Get Started with Camera
Unbox
Connect Cables
Use Image Viewer Software
Set IP Address
Configure Host Computer Network
Camera Factory IP Configuration
Set Camera IP Address
Capture Images
SDK User Guide
SDK Overview
Vcamera SDK User Guide
Download & Install & Uninstall Vcamera SDK
Windows
Download the SDK
Install the SDK
Directory Structure
Run Precompiled Demos
Uninstall the SDK
Linux
Download the SDK
Install the SDK
Directory Structure
Run Precompiled Demos
Compile Sample Programs
C++ (Windows)
Sample Program Overview
Install Dependencies
Compile Sample Programs
Execution
Python (Windows)
Sample Program Overview
Install Dependencies
Compile Sample Programs
Execution
C# (Windows)
Sample Program Overview
Install Dependencies
Compile Sample Programs
Execution
C++ (Linux)
Sample Program Overview
Compilation and Execution
API Descriptions (C++)
GetVersionString()
CameraUtils Class
Init()
DiscoverCameras()
SetIpAddress()
SetIpToDynamic()
CameraFactor Class
GetCameraBySerialNumber()
GetCameraByIpAddress()
GetCameraByCameraInfo()
Camera Class
GetCameraInfo()
Connect()
Disconnect()
GetCameraState()
StartCapture()
StopCapture()
GetFeature()
GetAllFeatures()
FireSoftwareTrigger()
GetImageModes()
GetCurrentImageMode()
SetImageMode()
HasSensor()
IsSensorEnabled()
SetSensorEnabled()
SetUndistortionEnabled()
IsMapDepthToColorEnabled()
SetMapDepthToColorEnabled()
RegisterFrameSetCallback()
RegisterCameraEventCallback()
UserSetManager Class
GetAllUserSets()
SaveToUserSet()
SaveToUserSetWithNewName()
LoadUserSet()
CurrentUserSet()
GetPowerOnUserSet()
SetPowerOnUserSet()
CameraApiStatusCode
Set/Read Camera Features
isValid()
GetName()
GetAccessMode()
GetType()
Int64 Features
Get Feature Value
Check Feature Type
Get Feature Range
Set Feature Value
Complete Code Example
Boolean Features
Get Feature Value
Check Feature Type
Set Feature Value
Complete Code Example
Float64 Features
Get Feature Value
Check Feature Type
Get Feature Range
Set Feature Value
Complete Code Example
Enumeration Features
Get Feature Value
Check Feature Type
Get Enum List
Set Feature Value
Complete Code Example
API Descriptions (Python)
GetVersionString()
CameraUtils Class
Init()
DiscoverCameras()
SetIpAddress()
SetIpToDynamic()
CameraFactory Class
GetCameraBySerialNumber()
GetCameraByIpAddress()
GetCameraByCameraInfo()
Camera Class
GetCameraInfo()
Connect()
Disconnect()
GetCameraState()
StartCapture()
StopCapture()
GetFeature()
GetAllFeatures()
FireSoftwareTrigger()
GetImageModes()
GetCurrentImageMode()
SetImageMode()
HasSensor()
IsSensorEnabled()
SetSensorEnabled()
SetUndistortionEnabled()
IsMapDepthToColorEnabled()
SetMapDepthToColorEnabled()
RegisterFrameSetCallback()
RegisterFeaturesChangedCallback()
RegisterCameraEventCallback()
UserSetManager Class
GetAllUserSets()
SaveToUserset()
SaveToUsersetWithNewName()
LoadUserset()
CurrentUserset()
GetPowerOnUserset()
SetPowerOnUserset()
CameraApiStatusCode
Camera Feature Class
Basic Information Methods
IsValid()
GetName()
GetAccessMode()
GetType()
Value Operation Methods
GetValue()
SetValue()
Range Query Methods
GetIntRange()
GetFloatRange()
Enumeration Item Methods
GetEnumItems()
API Descriptions (C#)
GetVersionString()
CameraUtils Class
