API 详解（C++）

GetVersionString 获取 VCameraSDK 版本

// 代码开头需要引用头文件
#include "vcamera/version.h"

// 打印 VCameraSDK 版本
std::cout << "GetVersionString:" << GetVersionString() << std::endl;

CameraUtils 类

CameraUtils 是 SDK 提供的一个静态工具类，专门用于相机设备的发现、网络配置、SDK和相机日志配置。

Init 初始化 SDK

初始化相机通信底层库。

CameraUtils::Init(true);

重要

直连模式（默认，推荐）：调用 Init(true)。普通用户使用此模式即可，一台摄像头只能被一个进程连接。
RPC 模式（高级）：调用 Init(false)，支持多进程连接。不推荐普通用户使用，仅在需要多进程时采用。使用此模式需将 rpc/ 文件夹中的文件复制到程序目录。

DiscoverCameras 发现相机设备

扫描当前可用的相机设备，返回 CameraInfo 列表（包含 MAC 地址、当前 IP 等信息）。

CameraUtils::Init(true);
auto devicelist = CameraUtils::DiscoverCameras();
for (auto& device : devicelist) {
    std::cout << "======Device Information======" << std::endl;
    std::cout << "   " << "serial_number : " << device.serial_number << std::endl;
    std::cout << "   " << "status : " << (int)device.state << std::endl;
    std::cout << "   " << "model : " << device.model << std::endl;
    std::cout << "   " << "vendor : " << device.vendor << std::endl;
    std::cout << "   " << "name : " << device.name << std::endl;
    std::cout << "   " << "firmware_version : " << device.firmware_version << std::endl;
    std::cout << "   " << "network_info.mac : " << device.network_info.mac << std::endl;
    std::cout << "   " << "network_info.ip : " << device.network_info.ip << std::endl;
    std::cout << "   " << "network_info.netmask : " << device.network_info.netmask << std::endl;
    std::cout << "   " << "network_info.gateway : " << device.network_info.gateway << std::endl;
    std::cout << "   " << "network_info.broadcast : " << device.network_info.broadcast << std::endl;
    std::cout << "Interface Information" << std::endl;
    std::cout << "   " << "interface_info.id : " << device.interface_info.id << std::endl;
    std::cout << "   " << "interface_type : " << (int)device.interface_info.interface_type << std::endl;
    std::cout << "   " << "interface_info.name : " << device.interface_info.name << std::endl;
    std::cout << "   " << "interface_info.network_info.broadcast : " << device.interface_info.network_info.broadcast << std::endl;
    std::cout << "   " << "interface_info.network_info.gateway : " << device.interface_info.network_info.gateway << std::endl;
    std::cout << "   " << "interface_info.network_info.ip : " << device.interface_info.network_info.ip << std::endl;
    std::cout << "   " << "interface_info.network_info.mac : " << device.interface_info.network_info.mac << std::endl;
    std::cout << "   " << "interface_info.network_info.netmask : " << device.interface_info.network_info.netmask << std::endl;
    std::cout << "   " << "usb_info.address : " << device.usb_info.address << std::endl;
    std::cout << "   " << "usb_info.bus : " << device.usb_info.bus << std::endl;
 }

SetIpAddress 设置静态 IP

该接口用于设置相机的静态 ip。该接口有 2 种使用方法。

第一种，传入相机的 mac 地址，以及需要设置的 ip、netmask、gateway。

CameraUtils::Init(true);
auto devicelist = CameraUtils::DiscoverCameras();
    CameraApiStatus ret = CameraUtils::SetIpAddress("06:20:FD:B6:D4:95","192.168.6.85","255.255.255.0","192.168.6.1");
    if (ret.IsSuccess()) {
        printf("Set camera static ip success!\n");
    }
    else {
        printf("Set camera static ip failed : %s\n", ret.message().c_str());
    }

第二种，传入相机的 CamInfo，以及需要设置的 ip、netmask、gateway。

CameraUtils::Init(true);
auto devicelist = CameraUtils::DiscoverCameras();
for (auto& device : devicelist) {
    if (device.network_info.mac == "06:20:FD:B6:D4:95" && device.interface_info.id == "eth-88-a4-c2-b1-35-e37f06a8c0") {
        CameraApiStatus ret = CameraUtils::SetIpAddress(device, "192.168.6.88", "255.255.255.0", "192.168.6.1");
        if (ret.IsSuccess()) {
            printf("Set camera static ip success!\n");
        }
        else {
            printf("Set camera static ip failed : %s\n", ret.message().c_str());
        }
    }
 }

