX_BOOL_ENABLE_ANTI_FLICKER	Anti-stroboscopic enablement, LED ambient lighting may cause obvious ripples in data, some models support
LX_BOOL_ENABLE_2D_STREAM	Turn on/off RGB
LX_BOOL_ENABLE_2D_AUTO_EXPOSURE	2D automatic exposure enable
LX_BOOL_ENABLE_2D_UNDISTORT	2D anti-distortion enable
LX_BOOL_ENABLE_2D_TO_DEPTH	RGB-D coordinate alignment enable
LX_BOOL_ENABLE_MULTI_MACHINE	Multi-machine mode enabled, supported by some models
LX_BOOL_ENABLE_MULTI_EXPOSURE_HDR	HDR (multi-exposure high dynamic range mode) enabled
LX_BOOL_ENABLE_SYNC_FRAME	Whether to enable forced frame synchronization, the default data real-time priority is given, if RGB-D synchronization is required, needs to enable this mode

5.8.4 string type parameters

Keywords	Description
LX_STRING_DEVICE_VERSION	Device version number
LX_STRING_FIRMWARE_NAME	Firmware file name, used to upgrade device version, can only be set
LX_STRING_FILTER_PARAMS	Filter algorithm parameters, string in json format
LX_STRING_ALGORITHM_PARAMS	Built-in algorithm parameters, different opening modes, corresponding to different json format strings, prerequisite needs to be set LX_ALGORITHM_MODE
LX_STRING_ALGORITHM_VERSION	Built-in algorithm version number, different opening modes, return the corresponding version number, can only be obtained, prerequisite needs to be set LX_ALGORITHM_MODE
LX_STRING_DEVICE_OS_VERSION	Device system image version number
LX_STRING_IMPORT_PARAMS_FROM_FILE	Load parameters from local file to camera
LX_STRING_EXPORT_PARAMS_TO_FILE	Export the current parameters of the camera to a local file

5.8.5 Command type parameters

Keywords	Description
LX_CMD_GET_NEW_FRAME	Update data once, default timeout is 1s
LX_CMD_RETURN_VERSION	Roll back to the previous version
LX_CMD_RESTART_DEVICE	Restart camera
LX_CMD_WHITE_BALANCE	Auto white balance
LX_CMD_RESET_PARAM	Restore default parameters

5.8.6 ptr type parameters

Keywords	Description
LX_PTR_2D_IMAGE_DATA	Get the 2D image data pointer, the data length is determined by the 2D image size, channel number and data format (LX_INT_2D_IMAGE_DATA_TYPE)
LX_PTR_3D_AMP_DATA	Get the 3D intensity map data pointer. The data length is determined by the 3D image size, channel number and data format (LX_INT_3D_AMPLITUDE_DATA_TYPE)
LX_PTR_3D_DEPTH_DATA	Get the 3D depth map data pointer. The data length is determined by the 3D image size, channel number and data format (LX_INT_3D_DEPTH_DATA_TYPE)
LX_PTR_XYZ_DATA	Get the point cloud data pointer, three channels of float* type (x, y, z are a set of data, looped in sequence), the data length is LX_INT_3D_IMAGE_WIDTH_LX_INT_3D_IMAGE_HEIG HT_sizeof(float)*3
LX_PTR_ALGORITHM_OUTPUT	Get the built-in algorithm output, related to the algorithm mode. MODE_AVOID_OBSTACLE is the LxAvoidanceOutput pointer, MODE_PALLET_LOCATE is the LxPalletPose pointer, and MODE_VISION_LOCATION is the reference LxLocation pointer
LX_PTR_2D_INTRIC_PARAM	Get 2D image internal parameters, float* type pointer, length is fixed at 9*sizeof(float)(fx,fy,cx,cy,k1,k2,p1,p2,k3)
LX_PTR_3D_INTRIC_PARAM	Get 3D image internal parameters, float* type pointer, length is fixed at 9*sizeof(float)(fx,fy,cx,cy,k1,k2,p1,p2,k3)
LX_PTR_3D_EXTRIC_PARAM	Get the 3D image external parameters, float* type pointer, the length of is fixed at 12*sizeof(float) (the first 9 represent the rotation matrix, the last 3 represent the translation vector)
LX_PTR_FRAME_DATA	Obtain a complete frame of data, and the output result refers to the structure FrameInfo

