X1 struct. More...

#include <RVC.h>

Classes
struct	CalculationCallBackInfo
	X1 CalculationCallBackInfo. More...

struct	CaptureOptions
	Capture options. More...

struct	CollectionCallBackInfo
	X1 CollectionCallBackInfo. More...

struct	CustomTransformOptions
	Options when setting custom transformation. More...

Public Types
typedef void(*	CollectionCallBackPtr) (X1::CollectionCallBackInfo, X1::CaptureOptions, UserPtr)
	X1 CallBackPtr.

typedef void(*	CalculationCallBackPtr) (X1::CalculationCallBackInfo, X1::CaptureOptions, UserPtr)

Public Member Functions
bool	IsValid ()
	Check X1 is valid or not before use X1. More...

bool	Open ()
	Open X1 before you use it. More...

void	Close ()
	Close X1 after you Open it. More...

bool	IsOpen ()
	Check X1 is open or not. More...

bool	IsPhysicallyConnected ()
	Check X1 is physically connected or not. More...

bool	OpenProtectiveCover ()
	Open ProtectiveCover. More...

bool	OpenProtectiveCoverAsync ()
	Open ProtectiveCover Async. More...

bool	CloseProtectiveCover ()
	Close ProtectiveCover. More...

bool	CloseProtectiveCoverAsync ()
	Close ProtectiveCover Async. More...

bool	ResetProtectiveCover ()
	Reset ProtectiveCover. More...

bool	GetProtectiveCoverStatus (ProtectiveCoverStatus &status)
	Get Status of ProtectiveCover. More...

bool	SetCollectionCallBack (X1::CollectionCallBackPtr cb, UserPtr ctx)
	Provide a callback to RVC system and it will be called when collection finished. More...

bool	SetCalculationCallBack (X1::CalculationCallBackPtr cb, UserPtr ctx)
	Provide a callback to RVC system and it will be called when calculation finished. More...

bool	Capture (const CaptureOptions &opts)
	Capture one point map and one image. This function will save capture options into camera. More...

bool	Capture ()
	Capture one point map and one image. This function will load capture options from camera. More...

bool	Capture2D (const CaptureOptions &opts)
	Capture one image. This function will save capture options into camera. You can use GetImage() to obtain 2D imgae. More...

bool	Capture2D ()
	Capture one image. This function will load capture options from camera. You can use GetImage() to obtain 2D imgae. More...

bool	SetBandwidth (float percent)
	Set the camera band width ratio. More...

bool	GetBandwidth (float &percent)
	Get the camera band width ratio. More...

bool	SetCustomTransformation (const CustomTransformOptions &opts)
	Set the Transformation of output point cloud. More...

bool	GetCustomTransformation (CustomTransformOptions &opts)
	Get the Custom Transformation object. More...

bool	SaveEncodedImagesData (const char *addr)
	Save encoded map in txt. More...

Image	GetImage ()
	Get the Image object. More...

DepthMap	GetDepthMap ()
	Get the DepthMap object. More...

PointMap	GetPointMap ()
	Get the Point Map object. More...

ConfidenceMap	GetConfidenceMap ()
	Get the Confidence Map object. More...

bool	GetExtrinsicMatrix (float *matrix)
	Get the extrinsic matrix (transformation from calibration board to specified camera) More...

bool	GetIntrinsicParameters (float instrinsic_matrix, float distortion)
	Get intrinsic and distortion parameters. More...

bool	GetProjectorTemperature (float &temperature)
	GetProjectorTemperature. More...

bool	GetCameraTemperature (CameraTempSelector seletor, float &temperature)
	GetCameraTemperature. More...

bool	SetBalanceRatio (BalanceSelector selector, float value)
	Set the white balance ratio value. More...

bool	GetBalanceRatio (BalanceSelector selector, float *value)
	Get the white balance ratio value. More...