SetIpToDynamic 设置动态 IP

该接口用于设置相机的动态 ip。该接口有2种使用方法。

第一种，传入相机的 mac 地址。

CameraUtils::Init(true);
auto devicelist = CameraUtils::DiscoverCameras();
    CameraApiStatus ret = CameraUtils:: SetIpToDynamic ("06:20:FD:B6:D4:95");
    if (ret.IsSuccess()) {
        printf("Set camera Dynamic ip success!\n");
    }
    else {
        printf("Set camera Dynamic ip failed : %s\n", ret.message().c_str());
}

第二种，传入相机的 CamInfo。

CameraUtils::Init(true);
    auto devicelist = CameraUtils::DiscoverCameras();
    for (auto& device : devicelist) {
        if (device.network_info.mac == "06:20:FD:B6:D4:95" && device.interface_info.id == "eth-88-a4-c2-b1-35-e37f06a8c0") {
            CameraApiStatus ret = CameraUtils::SetIpToDynamic(device);
            if (ret.IsSuccess()) {
                printf("Set camera static ip success!\n");
            }
            else {
                printf("Set camera static ip failed : %s\n", ret.message().c_str());
            }
        }
}

CameraFactory 类

CameraFactory 专用于实例化并连接不同配置的相机设备。提供三种静态工厂方法，支持通过序列号、IP 地址或预配置信息创建相机实例。

GetCameraBySerialNumber 通过序列号获取相机

该接口用于通过相机序列号来创建相机实例。

Camera camera = CameraFactory::GetCameraBySerialNumber("207000159118");

GetCameraByIpAddress 通过 IP 获取相机

该接口用于通过相机 ip 地址来创建相机实例。

Camera camera = CameraFactory::GetCameraByIpAddress("192.168.6.58");

GetCameraByCameraInfo 通过相机信息获取相机

该接口用于通过相机的信息来创建相机实例。

Camera camera;
auto devicelist = CameraUtils::DiscoverCameras();
for (auto& list : devicelist) {
    if(list.serial_number == "207000162237")
        camera = CameraFactory::GetCameraByCameraInfo(list);
}

Camera 类

核心设备控制与图像采集接口。

注解

Camera 对象使用流程：

创建 Camera 对象 → Connect() → 其他操作 → Disconnect()

GetCameraInfo 获取相机信息

用于获取相机设备的信息。

CameraInfo information;
CameraApiStatus ret = camera.GetCameraInfo(information);
if (ret.IsSuccess()) {
    printf("\033[91mGetCameraInfo success\033[0m\n");
    std::cout << "Device Information" << std::endl;
    std::cout << "   " << "serial_number : " << information.serial_number << std::endl;
    std::cout << "   " << "status : " << (int)information.state << std::endl;
    std::cout << "   " << "model : " << information.model << std::endl;
    std::cout << "   " << "vendor : " << information.vendor << std::endl;
    std::cout << "   " << "name : " << information.name << std::endl;
    std::cout << "   " << "firmware_version : " << information.firmware_version << std::endl;
    std::cout << "   " << "network_info.mac : " << information.network_info.mac << std::endl;
    std::cout << "   " << "network_info.ip : " << information.network_info.ip << std::endl;
    std::cout << "   " << "network_info.netmask : " << information.network_info.netmask << std::endl;
    std::cout << "   " << "network_info.gateway : " << information.network_info.gateway << std::endl;
    std::cout << "   " << "network_info.broadcast : " << information.network_info.broadcast << std::endl;
    std::cout << "Interface Information" << std::endl;
    std::cout << "   " << "interface_info.id : " << information.interface_info.id << std::endl;
    std::cout << "   " << "interface_type : " << (int)information.interface_info.interface_type << std::endl;
    std::cout << "   " << "interface_info.name : " << information.interface_info.name << std::endl;
    std::cout << "   " << "interface_info.network_info.broadcast : " << information.interface_info.network_info.broadcast << std::endl;
    std::cout << "   " << "interface_info.network_info.gateway : " << information.interface_info.network_info.gateway << std::endl;
    std::cout << "   " << "interface_info.network_info.ip : " << information.interface_info.network_info.ip << std::endl;
    std::cout << "   " << "interface_info.network_info.mac : " << information.interface_info.network_info.mac << std::endl;
    std::cout << "   " << "interface_info.network_info.netmask : " << information.interface_info.network_info.netmask << std::endl;
    std::cout << "   " << "usb_info.address : " << information.usb_info.address << std::endl;
    std::cout << "   " << "usb_info.bus : " << information.usb_info.bus << std::endl;
}

Connect 连接设备

用于连接设备。

camera.Connect();

Disconnect 断连设备

用于断连设备。

camera.Disconnect();

GetCameraState 获取相机状态

相机成功连接后获取当前相机状态。

CameraState camerastate;
CameraApiStatus ret = camera.GetCameraState(camerastate);
if (ret.IsSuccess()) {
    printf("\033[96mCameraState %d\033[0m\n", camerastate);
}
else {
    printf("\033[91mGetCameraState failed :%s\033[0m\n", ret.message().c_str());
}