5.9 LxDeviceInfo

Function: Device attribute information structure

Field	Type	Description
handle	DcHandle	device unique identifier
dev_type	LX_DEVICE_TYPE	Device type
id	Char array	device id
ip	Char array	Device ip:port
sn	Char array	Device serial number
mac	Char array	device mac address
firmware_ver	Char array	Device software version number
algor_ver	Char array	Device algorithm version number
name	Char array	Device name, such as: camera_M3_192.168.11.13_9803
reserve	Char array	reserved field, subnet mask
reserve2	Char array	Reserved field 2, gateway
reserve3	Char array	Reserved field 3
reserve4	Char array	Reserved field 4

5.10 LxIntValueInfo

Function: Device attribute information structure

Field	Type	Description
set_available	Bool	Whether the current value is settable, true - can be set, false - cannot be set
cur_value	Int	Current value
max_value	Int	maximum value
min_value	Int	Minimum value
reserve	Int array	reserved field

5.11 LxFloatValueInfo

Function: Device attribute information structure

Field	Type	Description
set_available	Bool	Whether the current value can be set, true - can be set, false - cannot be set
cur_value	float	current value
max_value	float	maximum value
min_value	float	minimum value
reserve	float array	reserved field

5.12 LX_DEVICE_TYPE

Function: device type

Keywords	Description
LX_DEVICE_M2	M2 Camera
LX_DEVICE_M3	M3 camera
LX_DEVICE_M4 Pro	M4 Pro Camera
LX_DEVICE_M4_MEGA	M4 Mega Camera
LX_DEVICE_M4	M4 camera
LX_DEVICE_S1	S1 Camera
LX_DEVICE_S2	S2 Camera
LX_DEVICE_I1	I1 camera
LX_DEVICE_I2	I2 camera
LX_DEVICE_T1	T1 camera
LX_DEVICE_T2	T2 camera
LX_DEVICE_H3	H3 Camera
LX_DEVICE_V1Pro	V1Pro camera
LX_DEVICE_NULL	Reserved

5.13 LX_OPEN_MODE

Function: device type

Keywords	Description
OPEN_BY_INDEX	Open according to the index subscript in the search list. The corresponding parameter is the index number. When the searched device list changes, the device selected by to open will also be different
OPEN_BY_IP	Open according to the corresponding ip in the search list, and the corresponding parameter is the device ip or ip:port
OPEN_BY_SN	Open according to the corresponding sn mode in the search list, and the corresponding parameter is the device sn
OPEN_BY_ID	Open according to the corresponding id in the search list, and the corresponding parameter is the device id

5.14 FrameDataInfo

Function: Image display information structure

Field	Type	Description
frame_data_type	LX_DATA_TYPE	Frame data type
frame_width	Int	Frame data image width
frame_height	Int	Frame data image height
frame_channel	Int	Number of frame data channels
frame_data	Void *pointer type	frame data content
sensor_timestamp	Unsigned long long type	sensor image timestamp
recv_timestamp	Unsigned long long type	The timestamp when the frame data is received

5.15 FrameInfo

Function: Data frame information structure

Field	Type	Description
frame_state	LX_STATE	Frame data status
handle	DcHandle	device unique identifier
depth_data	FrameDataInfo type	Depth map frame data structure
amp_data	FrameDataInfo type	Intensity map frame data structure
rgb_data	FrameDataInfo type	Rgb frame data structure
app_data	FrameDataInfo type	Algorithm output structure
reserve_data	Void *pointer type	extended reserved field

API reference

API prototypes are defined by the SDK headers and the shipped SDK version. Unless noted otherwise, LX_SUCCESS indicates a successful call.