Init()
DiscoverCameras()
SetIpAddress()
SetDeviceDhcp()
CameraCapture Class
GetCameraBySerialNumber()
GetCameraByIpAddress()
GetCameraByDeviceInfo()
Camera Class
GetCameraInfo()
Connect()
Disconnect()
Retrieve Camera State
StartCapture()
StopCapture()
GetFeature()
GetAllFeatures()
FireSoftwareTrigger()
GetImageModes()
GetCurrentImageMode()
SetImageMode()
HasSensor()
IsSensorEnabled()
SetSensorEnabled()
SetUndistortionEnabled()
IsMapDepthToColorEnabled()
SetMapDepthToColorEnabled()
RegisterFrameSetCallback()
RegisterCameraEventCallback()
RegisterFeaturesChangedCallback()
UserSetManager Class
GetAllUserSets()
SaveToUserSet()
SaveToUserSetWithNewName()
LoadUserSet()
CurrentUserSet()
GetPowerOnUserSet()
SetPowerOnUserSet()
CameraApiStatusCode
Camera Feature Class
Basic Information Methods
IsValid()
FullName
Get Feature Type
GetAccessMode()
Value Operation Methods
GetValue()
SetValue()
Range Query Methods
Get Range For Int Feature
Get Range For Float Feature
Enumeration Item Methods
GetEnumItems()
Camport4 SDK User Guide
SDK Download and Compilation
C++ (Linux Platform)
Download Camport4 SDK
Install Dependencies
Install Cmake
Install OpenCV (Optional)
Install USB Driver (Optional)
Set USB Camera Access Permissions (Optional)
Compile Sample Programs
Run Sample Executables
C++ (Windows Platform)
Download Camport4 SDK
Install Dependencies
Install CMake
Install Visual Studio
Install OpenCV (Optional)
Install USB Driver (Optional)
Compile Sample Programs
Run Sample Executables
Identify Gige_2_1 and Gige_2_0 Camera
Descriptions
How to Identify
Sample Program Descriptions
API Descriptions
APIs Table
TYInitLib()
TYLibVersion()
TYUpdateInterfaceList()
TYGetInterfaceNumber()
TYGetInterfaceList()
TYOpenInterface()
TYUpdateDeviceList()
TYGetDeviceNumber()
TYGetDeviceList()
TYOpenDevice()
TYGetFrameBufferSize()
TYEnqueueBuffer()
TYStartCapture()
TYFetchFrame()
Image Parsing
TYStopCapture()
TYClearBufferQueue()
TYCloseDevice()
TYCloseInterface()
TYDeinitLib()
TYEnableLog()
TYDisableLog()
TYSetLogLevel()
TYSetLogPrefix()
TYCfgLogFile()
TYCfgLogServer()
TYParamExist()
TYParamGetToolTip()
TYParamGetDescriptor()
TYParamGetDisplayName()
TYParamGetType()
TYParamGetAccess()
TYParamGetVisibility()
TYFloatGetUnit
TYIntegerGetUnit
Feature Operation APIs (for Gige_2.1 Cameras)
TYHasFeature
TYGetFeatureInfo
Feature Operation APIs (for Gige_2.0 Cameras)
TYUndistortImage2()
Feature Descriptions (Gige_2_1 Camera)
Device Control Features
DeviceFirmwareVersion
DeviceHardwareVersion
DeviceVersion
DeviceBuildHash
DeviceConfigVersion
DeviceTechModel
DeviceSerialNumber
DeviceVendorName
DeviceManufacturerInfo
DeviceModelName
DeviceGeneratedTime
DeviceCalibrationTime
DeviceLinkSpeed
DeviceTimeSyncMode
NTPServerIP
DeviceTemperatureSelector
DeviceLinkHeartbeatMode
DeviceFrameRecvTimeOut
DeviceReset
DeviceDataCompressType
Acquisition Control Features
AcquisitionMode
TriggerSource
Set Acquisition Mode to Continuous
Set Acquisition Mode to Software Trigger Mode
Set Acquisition Mode to Hardware Trigger Mode
TriggerDelay
AcquisitionFrameRate
TriggerDurationUs
Transport Layer Control Features
DeviceStreamChannelPacketSize
GevSCPD
Get Current IP / Netmask / Gateway