bool	GetBalanceRange (BalanceSelector selector, float min_value, float max_value)
	Get the white balance ratio value range. More...

bool	AutoWhiteBalance (int wb_times=10, const CaptureOptions &opts=CaptureOptions(), const RVC::ROI &roi=RVC::ROI())
	Only Color Camera can use this function. This function can get suitable white balance paramters. More...

bool	GetExposureTimeRange (int min_value, int max_value)
	Get the Exposure Time Range. More...

bool	GetGainRange (float min_value, float max_value)
	Get the Gain Range. More...

bool	GetGammaRange (float min_value, float max_value)
	Get the Gamma Range. More...

bool	SaveCaptureOptionParameters (const X1::CaptureOptions &opts)
	Save capture option parameters. More...

bool	LoadCaptureOptionParameters (X1::CaptureOptions &opts)
	Get capture option parameters. More...

bool	GetAutoCaptureSetting (CaptureOptions &opts, const ROI &roi=ROI())
	Get auto capture setting. Exposure_time_2d, exposure_time_3d, projector_brightness, light_contrast_threshold will be adjusted automatically. automatically. More...

bool	GetAutoHdrCaptureSetting (CaptureOptions &opts, const ROI &roi)
	adjust 3D capturing parameters More...

bool	GetAutoNoiseRemovalSetting (CaptureOptions &opts)
	Automatically calculates and applies the optimal point cloud noise removal parameters. More...

bool	LoadSettingFromFile (const char *filename)
	Load camera setting from local file . More...

bool	SaveSettingToFile (const char *filename)
	Save camera setting to local file. More...

bool	CheckRoi (ROI roi)
	Check whether the parameters of ROI comply with the rules of Device. More...

ROI	AutoAdjustRoi (ROI roi=ROI())
	Automatically correct the parameters of ROI. You need to correct ROI before Capture/Captrue2D. More...

bool	GetRoiRange (ROIRange &range)
	Get the range of ROI.

bool	GetCameraResolution (Size &resolution)
	Get Camera Resolution. More...

bool	GetAuto2DExposureTime (CaptureOptions &opts, const ROI &roi=ROI())
	Get auto 2d exposure time automatically. More...

Mesh	GetMesh ()
	Get the Mesh object. More...

bool	SetCurrentUserSet (const int &id)
	Set Current User Set by id. The user can utilize a total of 10 parameters groups to quickly adjust camera settings for different 3d imaging scenarios. More...

bool	GetCurrentUserSet (int &id)
	Get Current User Set's id. More...

bool	SetUserSetName (const int &id, const char *name)
	Set User Set's name with id. The user can briefly describe the usage scenario of this parameters groups by using a name. More...

bool	GetUserSetName (const int &id, char *name)
	Get Current User Set's name with id. More...

Static Public Member Functions
static X1	Create (const Device &d, enum CameraID camid=CameraID_Left)
	Create a RVC X Camera and choose the CameraID which you desire before you use X1. More...

static void	Destroy (X1 &x)
	Release all X1 resources after you use X1. More...

Public Attributes
Handle	m_handle
	RVC Handle.

Detailed Description

X1 struct.

Member Function Documentation

◆ AutoAdjustRoi()

ROI RVC::X1::AutoAdjustRoi ( ROI roi = ROI() )

Automatically correct the parameters of ROI. You need to correct ROI before Capture/Captrue2D.

Parameters

roi	[in] If you want to get a maximum ROI, you can pass in the default value.

Returns: ROI Corrected ROI.

◆ AutoWhiteBalance()

bool RVC::X1::AutoWhiteBalance	(	int	wb_times = `10`,
		const CaptureOptions &	opts = `CaptureOptions()`,
		const RVC::ROI &	roi = `RVC::ROI()`
	)

Only Color Camera can use this function. This function can get suitable white balance paramters.