6.1 Find, connect and close the camera

6.1.1 DcGetDeviceList

Function prototype: Function function: Get a list of supported cameras. Function parameters:

[out]devlist Found camera list
[out]devnum Number of cameras found

Return value: Int data, this value is equal to LX_SUCCESS, indicating that the interface call is successful. Remarks: The memory is maintained internally, and there is no need to allocate external memory. However, because the original content will be cleared before each search, external thread safety needs to be ensured.

6.1.2 DcOpenDevice

Function prototype:

Function function: Connect your device. Function parameters:

[in]open_mode open mode, see OpenMode for details
[in]param different opening methods, fill in different parameters
[out]handle is the device handle returned after successful connection. All subsequent interface access depends on this handle.
[out]info Camera details returned after successful connection

Return value: Int data, this value is equal to LX_SUCCESS, indicating that the interface call is successful. Note: Make sure the parameters passed in are valid

6.1.3 DcCloseDevice

Function prototype:

Function function: Turn off the device Function parameters:

[in]handle device handle

Return value: Int data, this value is equal to LX_SUCCESS, indicating that the interface call is successful. Note: Make sure the parameters passed in are valid

6.2 Start streaming and close streaming

6.2.1 DcStartStream

Function prototype:

**Function:**Open data stream Function parameters:

[in]handle device handle

Return value: Int data, this value is equal to LX_SUCCESS, indicating that the interface call is successful. Note: Make sure the parameters passed in are valid

6.2.2 DcStopStream

Function prototype:

**Function:**Close data flow Function parameters:

[in]handle device handle

Return value: Int data, this value is equal to LX_SUCCESS, indicating that the interface call is successful. Note: Make sure the parameters passed in are valid

6.3 Reading and setting camera parameters

6.3.1 DcSetIntValue

Function prototype:

Function function: Set int type parameters Function parameters:

[in]handle device handle
[in]cmd reference LX_CAMERA_FEATURE
[in]value sets parameter value

Return value: Int data, this value is equal to LX_SUCCESS, indicating that the interface call is successful. Note: Make sure the parameters passed in are valid

6.3.2 DcGetIntValue

Function prototype:

Function function: Get int type parameters Function parameters:

[in]handle device handle
[in]cmd reference LX_CAMERA_FEATURE
[out]value returns the parameter structure, the maximum and minimum values of the parameters, the current value, etc.

Return value: Int data, this value is equal to LX_SUCCESS, indicating that the interface call is successful. Note: Make sure the parameters passed in are valid

6.3.3 DcSetFloatValue

Function prototype:

Function function: Set float type parameters Function parameters:

[in]handle device handle
[in]cmd reference LX_CAMERA_FEATURE
[in]value sets parameter value

Return value: Int data, this value is equal to LX_SUCCESS, indicating that the interface call is successful. Note: Make sure the parameters passed in are valid

6.3.4 DcGetFloatValue

Function prototype:

Function function: Get float type parameters Function parameters:

[in]handle device handle
[in]cmd reference LX_CAMERA_FEATURE
[out]value returns the parameter structure, the maximum and minimum values of the parameters, the current value, etc.

Return value: Int data, this value is equal to LX_SUCCESS, indicating that the interface call is successful. Note: Make sure the parameters passed in are valid

6.3.5 DcSetBoolValue

Function prototype:

Function function: Set bool type parameters Function parameters:

[in]handle device handle
[in]cmd reference LX_CAMERA_FEATURE
[in]value sets parameter value

Return value: Int data, this value is equal to LX_SUCCESS, indicating that the interface call is successful. Note: Make sure the parameters passed in are valid

6.3.6 DcGetBoolValue

Function prototype:

Function function: Get bool type parameter Function parameters:

[in]handle device handle
[in]cmd reference LX_CAMERA_FEATURE
[out]value return parameters

Return value: Int data, this value is equal to LX_SUCCESS, indicating that the interface call is successful. Note: Make sure the parameters passed in are valid

6.3.7 DcSetStringValue

Function prototype:

Function function: Set string type parameters Function parameters:

[in]handle device handle
[in]cmd refer to LX_CAMERA_FEATURE
[in]value sets parameter value

Return value: Int data, this value is equal to LX_SUCCESS, indicating that the interface call is successful. Note: Make sure the parameters passed in are valid

6.3.8 DcGetStringValue

Function prototype:

Function function: Get string type parameters Function parameters:

[in]handle device handle
[in]cmd reference LX_CAMERA_FEATURE
[out]value returns parameters without external allocation of memory

Return value: Int data, this value is equal to LX_SUCCESS, indicating that the interface call is successful. Note: Make sure the parameters passed in are valid

6.3.9 DcGetPtrValue

Function prototype:

Function function: Get pointer type parameters Function parameters:

[in]handle device handle
[in]cmd reference LX_CAMERA_FEATURE
[out]value returns parameters without external allocation of memory

Return value: Int data, this value is equal to LX_SUCCESS, indicating that the interface call is successful. Note: Make sure the parameters passed in are valid

6.3.10 DcSetCmd

Function prototype:

Function function: Execute corresponding CMD type command operation Function parameters:

[in]handle device handle
[in]cmd reference LX_CAMERA_FEATURE

Return value: Int data, this value is equal to LX_SUCCESS, indicating that the interface call is successful. Note: Make sure the parameters passed in are valid

6.4 Save point cloud

6.4.1 DcSaveXYZ

Function prototype:

Function function: Save the point cloud and call it directly Function parameters:

handle device handle
filename file name, supports txt, ply and pcd formats. txt format saves all data in image order, ply and pcd only save non-zero data

Return value: Int data, this value is equal to LX_SUCCESS, indicating that the interface call is successful. Note: Make sure the parameters passed in are valid

6.5 Special Controls

6.5.1 DcSpecialControl

Function prototype:

Function function: LX_CAMERA_FEATURE Special operations beyond the definition Function parameters:

[in]handle device handle
[in]param operation
[inout]value is the corresponding input parameter when set, and the corresponding outgoing parameter when obtained, without external allocation of memory.

Return value: Int data, this value is equal to LX_SUCCESS, indicating that the interface call is successful. Note: Make sure the parameters passed in are valid

6.6 Set ROI and parameter path

6.6.1 DcSetRoI

Function prototype:

Function function: Set the ROI area. If the input value is not an integer multiple of 8, it will be automatically processed internally as the nearest integer multiple of 8 to the target value. Image size parameters need to be updated after setting Function parameters:

[in]handle device handle
[in]offsetx horizontal offset of starting point in pixels
[in]offsety vertical offset of starting point in pixels
[in]widthroi width of the target area
[in]heightroi height of the target area
[in]type0-3D image 1-2D image

Return value: Int data, this value is equal to LX_SUCCESS, indicating that the interface call is successful. Note: Make sure the parameters passed in are valid

6.7 Set camera IP

6.7.1 DcSetCameraIp

Function prototype: Function function: Set camera IP and subnet mask, gateway Function parameters:

[in]handle device handle,
[in]ip device IP,
[in]netmask subnet mask (if empty, the internal default is “255.255.0.0”)
[in]gateway gateway ip (if empty, the internal default is to set the last network segment of ip to “1” as the gateway)

Return value: Int data, this value is equal to LX_SUCCESS, indicating that the interface call is successful. Note: When the device is not connected, you need to obtain it through search first. If the device supports modifying the gateway and subnet mask, set the gateway to the same network segment and the subnet mask to “255.255.0.0”. After modification, the device list will change, and you need to call the DcGetDeviceList interface again to obtain the new device list.