StartCapture 开始采集图像

用于控制相机开始采集图像。

camera.StartCapture();

StopCapture 停止采集图像

用于控制相机停止采集图像。

camera.StopCapture();

GetFeature 获取待设置的参数

用于获取待设置的参数。

重要

SDK 支持设置的属性列表见 VcameraSDK-X.X.X/doc/feature_list/。

Feature feature;
CameraApiStatus ret = camera.GetFeature("AcquisitionMode", feature);
if (!ret.IsSuccess()) {
    printf("\033[91mGetFeature failed :%s\033[0m\n", ret.message().c_str());
}

GetAllFeatures 获取所有参数

用于获取相机支持的所有参数。

std::vector<vcamera::Feature> features;
status = camera.GetAllFeatures(features);

具体使用方法请参见示例程序 VcameraSDK-X.X.X/cpp/example/DumpAllFeatures.cpp。

FireSoftwareTrigger 发送软触发采图信号

用于为工作在软触发模式下的相机发送软触发采图信号。

CameraApiStatus status = camera.FireSoftwareTrigger();
std::cout << "FireSoftwareTrigger status= " << status.message() << std::endl;

GetImageModes 获取图像格式和分辨率

用于获取指定传感器支持设置的图像格式和分辨率。

std::vector<ImageMode> image_mode;
CameraApiStatus ret = camera.GetImageModes(SensorType::Depth, image_mode);

if (!ret.IsSuccess()) {
    printf("\033[91mGetImageModes failed :%s\033[0m\n", ret.message().c_str());
}
else {
    for (auto& mode : image_mode) {
        printf("ImageModePixelFormat : %d , ImageModeWidth :%d ,ImageModeHeight :%d\n ", mode.pixel_format , mode.width, mode.height);
    }
}

GetCurrentImageMode 获取当前的图像格式和分辨率

用于获取指定传感器当前的图像格式和分辨率。

ImageMode image_mode;
camera.GetCurrentImageMode(SensorType::Depth, image_mode);
printf("CurrentImageModePixelFormat : %d , ImageModeWidth :%d ,ImageModeHeight :%d\n ", image_mode.pixel_format , image_mode.width, image_mode.height);

SetImageMode 设置图像格式和分辨率

用于设置指定传感器的图像格式和分辨率。

ImageMode image_mode;
image_mode.pixel_format = RawPixelFormat::Coord3D_C16;
image_mode.width = 320;
image_mode.height = 240;
CameraApiStatus ret = camera.SetImageMode(SensorType::Depth, image_mode);
printf("\033[91mSetImageMode1 :%s\033[0m\n", ret.message().c_str());

HasSensor 查询相机是否具有指定传感器

用于判断相机是否拥有指定的传感器。

bool has_sensor;
CameraApiStatus ret = camera.HasSensor(SensorType::Right, has_sensor);
if (!ret.IsSuccess()) {
    printf("\033[91mHasSensor Call  failed :%s\033[0m\n", ret.message().c_str());
}
else {
    printf("HasSensor : %s\n", has_sensor ? "true" : "false");
}

IsSensorEnabled 获取传感器使能状态

用于判断相机指定的传感器是否被使能。

bool is_enable;
ret = camera.IsSensorEnabled(SensorType::Texture, is_enable);
if (!ret.IsSuccess()) {
    printf("\033[91mIsSensorEnabledCallfailed:%s\033[0m\n", ret.message().c_str());
}
else {
    printf("IsSensorEnabled:%s\n", is_enable ? "true" : "false");
}

SetSensorEnabled 设置传感器使能状态

用于使能或去使能指定的传感器输出图像。

CameraApiStatus ret = camera.SetSensorEnabled(SensorType::Left, true);
if (!ret.IsSuccess()) {
    printf("\033[91mSetSensorEnabled Call  failed :%s\033[0m\n", ret.message().c_str());
}

SetUndistortionEnabled 启用或禁用畸变矫正

用于对指定的传感器图像进行畸变校正或去畸变校正。

CameraApiStatus ret = camera.SetUndistortionEnabled(SensorType::Left, true);
printf("\033[91mSetUndistortionEnabled:%s\033[0m\n", ret.message().c_str());

IsMapDepthToTextureEnabled 获取深度对齐彩色使能状态

用于查询深度图到彩色图映射（深度与彩色对齐）是否启用。

bool isEnabled = false;
status = camera.IsMapDepthToTextureEnabled(isEnabled);
if (!status.IsSuccess()) {
    std::cout << "Failed to check depth-to-color mapping status: " << status.message() << std::endl;
    return -1;
}
std::cout << "Current depth-to-color mapping status: " << (isEnabled ? "Enabled" : "Disabled") << std::endl;