Parameters

wb_times	how many images used for calculate the white balance paramters
opts	capture options. exposure_time_2d, gain_2d, gamma_2d will be used. use_projector_capturing_2d_image == true, brightness will be used too.
roi	auto white balance will be operated here

Returns: true; false

◆ Capture() [1/2]

bool RVC::X1::Capture ( const CaptureOptions & opts )

Capture one point map and one image. This function will save capture options into camera.

Parameters

opts	CaptureOptions

Returns: true Success; false Failed

◆ Capture() [2/2]

bool RVC::X1::Capture ( )

Capture one point map and one image. This function will load capture options from camera.

Returns: true Success; false Failed

◆ Capture2D() [1/2]

bool RVC::X1::Capture2D ( const CaptureOptions & opts )

Capture one image. This function will save capture options into camera. You can use GetImage() to obtain 2D imgae.

Parameters

opts	CaptureOptions

Returns: true Success; false Failed

◆ Capture2D() [2/2]

bool RVC::X1::Capture2D ( )

Capture one image. This function will load capture options from camera. You can use GetImage() to obtain 2D imgae.

Returns: true Success; false Failed

◆ CheckRoi()

bool RVC::X1::CheckRoi ( ROI roi )

Check whether the parameters of ROI comply with the rules of Device.

Parameters

roi [in] .

Returns: true; false

◆ Close()

void RVC::X1::Close ( )

Close X1 after you Open it.

◆ CloseProtectiveCover()

bool RVC::X1::CloseProtectiveCover ( )

Close ProtectiveCover.

Returns: true if success; false if failed

◆ CloseProtectiveCoverAsync()

bool RVC::X1::CloseProtectiveCoverAsync ( )

Close ProtectiveCover Async.

Returns: true if success; false if failed

◆ Create()

static X1 RVC::X1::Create	(	const Device &	d,
		enum CameraID	camid = `CameraID_Left`
	)

static

Create a RVC X Camera and choose the CameraID which you desire before you use X1.

Parameters

d	One RVC X Camera
camid	Choose CameraID_Left or CameraID_Left

Returns: X1 RVC X object

◆ Destroy()

static void RVC::X1::Destroy ( X1 & x )

static

Release all X1 resources after you use X1.

Parameters

x	RVC X object to be released

◆ GetAuto2DExposureTime()

bool RVC::X1::GetAuto2DExposureTime	(	CaptureOptions &	opts,
		const ROI &	roi = `ROI()`
	)

Get auto 2d exposure time automatically.

Parameters

opts	[in]
roi	[in]

Returns: true; false

◆ GetAutoCaptureSetting()

bool RVC::X1::GetAutoCaptureSetting	(	CaptureOptions &	opts,
		const ROI &	roi = `ROI()`
	)

Get auto capture setting. Exposure_time_2d, exposure_time_3d, projector_brightness, light_contrast_threshold will be adjusted automatically. automatically.

Parameters

opts

Returns: CaptureOptions

◆ GetAutoHdrCaptureSetting()

bool RVC::X1::GetAutoHdrCaptureSetting	(	CaptureOptions &	opts,
		const ROI &	roi
	)

adjust 3D capturing parameters

Parameters

opts	[in,out] capture options. if hdr_exposure_times > 1, hdr_exposure_times and hdr_exposuretime_content will be adjusted. If hdr_exposure_times equals to 1, exposure_time_3d will be adjusted.
roi	[in] if width or height equal to 0, all image will be used.

Returns: true; false

◆ GetAutoNoiseRemovalSetting()

bool RVC::X1::GetAutoNoiseRemovalSetting ( CaptureOptions & opts )

Automatically calculates and applies the optimal point cloud noise removal parameters.

WARNING: This is a time-consuming operation as it triggers actual camera captures. This function evaluates the current scene to determine the best cluster-based noise removal settings and applies them to the current point cloud.