6.8 Log information and version information

6.8.1 DcGetApiVersion

Function prototype:

Function function: Get API version number Function parameters: Return value: char pointer data. Remark:

6.8.2 DcSetInfoOutput

Function prototype: Function function: Set printing information level Function parameters:

[in]print_level 0: info all debugging information; 1: warn important and warning debugging information; 2: error only output error information
[in]enable_screen_print whether to print in the window
[in]log_path The log file saving path (does not include the log file name), can be empty. Windows defaults to the current user path, and Linux defaults to the /var/log path.
[in]language language (not used yet)

Return value: Int data, this value is equal to LX_SUCCESS, indicating that the interface call is successful. Note: Make sure the parameters passed in are valid

6.8.3 DcLog

Function prototype:

Function function: Allow users to output debugging information to the log file Function parameters:

[in]str The string to be output, terminated by ‘\0’

Return value: Int data, this value is equal to LX_SUCCESS, indicating that the interface call is successful. Note: Make sure the parameters passed in are valid

6.8.4 DcRegisterFrameCallback

Function prototype: Function function: Register a data frame callback function and automatically call it when new data is received. Function parameters:

[in]handle device handle,
[in]func frame data callback function,
[in]usr_data user-defined parameters, can be passed empty

Return value: Int data, this value is equal to LX_SUCCESS, indicating that the interface call is successful. Note: Make sure the parameters passed in are valid

6.8.5 DcUnregisterFrameCallback

Function prototype:

Function function: Cancel frame callback Function parameters:

[in]handle device handle,

Return value: Int data, this value is equal to LX_SUCCESS, indicating that the interface call is successful. Note: Make sure the parameters passed in are valid

6.9 Device status callback

6.9.1 DcRegisterCameraStatusCallback

Function prototype: Function function: Register the camera status callback function, which is automatically called when the camera status changes. Function parameters:

[in]handle device handle,
[in]func frame data callback function,
[in]usr_data user-defined parameters, can be passed empty

Note: Make sure the parameters passed in are valid

6.9.2 DcUnregisterCameraStatusCallback

Function prototype:

Function function: Cancel camera status registration callback Function parameters:

[in]handle device handle,

Return value: Int data, this value is equal to LX_SUCCESS, indicating that the interface call is successful. Note: Make sure the parameters passed in are valid

Versions and updates

Version number	Update instructions
2.4.16	1. Support S2 camera 2. Add parameter import and export and parameter group switching 3. Add related function settings
2.4.9	1. Optimize and add some functions and configuration parameters 2. Change the timestamp to us
2.4.2	Support M4/M4 Mega/M4 Pro/V1Pro/S2/H3 cameras
2.0.2	Fix some known issues, adjust some interfaces and parameters