SetMapDepthToTextureEnabled 启用或禁用深度对齐彩色

启用或禁用深度图到彩色图的映射（深度图与彩色图对齐）。

status = camera.SetMapDepthToTextureEnabled(true);
if (!status.IsSuccess()) {
  std::cout << "enable MapDepthToTexture err " << status.message() << std::endl;
  return -1;
}

具体使用方法请参见示例程序 VcameraSDK-X.X.X/cpp/example/DepthToTextureRegistration.cpp。

SaveFeaturesToFile/LoadFeaturesFromFile 保存相机配置到文件/从文件加载配置

分别用于将相机配置保存到 JSON 文件，以及从 JSON 文件加载配置并应用到相机。

注解

不同相机类型的保存行为：

Gige_2_0 相机：仅保存相机连接后修改的参数。连接前已保存的参数不会被记录。
Gige_2_1 相机：会尽可能保存全部参数。具体保存的参数列表请参考安装路径下的 doc/feature_save_gige2_1.txt。

保存配置到文件：

std::string file_path_save = u8"D:/tmp/1.json";
status = camera.SaveFeaturesToFile(file_path_save);

从文件加载配置：

std::string file_path_load = u8"D:/tmp/1.json";
std::string error_message;
status = camera.LoadFeaturesFromFile(file_path_load, error_message);

具体使用方法请参见示例程序：

VcameraSDK-X.X.X/cpp/example/SaveFeaturesToFile.cpp
VcameraSDK-X.X.X/cpp/example/LoadFeaturesFromFile.cpp

SaveFeaturesToStorage/LoadFeaturesFromStorage 保存配置到相机内部存储区/从相机内部存储区加载配置

分别用于将相机配置保存到内部存储区，以及从内部存储区加载配置。

注解

该接口仅适用于 Gige_2_0 相机。
对于 Gige_2_1 相机，请使用 UserSetManager 类接口。

保存配置到内部存储区：

bool save_to_storage = true;
if (save_to_storage) {
    status = camera.SaveFeaturesToStorage();
}

从内部存储区加载配置：

status = camera.StopCapture();
std::string error_message;
status = camera.LoadFeaturesFromStorage(error_message);

具体使用方法请参见示例程序：

VcameraSDK-X.X.X/cpp/example/SaveFeaturesToStorage.cpp
VcameraSDK-X.X.X/cpp/example/LoadFeaturesFromStorage.cpp

RegisterFrameSetCallback 图像回调函数

图像回调函数。

camera.RegisterFrameSetCallback([](const FrameSet& frameset){
    cout << "FrameSetCallback" << endl;
    Image image = frameset.GetImage(SensorType::Depth);
    if(image.IsValid()){
        cout << "Image: width:" << image.width() << " " << "height:" << image.height() << endl;
        cout << "Image: frame index:" << image.frame_index() << endl;
        cout << "Image: timestamp:" << image.time_stamp() << endl;
        cout << "Image: sensor:" << image.sensor() << endl;
        cout << "Image: sensor type:" <<(int)image.pixel_format() << endl;
        cout << "Image: scale_unit:" << image.scale_unit() << endl;
        cout << "Image: distortion:";for(float f : image.calib_info().distortion.data) cout << f << " "; cout << endl;
        cout << "Image: intrinsic:";for(float f : image.calib_info().intrinsic.data) cout << f << " "; cout << endl;
        cout << "Image: extrinsic:";for(float f : image.calib_info().extrinsic.data) cout << f << " "; cout << endl;
    }
});

RegisterCameraEventCallback 相机事件回调函数

相机事件回调函数。

camera.RegisterCameraEventCallback(
    [](CameraEventCode event_code, int error_code) {
        switch (event_code) {
        case CameraEventCode::Offlined:
            printf("\033[93mWaiting for reconnecting ... ...\033[0m\n");
            break;
        case CameraEventCode::Started:
            printf("\033[93mCamera Started ... ...\033[0m\n");
            break;
        case CameraEventCode::Opened:
            printf("\033[93mCamera Opened ... ...\033[0m\n");
            break;
        case CameraEventCode::Stopped:
            printf("\033[93mCamera Stopped ... ...\033[0m\n");
            break;
        case CameraEventCode::Closed:
            printf("\033[93mCamera Closed ... ...\033[0m\n");
            break;
        case CameraEventCode::Error:
            printf("\033[93mCamera Error ... ...\033[0m\n");
            break;
        }
    }
);

UserSetManager 类

GetAllUserSets 获取所有用户设置

用于获取相机的所有用户设置（UserSet）。

vector<UserSet> usersetall;
UserSetManager& usersetmanager = camera.GetUserSetManager();
CameraApiStatus ret = usersetmanager.GetAllUserSets(usersetall);
for (auto usersets : usersetall) {
    std::cout << usersets.sid << "   " << usersets.name << std::endl;
}