Set camera IP/Netmask/Gateway
GevMACAddress
CmosSync
DeviceStreamAsyncMode
Light Control Features
LightControllerSelector
Enable Laser and Adjust Brightness
LaserWorkMode
Enable Floodlight and Adjust Brightness
Source Control Features
SourceSelector
PixelFormat
BinningHorizontal
SGBM Features
DepthScaleUnit
DepthRangeMin/Max
ExposureAuto
AutoFunctionAOIOffsetX/OffsetY/Width/Height
ExposureAutoUpperLimit/LowerLimit
BalanceWhiteAuto
ExposureTargetBrightness
ExposureTime
AnalogAll
DigitalRed/Green/Blue
IRUndistortion
User Set Control Features
Read Current User Set
Load User Set
Get / Set User Set Description
Save User Set
Set Default User Set
FileAccess Control Features
Read/Write/Delete File Flowchart
FileSelector
FileOpenMode
FileOperationSelector
FileOperationExecute
FileOperationStatus
FileSize
FileAccessOffset
FileAccessLength
FileAccessBuffer
FileOperationResult
Camera Calibration Features
Get Sensor Width / Height
Get Intrinsic Matrix
Get Rectified Intrinsic Matrix
Get Extrinsic Matrix
Get Rotation Matrix
Get Distortion Matrix
Feature Descriptions (Gige_2_0 Camera)
Features Under the Device Component
TY_TRIGGER_PARAM_EX
TY_INT_FRAME_PER_TRIGGER
TY_INT_PACKET_DELAY
TY_INT_PACKET_SIZE
TY_BOOL_GVSP_RESEND
TY_BOOL_TRIGGER_OUT_IO
TY_BOOL_KEEP_ALIVE_ONOFF
TY_INT_KEEP_ALIVE_TIMEOUT
TY_INT_TRIGGER_DELAY_US
TY_INT_TRIGGER_DURATION_US
TY_ENUM_STREAM_ASYNC
TY_INT_CAPTURE_TIME_US
TY_ENUM_TIME_SYNC_TYPE
TY_BOOL_TIME_SYNC_READY
TY_BOOL_CMOS_SYNC
TY_INT_ACCEPTABLE_PERCENT
TY_STRUCT_CAM_STATISTICS
TY_ENUM_TEMPERATURE_ID
IP Configuration
Features Under the Laser Component
TY_BOOL_LASER_AUTO_CTRL
TY_INT_LASER_POWER
TY_BOOL_IR_FLASHLIGHT
TY_BOOL_RGB_FLASHLIGHT
TY_INT_IR_FLASHLIGHT_INTENSITY
TY_INT_RGB_FLASHLIGHT_INTENSITY
Features Under the Depth Component
TY_FLOAT_SCALE_UNIT
TY_INT_SGBM_IMAGE_NUM
TY_INT_SGBM_DISPARITY_NUM
TY_INT_SGBM_DISPARITY_OFFSET
TY_INT_SGBM_MATCH_WIN_HEIGHT
TY_INT_SGBM_MATCH_WIN_WIDTH
TY_INT_SGBM_SEMI_PARAM_P1
TY_INT_SGBM_SEMI_PARAM_P1_SCALE
TY_INT_SGBM_SEMI_PARAM_P2
TY_INT_SGBM_UNIQUE_FACTOR
TY_INT_SGBM_UNIQUE_ABSDIFF
TY_BOOL_SGBM_HFILTER_HALF_WIN
TY_BOOL_SGBM_MEDFILTER
TY_INT_SGBM_MEDFILTER_THRESH
TY_BOOL_SGBM_LRC
TY_INT_SGBM_LRC_DIFF
TY_ENUM_DEPTH_QUALITY
TY_INT_TOF_MODULATION_THRESHOLD
TY_INT_TOF_JITTER_THRESHOLD
TY_INT_FILTER_THRESHOLD
TY_INT_TOF_CHANNEL
TY_INT_TOF_HDR_RATIO
TY_INT_TOF_ANTI_SUNLIGHT_INDEX
TY_INT_MAX_SPECKLE_DIFF
TY_INT_MAX_SPECKLE_SIZE
TY_BOOL_TOF_ANTI_INTERFERENCE
TY_ENUM_CONFIG_MODE
TY_INT_SGBM_TEXTURE_THRESH
TY_INT_SGBM_TEXTURE_OFFSET
TY_INT_DEPTH_MIN_MM
TY_INT_DEPTH_MAX_MM
Features Under the RGB Component
TY_INT_ANALOG_GAIN
TY_INT_R_GAIN
TY_INT_G_GAIN
TY_INT_B_GAIN
TY_INT_EXPOSURE_TIME
TY_FLOAT_EXPOSURE_TIME_US
TY_INT_AE_TARGET_Y
TY_STRUCT_AEC_ROI
TY_BOOL_AUTO_EXPOSURE
TY_BOOL_AUTO_AWB
AUTO_ISP
Features Under the IR Component
TY_INT_EXPOSURE_TIME
TY_FLOAT_EXPOSURE_TIME_US
TY_INT_ANALOG_GAIN
TY_INT_GAIN
TY_BOOL_UNDISTORTION
TY_BOOL_HDR
TY_BYTEARRAY_HDR_PARAMETER
TY_STRUCT_CAM_RECTIFIED_ROTATION
Features Under the Storage Component
TY_BYTEARRAY_CUSTOM_BLOCK
TY_BYTEARRAY_ISP_BLOCK
Camport4 SDK Release Notes
4.0.21
4.1.1
4.1.14
4.1.18
Camport3 SDK (Legacy)
SDK Download and Compilation
C++ (Linux Platform)
