RVC quick start

Table of Contents

• Start your first program
• System initialize
• List devices
• Create X1 object
• X1 Capture
• Destroy X1 object
• Shutdown RVC system

Start your first program

This is a simple example to help you started with RVC 3D camera.

// Include files to use the RVC API.
#include <RVC/RVC.h>

// Namespace for using RVC object.
using namespace RVC;

int main(int argc, char *argv[]) {
    // Before using any RVC methods, the RVC system must be initialized.
    RVC::SystemInit();

    // The parameter d_num is the maximum number of avaliable Device which user desire to list.
    const int d_num = 10;

    // Create Device array.
    RVC::Device devices[10];

    // The parameter actual_size can be used to record the actual avaliable Devices number.
    size_t actual_size = 0;

    // List avaliable GigE Devices.
    SystemListDevices(devices, d_num, &actual_size, RVC::SystemListDeviceType::GigE);

    // Check the number of Devices actually searched. If no device is found, terminate the program.
    if (actual_size == 0) {
        return -1;
    }

    // Create X1 object which choose the first Device and the right camera.
    RVC::X1 x1 = RVC::X1::Create(devices[0], RVC::CameraID_Right);

    // Open X1.
    x1.Open();

    // If X1 is not open, Destroy X1 and shutdown the system.
    if (!x1.IsOpen()) {
        RVC::X1::Destroy(x1);
        RVC::SystemShutdown();
        return 1;
    }

    // Capture with default capture setting to get 3D point map and 2D image.
    bool cap_state = x1.Capture();

    // If Capture success, get the data.
    if (cap_state) {
        // Get 3D point map.
        RVC::PointMap pm = x1.GetPointMap();

        // Get 2D image.
        RVC::Image img = x1.GetImage();
    }

    // Close X1.
    x1.Close();

    // Destroy X1.
    RVC::X1::Destroy(x1);

    // Releases all RVC resources.
    RVC::SystemShutdown();

    return 0;
}

It contains five part, which are described as bellow.

System initialize

Initialize the RVC system

// Before using any RVC methods, the RVC system must be initialized.
RVC::SystemInit();

List devices

Find device of given SystemListDeviceType

// The parameter d_num is the maximum number of avaliable Device which user desire to list.
const int d_num = 10;

// Create Device array.
RVC::Device devices[10];

// The parameter actual_size can be used to record the actual avaliable Devices number.
size_t actual_size = 0;

// List avaliable GigE Devices.
SystemListDevices(devices, d_num, &actual_size, RVC::SystemListDeviceType::GigE);

Check the number of cameras actually searched. If no device is found, terminate the program.

// Check the number of Devices actually searched. If no device is found, terminate the program.
if (actual_size == 0) {
    return -1;
}

Create X1 object

Select one device from the avaliable devices and select CameraID_Left or CameraID_Right camera to create X1 object.

// Create X1 object which choose the first Device and the right camera.
RVC::X1 x1 = RVC::X1::Create(devices[0], RVC::CameraID_Right);

Open X1 and check whether it has been opened.

// Open X1.
x1.Open();

// If X1 is not open, Destroy X1 and shutdown the system.
if (!x1.IsOpen()) {
    RVC::X1::Destroy(x1);
    RVC::SystemShutdown();
    return 1;
}

X1 Capture

Capture with default setting to get 3D point map and 2D image

// Capture with default capture setting to get 3D point map and 2D image.
bool cap_state = x1.Capture();

Get 3D point map and 2D image data

// If Capture success, get the data.
if (cap_state) {

    // Get 3D point map.
    RVC::PointMap pm = x1.GetPointMap();

    // Get 2D image.
    RVC::Image img = x1.GetImage();
}

Destroy X1 object

Close X1 and destroy this object.

// Close X1.
x1.Close();

// Destroy X1.
RVC::X1::Destroy(x1);

Shutdown RVC system

Shutdown the RVC system

// Releases all RVC resources.
RVC::SystemShutdown();