其中，

sid：唯一编号，不可更改，内容为 Default0-7，UserSet0-7。
name：名称

SaveToUserSet 保存到用户设置

用于保存用户设置（UserSet），该接口有 2 种使用方式。

第一种：使用 UserSet 名称保存

vector<UserSet> usersetall;
UserSetManager& usersetmanager = camera.GetUserSetManager();
CameraApiStatus ret = usersetmanager.GetAllUserSets(usersetall);
ret = usersetmanager.SaveToUserSet("123");
    if (ret.IsSuccess()) {
        printf("\033[92mSaveToUserSet success\033[0m\n");
    }

第二种：使用 UserSet 对象保存

vector<UserSet> usersetall;
UserSetManager& usersetmanager = camera.GetUserSetManager();
CameraApiStatus ret = usersetmanager.GetAllUserSets(usersetall);
if (ret.IsSuccess()) {
    for (auto usersets : usersetall) {
        std::cout << usersets.name << "   " << usersets.sid << std::endl;
        if (usersets.name == "789") {
            ret = usersetmanager.SaveToUserSet(usersets);
            if(ret.IsSuccess()){
                printf("\033[92mSaveToUserSet %s(sid: %s) success\033[0m\n", usersets.name.c_str(), usersets.sid.c_str());
            }
        }
    }
 }

SaveToUserSetWithNewName 重命名用户设置并保存

该接口用于重命名用户设置（UserSet）并执行保存动作。传入的第一个参数为旧名称，第二个参数为新名称。

vector<UserSet> usersetall;
UserSetManager& usersetmanager = camera.GetUserSetManager();
CameraApiStatus ret = usersetmanager.GetAllUserSets(usersetall);
ret = usersetmanager.SaveToUserSetWithNewName("123","Peace");
if (ret.IsSuccess()) {
    printf("\033[92mSaveToUserSetWithNewName success\033[0m\n");
}
else {
    printf("\033[91mSaveToUserSetWithNewName failed : %s\033[0m\n", ret.message().c_str());
}

LoadUserSet 加载用户设置

该接口用于加载所需的用户设置（UserSet），调用时传入需要加载的 UserSet 名称即可，代码如下：

vector<UserSet> usersetall;
UserSetManager& usersetmanager = camera.GetUserSetManager();
CameraApiStatus ret = usersetmanager.GetAllUserSets(usersetall);
ret = usersetmanager.LoadUserSet("standard_ObstacleAvoidance");
if (ret.IsSuccess()) {
  printf("\033[92mLoadUserSet success\033[0m\n");
 }
 else {
     printf("\033[91mLoadUserSet failed : %s\033[0m\n", ret.message().c_str());
 }

CurrentUserSet 读取当前用户设置

该接口用于读取当前使用的用户设置（UserSet）名称。

vector<UserSet> usersetall;
UserSetManager& usersetmanager = camera.GetUserSetManager();
CameraApiStatus ret = usersetmanager.GetAllUserSets(usersetall);
std::string CurrentUserSetName;
ret = usersetmanager.CurrentUserSet(CurrentUserSetName);
if (ret.IsSuccess()) {
    printf("\033[95mCurrentUserSet : %s\033[0m\n", CurrentUserSetName.c_str());
}

GetPowerOnUserSet 读取相机上电时的用户设置

该接口用于读取相机上电时的默认用户设置（UserSet）的名称。

vector<UserSet> usersetall;
UserSetManager& usersetmanager = camera.GetUserSetManager();
CameraApiStatus ret = usersetmanager.GetAllUserSets(usersetall);
std::string PowerOnUserSetName;
ret = usersetmanager.GetPowerOnUserSet(PowerOnUserSetName);
if (ret.IsSuccess()) {
    printf("\033[95mPowerOnUserSet : %s\033[0m\n", PowerOnUserSetName.c_str());
}

SetPowerOnUserSet 设置相机上电时的用户设置

该接口用于设置相机上电时的用户设置（UserSet）。调用时传入UserSet的名称即可。

vector<UserSet> usersetall;
UserSetManager& usersetmanager = camera.GetUserSetManager();
CameraApiStatus ret = usersetmanager.GetAllUserSets(usersetall);
ret = usersetmanager.SetPowerOnUserSet("HelloWorld");
if (ret.IsSuccess()) {
    printf("\033[92mSetPowerOnUserSet success\033[0m\n");
}
else {
    printf("\033[91mSetPowerOnUserSet failed : %s\033[0m\n",ret.message().c_str());
}

ImageProc 类

DepthImageToPointCloud 将深度图转换为点云

该接口将输入的深度图转换为点云数据。

CameraApiStatus status;
PointCloud point_cloud = ImageProc::DepthImageToPointCloud(image, &status);
// Among them, invalid points are represented by "nan".
std::vector<PointXYZ> points = pcOut.GetPoints();