Download Camport3 SDK
Install USB Driver
Install Dependencies
Set USB Camera Access Permissions
Compile Sample Programs
Run Sample Programs
C++ (Windows Platform)
Download Camport3 SDK
Install USB Driver
Install Dependencies
Compile Sample Programs
Run Sample Programs
Python (Linux Platform)
Download Camport Multi_language SDK
Install Dependencies
Compile Sample Programs
Python (Windows Platform)
Download Camport Multi_language SDK
Install Dependencies
Compile Sample Programs
C# (Windows Platform)
Download SDK
Install Dependencies
Compile Sample Programs
Cross-Compilation Development Environment for Host Computer and Camera
Compile Sample Programs
Compile User Programs
Compile Programs using Opencv
Install Programs and Library Files
Set Program to Start up on Boot
Configure Network
Basic Concepts
Components
Features
Image Acquisition Process
Initialize APIs
Open Device
Configure Components
Manage Frame Buffers
Register Callback Function
Set Work Mode
Start Image Capture
Fetch Frame Data
Stop Capture
Close Device
Release API
API Descriptions (C++)
Library Loading and Unloading
Interface Control
Device Control
Component Control
Framebuffer Management
Time Synchronization Settings
Log Management and Log Output
Work Mode Settings
Start-Stop Management
Software Trigger
Report Status
Data Reception
Feature Settings
Feature Descriptions
Component Optical Parameters
Network-Related Features
Trigger Settings
Link Monitoring
Exposure Settings
Auto-Exposure ROI
Image Acquisition Time
Image Synchronization
Asynchronous Data Stream
Image Format Settings and Processing
Laser Settings
Floodlight Settings
Preset Mode Settings
Temperature Sensor Data Reading
SGBM Features
ToF Camera Features
Depth Quality
Outlier Filtering Threshold
ToF Channel
ToF Modulation Threshold
ToF Jitter Threshold
HDR Ratio (High Dynamic Range Ratio)
ToF Anti-Sunlight Index
Speckle Filter
ToF Anti-Interference
Depth Effective Range
Coordinate Transformation
Image Processing
API Descriptions (Python)
ListDevice
Open
OpenDeviceByIP
Close
DeviceStreamEnable
DeviceStreamFormatDump
DeviceStreamFormatConfig
DeviceReadCurrentEnumData
DeviceReadCalibData
DeviceStreamOn
DeviceStreamOff
DeviceStreamRead
DeviceStreamDepthRender
DeviceStreamImageDecode
DeviceStreamIRRender
DeviceControlLaserPowerAutoControlEnable
DeviceControlLaserPowerConfig
DeviceColorStreamIspEnable
DeviceStreamMapDepthImageToColorCoordinate
DeviceStreamMapRGBImageToDepthCoordinate
DeviceStreamDoUndistortion
DeviceControlTriggerModeEnable
DeviceControlTriggerModeSendTriggerSignal
DeviceStreamMapDepthImageToPoint3D
DevParamFrom
DeviceSetParameter/DeviceGetParameter
get_netinfo
DeviceWriteDefaultParametersFromJSFile
DeviceLoadDefaultParameters
DeviceClearDefaultParameters
DeviceHasStream
DeviceReadRectifiedRotationData
DeviceReadRectifiedIntrData
DeviceControlReadTemperature
API Descriptions (C#)
ListDevice
Open
OpenDeviceByIP
Close
DeviceStreamEnable
DeviceStreamFormatDump
DeviceStreamFormatConfig
DeviceReadCurrentEnumData
DeviceReadCalibData
DeviceStreamOn
DeviceStreamOff
DeviceStreamRead
DeviceStreamDepthRender
DeviceStreamImageDecode
DeviceStreamIRRender
DeviceControlLaserPowerAutoControlEnable
DeviceControlLaserPowerConfig