Parameters

[in,out]

opts

Capture options. Upon successful execution, the following parameters inside this struct will be modified and overwritten:

opts.noise_removal_distance
opts.noise_removal_point_number

Returns: true The automatic noise removal parameters were successfully calculated and applied.; false The operation failed (e.g., camera not ready or capture failed).

◆ GetBalanceRange()

bool RVC::X1::GetBalanceRange	(	BalanceSelector	selector,
		float *	min_value,
		float *	max_value
	)

Get the white balance ratio value range.

Parameters

selector	support BalanceSelector_Red, BalanceSelector_Green and BalanceSelector_Blue
min_value	selector's minimum value
max_value	selector's maximum value

Returns: true Success; false Failed

◆ GetBalanceRatio()

bool RVC::X1::GetBalanceRatio	(	BalanceSelector	selector,
		float *	value
	)

Get the white balance ratio value.

Parameters

selector	support BalanceSelector_Red, BalanceSelector_Green and BalanceSelector_Blue
value	balance ratio value

Returns: true Success; false Failed

◆ GetBandwidth()

bool RVC::X1::GetBandwidth ( float & percent )

Get the camera band width ratio.

Parameters

percent Band width ratio

Returns: true Success; false Failed

◆ GetCameraResolution()

bool RVC::X1::GetCameraResolution ( Size & resolution )

Get Camera Resolution.

Parameters

resolution

Returns: true; false

◆ GetCameraTemperature()

bool RVC::X1::GetCameraTemperature	(	CameraTempSelector	seletor,
		float &	temperature
	)

GetCameraTemperature.

Note: TODO:

Parameters

seletor
&temperature

Return values

◆ GetConfidenceMap()

ConfidenceMap RVC::X1::GetConfidenceMap ( )

Get the Confidence Map object.

Returns: ConfidenceMap

◆ GetCurrentUserSet()

bool RVC::X1::GetCurrentUserSet ( int & id )

Get Current User Set's id.

Parameters

id [out] 0~9

Returns: true; false

◆ GetCustomTransformation()

bool RVC::X1::GetCustomTransformation ( CustomTransformOptions & opts )

Get the Custom Transformation object.

Parameters

opts

Returns: true; false

◆ GetDepthMap()

DepthMap RVC::X1::GetDepthMap ( )

Get the DepthMap object.

Returns: DepthMap A DepthMap

◆ GetExposureTimeRange()

bool RVC::X1::GetExposureTimeRange	(	int *	min_value,
		int *	max_value
	)

Get the Exposure Time Range.

Parameters

min_value	exposure time minimum value
max_value	exposure time maxinum value

Returns: true Success; false Failed

◆ GetExtrinsicMatrix()

bool RVC::X1::GetExtrinsicMatrix ( float * matrix )

Get the extrinsic matrix (transformation from calibration board to specified camera)

Parameters

matrix [out] 4x4 transformation matrix stored as a 16-element array in row-major order. The matrix represents the transformation from the calibration board coordinate system to the specified camera coordinate system. Format: [R11, R12, R13, T1, R21, R22, R23, T2, R31, R32, R33, T3, 0, 0, 0, 1] Where R is the 3x3 rotation matrix and T is the 3x1 translation vector.

Returns: true Success; false Failed

◆ GetGainRange()

bool RVC::X1::GetGainRange	(	float *	min_value,
		float *	max_value
	)

Get the Gain Range.

Parameters

min_value	gain minimum value
max_value	gain minimum value

Returns: true Success; false Failed

◆ GetGammaRange()

bool RVC::X1::GetGammaRange	(	float *	min_value,
		float *	max_value
	)

Get the Gamma Range.

Parameters

min_value	gamma minimum value
max_value	gamma minimum value

Returns: true Success; false Failed

◆ GetImage()

Image RVC::X1::GetImage ( )

Get the Image object.

Returns: Image

◆ GetIntrinsicParameters()

bool RVC::X1::GetIntrinsicParameters	(	float *	instrinsic_matrix,
		float *	distortion
	)

Get intrinsic and distortion parameters.