具体使用方法请参见示例程序 VcameraSDK-X.X.X/cpp/example/DepthImageToPointCloud.cpp。

PointCloudToDepthImage 将点云转换为深度图

参数：点云、深度内参、目标宽度、目标高度、深度缩放系数（可选，默认1）

返回值：深度图

TransformPointCloud 将点云转换到另一个坐标系下

参数：点云、外参矩阵、是否使用逆变换（可选，默认 false）

返回值：转换后的点云对象

MapTextureImageToDepth 将彩色图对齐到深度图

参数：彩色图（允许带畸变）、目标深度图（用于获取尺寸和标定参数）

返回值：与深度图尺寸相同的对齐后彩色图

MapGrayImageToDepth 将灰度图对齐到深度图

参数：灰度图（GRAY8 或 GRAY16，允许带畸变）、目标深度图（用于获取尺寸和标定参数）

返回值：与深度图尺寸相同的对齐后灰度图

MapDepthImageToTexture 将深度图对齐到彩色图

参数：深度图（DEPTH16，允许带畸变）、彩色图（用于获取尺寸和标定参数）

返回值：与纹理图尺寸相同的对齐后深度图

UndistortImage 对图像进行去畸变处理

参数：图像（GRAY8 / GRAY16 / RGB24 / DEPTH16）、新内参（可选，默认与输入相同）

返回值：去畸变后的图像

CameraApiStatusCode（API状态码）

Success,
Failure,
ArrayInfoInvalid,
ArrayInvalid,
CalibrationInfoInvalid,
CameraInvalid,
ComponentInvalid,
DeviceInvalid,
DeviceError,
DeviceIdle,
DeviceBusy,
DeviceLost,
DeviceInterfaceInvalid,
DeviceInterfaceTypeError,
DeviceInfoInvalid,
FeatureInvalid,
FeatureInfoInvalid,
FeatureTypeError,
FrameInvalid,
FrameMetadataInvalid,
FrameBufferInvalid,
FrameBufferConsumerInvalid,
FrameSetInvalid,
FrameSetStreamInvalid,
FrameSetConsumerInvalid,
TriggerModeError,
NotExist,
NotImplemented,
NotPermitted,
NotSupported,
OutOfMemory,
OutOfIndexRange,
OutOfValueRange,
ParameterInvalid,
StructureInfoInvalid,
StructureInvalid,
Timeout,
ValueInvalid,
ValueTypeError,
ValueInfoInvalid,
NullCameraHandle,
UserSetIsFull,

设置/读取相机属性

IsValid 检查属性是否有效

判断该相机是否支持该属性。

Feature feature;
CameraApiStatus ret = camera.GetFeature("DepthRangeMax", feature);
bool isValid = ret.IsSuccess();
if (isValid) {
    printf("\033[92m Feature is valid \033[0m\n");
}
else {
    printf("\033[91m Error: %s (code: %d)\033[0m\n", ret.message().c_str(), (int)ret.code());
}

GetName 获取属性名称

Feature feature;
CameraApiStatus ret = camera.GetFeature("LightController0/LightBrightness", feature);
if (ret.IsSuccess()) {
    cout << feature.GetName() << endl;
} else {
    printf("\033[91mGetFeature failed: %s\033[0m\n", ret.message().c_str());
}

GetAccessMode 读取相机属性权限

Feature feature;
CameraApiStatus ret = camera.GetFeature("DepthRangeMax", feature);
AccessMode access_mode;
ret = feature.GetAccessMode(access_mode);
if (ret.IsSuccess()) {
    printf("\033[92mDepthRangeMax AccessMode :%d\033[0m\n", access_mode);
 }

VCameraSDK 中，属性的权限共有如下四种：

0：表示该相机不支持此属性或当前状态不支持此属性（如开启 AEC 后，曝光时间不支持）。
1：表示该相机此属性为只读。
2：表示该相机此属性为只写。
3：表示该相机此属性为可读可写。

GetType 获取相机属性类型

Feature feature;
camera.GetFeature("Depth/PixelFormat", feature);
FeatureType type = feature.GetType();
printf("\033[91mFeatureType is %d\033[0m\n", static_cast<int>(type));

VCameraSDK 中，属性的类型共有如下八种：

enum class CAMERA_API_EXPORT FeatureType : int32_t {
        Undefined,
        Bool,
        Int64,
        Float64,
        Enumeration,
        String,
        ByteArray,
        Dictionary,
};

Int64 类

读取参数值

Feature feature;
Value value;
CameraApiStatus ret = camera.GetFeature("DeviceStreamChannelSelector", feature);
ret = feature.GetValue(value);
if (ret.IsSuccess()) {
  printf("\033[92mGetValue success : %lld\033[0m\n", (int64_t)value);
}