DeviceColorStreamIspEnable
DeviceStreamMapDepthImageToColorCoordinate
DeviceStreamMapRGBImageToDepthCoordinate
DeviceStreamDoUndistortion
DeviceControlTriggerModeEnable
DeviceControlTriggerModeSendTriggerSignal
DeviceStreamMapDepthImageToPoint3D
DevParamFrom
DeviceSetParameter/DeviceGetParameter
get_netinfo
DeviceWriteDefaultParametersFromJSFile
DeviceLoadDefaultParameters
DeviceClearDefaultParameters
DeviceHasStream
DeviceReadRectifiedRotationData
DeviceReadRectifiedIntrData
DeviceControlReadTemperature
SDK Application Reference
Sample Program Descriptions
Application Example: Set Camera IP
Commands
Use Cases
Error Codes
error: -1001
error: -1005
error: -1014
Phenomenon 1
Possible causes and solutions
Phenomenon 2
Possible causes and solutions
error: -1016
error: -1024
ROS/Halcon/VisionPro SDK User Guide
ROS 1 Platform
Setting Up the ROS 1 Development Environment
Download Camport ROS 1 SDK
Compilation
Configure Environment Variables
Modify Camera Parameters
Launch Camera Node
Subscribe to Topics
Available Topics
Preview Images
Monitor Camera Events
Dynamically Modify Camera Parameters
Camera Software Reset
Send Software Trigger Signal
Auxiliary Tools Description
list_devices Enumerate Cameras
network_ip_config Set Camera IP Address
Multiple Camera Configuration and Startup
Frequently Asked Questions
ROS 2 Platform
Setting Up the ROS 2 Development Environment
Download Camport ROS 2 SDK
Compilation
Configure Environment Variables
Modify Parameter Configuration
Start Camera Node
Subscribe to Topics
Available Topics
Preview Images
Camera Software Reset
Monitor Camera Events
Dynamically Modify Camera Parameters
Send Camera Software Trigger
Auxiliary Tools Description
list_devices Enumerate Cameras
network_ip_config Set Camera IP Address
Frequently Asked Questions
Halcon Platform
Download and Install Halcon
Download Halcon SDK
Configure Environment Variables
View Camera Features
Run the Sample Program
VisionPro Platform
Download and Install VisionPro
Download camport3_visionpro SDK
Configure Environment
Run
Image Viewer Software User Guide
Download, Install, and Uninstall
Download Link
Install & Uninstall
Operation Guide
Set Camera IP
Connect/Disconnect Camera
Set Capture Mode and Start Capture
View Data
Switch View
View Depth Value
Adjust Depth Map Rendering Effect
Switch Rendering Color Scheme
Adjust Rendering Range
Adjust Point Cloud View
Save Data
Manage Parameter Set
View Current Parameter Set
Save Parameter Set to Camera
Save Parameter Set to Local
Load Parameter Set from Camera
Load Parameter Set from Local
Set Startup Parameter Set
User Interface Introduction
Camera List Page
Help Menu
Camera List Area
Camera Information Area
Camera Page
Camera Parameter Configuration Area
Image Acquisition Area
Parameter Descriptions
Operation Mode
Basic
Advanced
General
Depth
Texture
Left/Right
Light Source
DeviceTemperature
Post Processing
FAQ
The software installation process is interrupted, and the installation wizard is stuck at the
Preparing to Install
page?
The software installation/operation is interrupted, and the installation wizard displays “An error occurred while trying to replace the existing file: DeleteFile failed; code 5”?