Parameters

instrinsicMatrix	[out] Output intrinsic matrix. This is a 9-element array storing a 3x3 matrix in row-major order: [fx, 0, cx, 0, fy, cy, 0, 0, 1] fx, fy: Focal lengths in x and y directions (in pixels) cx, cy: Principal point coordinates (in pixels)
distortion	[out] Output distortion coefficients. This is a 5-element array containing: [k1, k2, k3, p1, p2] k1, k2, k3: Radial distortion coefficients p1, p2: Tangential distortion coefficients Note: This order is different from OpenCV's default order (k1,k2,p1,p2,k3).

Returns: true if successful; false if failed

◆ GetMesh()

Mesh RVC::X1::GetMesh ( )

Get the Mesh object.

Returns: Mesh A Mesh

◆ GetPointMap()

PointMap RVC::X1::GetPointMap ( )

Get the Point Map object.

Returns: PointMap

◆ GetProjectorTemperature()

bool RVC::X1::GetProjectorTemperature ( float & temperature )

GetProjectorTemperature.

Parameters

&temperature

Returns: true Success; false Failed

◆ GetProtectiveCoverStatus()

bool RVC::X1::GetProtectiveCoverStatus ( ProtectiveCoverStatus & status )

Get Status of ProtectiveCover.

Returns: ProtectiveCoverStatus

◆ GetUserSetName()

bool RVC::X1::GetUserSetName	(	const int &	id,
		char *	name
	)

Get Current User Set's name with id.

Parameters

id	[in]
name	[out]

Returns: true; false

◆ IsOpen()

bool RVC::X1::IsOpen ( )

Check X1 is open or not.

Returns: true Is open; false Not open

◆ IsPhysicallyConnected()

bool RVC::X1::IsPhysicallyConnected ( )

Check X1 is physically connected or not.

Returns: true Is physically connected; false Not physically connected

◆ IsValid()

bool RVC::X1::IsValid ( )

Check X1 is valid or not before use X1.

Returns: true Available; false Not available

◆ LoadCaptureOptionParameters()

bool RVC::X1::LoadCaptureOptionParameters ( X1::CaptureOptions & opts )

Get capture option parameters.

Parameters

opts	CaptureOptions

Returns: true Success; false Failed

◆ LoadSettingFromFile()

bool RVC::X1::LoadSettingFromFile ( const char * filename )

Load camera setting from local file .

Parameters

filename [in]

Returns: true the content of file is correctly .; false the content of file is not correctly .

◆ Open()

bool RVC::X1::Open ( )

Open X1 before you use it.

Returns: true Success; false Failed

◆ OpenProtectiveCover()

bool RVC::X1::OpenProtectiveCover ( )

Open ProtectiveCover.

Returns: true if success; false if failed

◆ OpenProtectiveCoverAsync()

bool RVC::X1::OpenProtectiveCoverAsync ( )

Open ProtectiveCover Async.

Returns: true if success; false if failed

◆ ResetProtectiveCover()

bool RVC::X1::ResetProtectiveCover ( )

Reset ProtectiveCover.

Returns: true if success; false if failed

◆ SaveCaptureOptionParameters()

bool RVC::X1::SaveCaptureOptionParameters ( const X1::CaptureOptions & opts )

Save capture option parameters.

Parameters

opts	CaptureOptions

Returns: true Success; false Failed

◆ SaveEncodedImagesData()

bool RVC::X1::SaveEncodedImagesData ( const char * addr )

Save encoded map in txt.

Parameters

addr	save encoded images address

Returns: int num

◆ SaveSettingToFile()

bool RVC::X1::SaveSettingToFile ( const char * filename )

Save camera setting to local file.

Parameters

filename [in]

Returns: true Successfully written to the file.; false Failed write to file.

◆ SetBalanceRatio()

bool RVC::X1::SetBalanceRatio	(	BalanceSelector	selector,
		float	value
	)

Set the white balance ratio value.