判断参数类型

Feature feature;
Value value;
CameraApiStatus ret = camera.GetFeature("DeviceStreamChannelSelector", feature);
feature.GetValue(value);
if (value.IsInt64()) {
    printf("\033[92mValueType is true\033[0m\n");
}
else {
    printf("\033[91mValueType is wrong. ValueType:%d\033[0m\n", value.GetType());
}

读取参数范围

Feature feature;
CameraApiStatus ret = camera.GetFeature("LightController0/LightBrightness", feature);
Int64Range range;
ret = feature.GetRange(range);
if (ret.IsSuccess()) {
    printf("\033[92mGetRange success : [%lld ,%lld], step : %lld\033[0m\n", range.minValue, range.maxValue, range.step);
}

设置参数值

Feature feature;
CameraApiStatus ret = camera.GetFeature("LightController0/LightBrightness", feature);
ret = feature.SetValue(10);
if (ret.IsSuccess()) {
    printf("\033[92mSetValue success\033[0m\n");
}
else {
    printf("\033[91mSetValue call failed : %s\033[0m\n", ret.message().c_str());
}

完整示例

Feature feature;
AccessMode access_mode;
Int64Range range;
Value value;
CameraApiStatus ret = camera.GetFeature("LightController0/LightBrightness", feature);
ret = feature.GetAccessMode(access_mode);
printf("\033[95mAccessMode:%d\033[0m\n", static_cast<int>(access_mode));
ret = feature.GetValue(value);
printf("\033[95mValueType:%d\033[0m\n",value.GetType());
ret = feature.GetRange(range);
printf("\033[95mCurrentValue : %lld , Range : [%lld ,%lld] , Step : %lld\033[0m\n", (int64_t)value, range.minValue, range.maxValue, range.step);
ret = feature.SetValue(Value(80);

Bool类

读取参数值

Feature feature;
CameraApiStatus ret = camera.GetFeature("Texture/ExposureAuto", feature);
Value value;
ret = feature.GetValue(value);
if (ret.IsSuccess()) {
printf("\033[92mGetValue success : %s\033[0m\n", value?"true":"false");
}

判断参数类型

Feature feature;
CameraApiStatus ret = camera.GetFeature("Texture/ExposureAuto", feature);
Value value;
feature.GetValue(value);
if (value.IsBool()) {
        printf("\033[92mValueType is Bool\033[0m\n");
    }
    else {
        printf("\033[91mValueType is not Bool\033[0m\n");
}

设置参数值

Feature feature;
CameraApiStatus ret = camera.GetFeature("Texture/ExposureAuto", feature);
Value value;
ret = feature.SetValue(false);
if (ret.IsSuccess()) {
    printf("\033[92mSetValue success\033[0m\n");
}
else {
    printf("\033[91mSetValue call failed : %s\033[0m\n", ret.message().c_str());
}

完整示例

Feature feature;
AccessMode access_mode;
Value value;
CameraApiStatus ret = camera.GetFeature("Texture/ExposureAuto", feature);
ret = feature.GetAccessMode(access_mode);
printf("\033[95mTexture/ExposureAuto AccessMode:%d\033[0m\n", access_mode);
ret = feature.GetValue(value);
printf("\033[95mValueType:%d\033[0m\n", value.GetType());
printf("\033[95mCurrentValue : %s\033[0m\n", value?"true":"false");
ret = feature.SetValue(true);

Float64 类

读取参数值

Feature feature;
CameraApiStatus ret = camera.GetFeature("DepthScaleUnit", feature);
Value value;
ret = feature.GetValue(value);
if (ret.IsSuccess()) {
    printf("\033[92mGetValue success : %f\033[0m\n", (double)value);
}

判断参数类型

Feature feature;
CameraApiStatus ret = camera.GetFeature("DepthScaleUnit", feature);
Value value;
feature.GetValue(value);
if (value.IsDouble()) {
    printf("\033[92mValueType is float\033[0m\n");
}
else {
    printf("\033[91mValueType is not float\033[0m\n");
}

读取参数范围

Feature feature;
CameraApiStatus ret = camera.GetFeature("DepthScaleUnit", feature);
Float64Range range;
ret = feature.GetRange(range);
if (ret.IsSuccess()) {
    printf("\033[92mGetRange success : [%f , %f]\033[0m\n", range.minValue, range.maxValue);
}

设置参数值

Feature feature;
CameraApiStatus ret = camera.GetFeature("DepthScaleUnit", feature);
Value value;
ret = feature.SetValue(Value(0.25);
if (ret.IsSuccess()) {
    printf("\033[92mSetValue success\033[0m\n");
}
else {
    printf("\033[91mSetValue call failed : %s\033[0m\n", ret.message().c_str());
}