​Übersicht

​Einrichten der Umgebung

​Empfohlene Hostkonfiguration

​Verbinden und installieren

​Hardwareverbindung

​Netzwerkkonfiguration

​SDK installieren

Windows

Linux

​Camera SDK verwenden

​Verzeichnisstruktur

​Entwicklungsablauf

​Projekt konfigurieren

​Synchroner Aufrufablauf

​Asynchroner Aufrufablauf

​Anforderungen an Aufrufe

​Parametertypen und zugehörige APIs

​API-Voraussetzungen

​Data types

​5.1 LX_STATE

​5.2 LX_DATA_TYPE

​5.3 LX_BINNING_MODE

​5.4 LX_STRUCT_LIGHT_CODE_MODE

​5.5 LX_ALGORITHM_MODE

​5.6 LX_CAMERA_WORK_MODE

​5.7 LX_TRIGGER_MODE

​5.8 LX_CAMERA_FEATURE

​5.8.1 int type parameters

5.8.1.1 General parameters

5.8.1.2 3D image parameters

5.8.1.4 2D image parameters

5.8.1.5 Trigger parameters

5.8.1.6 Filter parameters

​5.8.2 float type parameters

​5.8.3 bool type parameter

​5.8.4 string type parameters

​5.8.5 Command type parameters

​5.8.6 ptr type parameters

​5.9 LxDeviceInfo

​5.10 LxIntValueInfo

​5.11 LxFloatValueInfo

​5.12 LX_DEVICE_TYPE

​5.13 LX_OPEN_MODE

​5.14 FrameDataInfo

​5.15 FrameInfo

​API reference

​6.1 Find, connect and close the camera

​6.1.1 DcGetDeviceList

​6.1.2 DcOpenDevice

​6.1.3 DcCloseDevice

​6.2 Start streaming and close streaming

​6.2.1 DcStartStream

​6.2.2 DcStopStream

​6.3 Reading and setting camera parameters

​6.3.1 DcSetIntValue

​6.3.2 DcGetIntValue

​6.3.3 DcSetFloatValue

​6.3.4 DcGetFloatValue

​6.3.5 DcSetBoolValue

​6.3.6 DcGetBoolValue

​6.3.7 DcSetStringValue

​6.3.8 DcGetStringValue

​6.3.9 DcGetPtrValue

​6.3.10 DcSetCmd

​6.4 Save point cloud

​6.4.1 DcSaveXYZ

​6.5 Special Controls

​6.5.1 DcSpecialControl

​6.6 Set ROI and parameter path

​6.6.1 DcSetRoI

​6.7 Set camera IP

​6.7.1 DcSetCameraIp

​6.8 Log information and version information

​6.8.1 DcGetApiVersion

​6.8.2 DcSetInfoOutput

​6.8.3 DcLog

​6.8.4 DcRegisterFrameCallback

​6.8.5 DcUnregisterFrameCallback

​6.9 Device status callback

​6.9.1 DcRegisterCameraStatusCallback

Übersicht

Einrichten der Umgebung

Empfohlene Hostkonfiguration

Verbinden und installieren

Hardwareverbindung

Netzwerkkonfiguration

SDK installieren

Camera SDK verwenden

Verzeichnisstruktur

Entwicklungsablauf

Projekt konfigurieren

Synchroner Aufrufablauf

Asynchroner Aufrufablauf

Anforderungen an Aufrufe

Parametertypen und zugehörige APIs

API-Voraussetzungen

Data types

5.1 LX_STATE

5.2 LX_DATA_TYPE

5.3 LX_BINNING_MODE

5.4 LX_STRUCT_LIGHT_CODE_MODE

5.5 LX_ALGORITHM_MODE

5.6 LX_CAMERA_WORK_MODE

5.7 LX_TRIGGER_MODE

5.8 LX_CAMERA_FEATURE

5.8.1 int type parameters

5.8.2 float type parameters

5.8.3 bool type parameter

5.8.4 string type parameters

5.8.5 Command type parameters

5.8.6 ptr type parameters

5.9 LxDeviceInfo

5.10 LxIntValueInfo

5.11 LxFloatValueInfo

5.12 LX_DEVICE_TYPE

5.13 LX_OPEN_MODE

5.14 FrameDataInfo

5.15 FrameInfo

API reference

6.1 Find, connect and close the camera

6.1.1 DcGetDeviceList

6.1.2 DcOpenDevice

6.1.3 DcCloseDevice

6.2 Start streaming and close streaming

6.2.1 DcStartStream

6.2.2 DcStopStream

6.3 Reading and setting camera parameters

6.3.1 DcSetIntValue

6.3.2 DcGetIntValue

6.3.3 DcSetFloatValue

6.3.4 DcGetFloatValue

6.3.5 DcSetBoolValue

6.3.6 DcGetBoolValue

6.3.7 DcSetStringValue

6.3.8 DcGetStringValue

6.3.9 DcGetPtrValue

6.3.10 DcSetCmd

6.4 Save point cloud

6.4.1 DcSaveXYZ

6.5 Special Controls

6.5.1 DcSpecialControl

6.6 Set ROI and parameter path

6.6.1 DcSetRoI

6.7 Set camera IP

6.7.1 DcSetCameraIp

6.8 Log information and version information

6.8.1 DcGetApiVersion

6.8.2 DcSetInfoOutput

6.8.3 DcLog

6.8.4 DcRegisterFrameCallback

6.8.5 DcUnregisterFrameCallback

6.9 Device status callback

6.9.1 DcRegisterCameraStatusCallback

6.9.2 DcUnregisterCameraStatusCallback

Versions and updates