Parameters

selector	support BalanceSelector_Red, BalanceSelector_Green and BalanceSelector_Blue
value	balance ratio value

Returns: true Success; false Failed

◆ SetBandwidth()

bool RVC::X1::SetBandwidth ( float percent )

Set the camera band width ratio.

Parameters

percent Band width ratio

Returns: true Success; false Failed

◆ SetCalculationCallBack()

bool RVC::X1::SetCalculationCallBack	(	X1::CalculationCallBackPtr	cb,
		UserPtr	ctx
	)

Provide a callback to RVC system and it will be called when calculation finished.

Parameters

cb	The callback
ctx	The user-pointer

Returns: true when succeed to set; false when failed to set

◆ SetCollectionCallBack()

bool RVC::X1::SetCollectionCallBack	(	X1::CollectionCallBackPtr	cb,
		UserPtr	ctx
	)

Provide a callback to RVC system and it will be called when collection finished.

Parameters

cb	The callback
ctx	The user-pointer

Returns: true when succeed to set; false when failed to set

◆ SetCurrentUserSet()

bool RVC::X1::SetCurrentUserSet ( const int & id )

Set Current User Set by id. The user can utilize a total of 10 parameters groups to quickly adjust camera settings for different 3d imaging scenarios.

Parameters

id [in] 0~9

Returns: true; false

◆ SetCustomTransformation()

bool RVC::X1::SetCustomTransformation ( const CustomTransformOptions & opts )

Set the Transformation of output point cloud.

Parameters

opts	Custom Transform Options

Returns: true; false

◆ SetUserSetName()

bool RVC::X1::SetUserSetName	(	const int &	id,
		const char *	name
	)

Set User Set's name with id. The user can briefly describe the usage scenario of this parameters groups by using a name.

Parameters

id	[in]
name	[in]

Returns: true; false

The documentation for this struct was generated from the following file:

RVC.h

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

◆ AutoAdjustRoi()

◆ AutoWhiteBalance()

◆ Capture() [1/2]

◆ Capture() [2/2]

◆ Capture2D() [1/2]

◆ Capture2D() [2/2]

◆ CheckRoi()

◆ Close()

◆ CloseProtectiveCover()

◆ CloseProtectiveCoverAsync()

◆ Create()

◆ Destroy()

◆ GetAuto2DExposureTime()

◆ GetAutoCaptureSetting()

◆ GetAutoHdrCaptureSetting()

◆ GetAutoNoiseRemovalSetting()

◆ GetBalanceRange()

◆ GetBalanceRatio()

◆ GetBandwidth()

◆ GetCameraResolution()

◆ GetCameraTemperature()

◆ GetConfidenceMap()

◆ GetCurrentUserSet()

◆ GetCustomTransformation()

◆ GetDepthMap()

◆ GetExposureTimeRange()

◆ GetExtrinsicMatrix()

◆ GetGainRange()

◆ GetGammaRange()

◆ GetImage()

◆ GetIntrinsicParameters()

◆ GetMesh()

◆ GetPointMap()

◆ GetProjectorTemperature()

◆ GetProtectiveCoverStatus()

◆ GetUserSetName()

◆ IsOpen()

◆ IsPhysicallyConnected()

◆ IsValid()

◆ LoadCaptureOptionParameters()

◆ LoadSettingFromFile()

◆ Open()

◆ OpenProtectiveCover()

◆ OpenProtectiveCoverAsync()

◆ ResetProtectiveCover()

◆ SaveCaptureOptionParameters()

◆ SaveEncodedImagesData()

◆ SaveSettingToFile()

◆ SetBalanceRatio()

◆ SetBandwidth()

◆ SetCalculationCallBack()

◆ SetCollectionCallBack()

◆ SetCurrentUserSet()

◆ SetCustomTransformation()

◆ SetUserSetName()