Percipio Viewer (Legacy) User Guide
Operation Guides
Launch Software
Set Camera IP
Run the camera
Capture and View Data
Capture Images
View Images and Adjust Views
Adjust Parameters
Notes on Parameter Adjustment
Select the API Level
Manage Parameter Configuration
Save Parameter Configuration
Load Parameter Configuration
Copy Parameter Configuration
Clear Camera Storage Parameter Configuration
Automatically Load Storage Parameter Configuration
Save Data
Save a Single Image
Continuously Save Images
Record Videos
User Interface Introduction
Menu Bar
Preferences Button
Control Panel
Image Display Area
Log display area
Parameter Descriptions
Device
TriggerMode
Light Source
Auto Ctrl/Power (Laser Auto Control/Intensity Setting)
Flashlight (Floodlight)
Depth Stream
Controls
SGBM Parameters
ToF Related Parameters
Depth Quality
ToF Channel
ToF Modulation Threshold
ToF Jitter Threshold
Filter Threshold
HDR Ratio (High Dynamic Range Ratio)
ToF Anti-Sunlight Index
Max Speckle Size/Diff
ToF Anti-Interference
Depth Visualization
Color Scheme
Analytical/Optimize
Analytical Type
Fill Hole
Remove Outlier
Time Domain Filtering
Median Filtering
Color Stream
Controls
Analog Gain
R/G/B Gain
Exposure Time
AETargetLuminance
RgbAutoExpo
Struct Aec roi
RgbAWB
Post-Processing
Auto ISP
Undistort EN
Left/Right IR Stream
undistort
Gain/Analog Gain
Exposure Time
HDR (High Dynamic Range)
FAQ
What operating systems does Percipio Viewer support?
Unable to save the file to the C drive, what should I do?
Unable to open Percipio Viewer and error 10006 occurs, what should I do?
Unable to run Percipio Viewer on Linux, what should I do?
Camera and Accessories
Hardware Connections
Camera Power Supply Methods
Network Connection Methods
Network Connection Method 1
Hardware Trigger Connection Methods
Trigger Principle
Requirements of the Trigger Signal Input
Wiring References for Trigger Input
Connection References for Trigger Output
Wiring Reference for Camera Cascade
Adapter Cable Specifications
M12 A-Code Trigger & Power Cable
Compatible Camera Models
Cable Specifications
Wiring Reference
Mechanical Dimensions
M12 A-Code Trigger & Power Cable with AC 220V Power Plug
Compatible Camera Models
Cable Specifications
Wiring Reference
Mechanical Dimensions
M12 A-Code Static Ethernet Cable
Compatible Camera Models
Cable Specifications
Wiring Reference
Mechanical Dimensions
M12 X-Code Ethernet Cable
High-Flex Drag Chain Ethernet Cable
Compatible Camera Models
Cable Specifications
Wiring Reference
Mechanical Dimensions
Static High-Flex Ethernet Cable
Compatible Camera Models
Cable Specifications
Wiring Reference
Mechanical Dimensions
Work Mode Introductions
Camera Specifications
Active Stereo: Structured Light with Stripe Patterns
Active Stereo: Structured Light with Speckle Patterns
ToF (Time of Flight)
Discontinued Products
Glossary and Definitions
Camera Types
Camera Components
Camera Basics
Camera Performance Metrics
Image Basics
Image Processing
Software Components
Reliability
Technical Support
Troubleshooting
What to do if the USB camera cannot be listed?
Questions
Causes and Solutions
What to do if the network camera cannot be listed?
Questions
Causes and Solutions
What to do if the USB camera cannot be opened?
Questions
Causes and Solutions
What to do if the depth camera cannot be opened?
Questions
Causes and Solutions
What to do if the camera does not capture images in hardware trigger mode?
Questions
Causes and solutions
What to do when the camera frame rate is abnormal during continuous hardware triggering?
Questions
The camera’s frame rate of image acquisition is lower than the frequency of the trigger signal input
The camera’s frame rate of image acquisition is higher than the frequency of the trigger signal input
What to do if the frame rate of a network camera is abnormal?
Questions
Causes and Solutions
What to do if the depth map is not good?
Questions
Causes and Solutions
What to do if the camera cannot be powered by the POE switch?
Causes and Solutions
Contact Us
Notices
Safety Instructions
Software copyright notice
Document Copyright and Disclaimer
PercipioDC
SDK User Guide
SDK User Guide
SDK Overview
Vcamera SDK User Guide
Camport4 SDK User Guide
ROS/Halcon/VisionPro SDK User Guide