完整示例

Feature feature;
AccessMode access_mode;
Float64Range range;
Value value;
CameraApiStatus ret = camera.GetFeature("DepthScaleUnit", feature);
ret = feature.GetAccessMode(access_mode);
printf("\033[95mDepthScaleUnit AccessMode:%d\033[0m\n", access_mode);
ret = feature.GetValue(value);
printf("\033[95mValueType:%d\033[0m\n", value.GetType());
ret = feature.GetRange(range);
printf("\033[95mCurrentValue : %f , Range : [%f ,%f] , Step : %f\033[0m\n", (double)value, range.minValue, range.maxValue, range.step);
ret = feature.SetValue(0.25);

Enumeration 类

读取参数值

Feature feature;
CameraApiStatus ret = camera.GetFeature("Texture/BinningHorizontal", feature);
Value value;
ret = feature.GetValue(value);
if (ret.IsSuccess()) {
    printf("\033[92mGetValue success : %d\033[0m\n", (int64_t)value);
}

判断参数类型

Feature feature;
CameraApiStatus ret = camera.GetFeature("DeviceTimeSyncMode", feature);
Value value;
feature.GetValue(value);
if (value.IsInt64()) {
    printf("\033[92mValueType is Enum\033[0m\n");
}
else {
    printf("\033[91mValueType is not Enum\033[0m\n");
}

读取列表

Feature feature;
CameraApiStatus ret = camera.GetFeature("DeviceTimeSyncMode", feature);
std::vector<EnumItem> enum_list;
ret = feature.GetEnumItems(enum_list);
if (ret.IsSuccess()) {
    printf("\033[92mGetEnumItems success\033[0m\n");
    for (auto& list : enum_list) {
        printf("Name : %s ,Value :%d\n", list.name.c_str(), list.value);
    }
}

设置参数值

Feature feature;
CameraApiStatus ret = camera.GetFeature("DeviceTimeSyncMode", feature);
std::vector<EnumItem> enum_list;
feature.GetEnumItems(enum_list);
ret = feature.SetValue(enum_list[1].value);
if (ret.IsSuccess()) {
    printf("\033[92mSetValue success\033[0m\n");
}
else {
    printf("\033[91mSetValue Call  failed :%s\033[0m\n", ret.message().c_str());
}

完整示例

Feature feature;
AccessMode access_mode;
Value value;
CameraApiStatus ret = camera.GetFeature("DeviceTimeSyncMode", feature);
ret = feature.GetAccessMode(access_mode);
printf("\033[95mDeviceTimeSyncMode AccessMode:%d\033[0m\n", access_mode);
ret = feature.GetValue(value);
printf("\033[95mValueType:%d\033[0m\n", value.GetType());
printf("\033[95mCurretnValue : %d\033[0m\n", (int64_t)value);
std::vector<EnumItem> enum_list;
ret = feature.GetEnumItems(enum_list);
if (ret.IsSuccess()) {
    printf("\033[92mGetEnumItems success\033[0m\n");
    for (auto& list : enum_list) {
        printf("Name : %s ,Value :%d\n", list.name.c_str(), list.value);
        //Set
        ret = feature.SetValue(list.value);
        if (ret.IsSuccess()) {
            printf("\033[92mSetValue success\033[0m\n");
        }
        else {
            printf("\033[91mSetValue Call  failed :%s\033[0m\n", ret.message().c_str());
        }
    }
}

API 详解 （C++）

GetVersionString 获取 VCameraSDK 版本

CameraUtils 类

Init 初始化 SDK

DiscoverCameras 发现相机设备

SetIpAddress 设置静态 IP

SetIpToDynamic 设置动态 IP

CameraFactory 类

GetCameraBySerialNumber 通过序列号获取相机

GetCameraByIpAddress 通过 IP 获取相机

GetCameraByCameraInfo 通过相机信息获取相机

Camera 类

GetCameraInfo 获取相机信息

Connect 连接设备

Disconnect 断连设备

GetCameraState 获取相机状态

StartCapture 开始采集图像

StopCapture 停止采集图像

GetFeature 获取待设置的参数

GetAllFeatures 获取所有参数

FireSoftwareTrigger 发送软触发采图信号

GetImageModes 获取图像格式和分辨率

GetCurrentImageMode 获取当前的图像格式和分辨率

SetImageMode 设置图像格式和分辨率

HasSensor 查询相机是否具有指定传感器

IsSensorEnabled 获取传感器使能状态

SetSensorEnabled 设置传感器使能状态

SetUndistortionEnabled 启用或禁用畸变矫正

IsMapDepthToTextureEnabled 获取深度对齐彩色使能状态

SetMapDepthToTextureEnabled 启用或禁用深度对齐彩色

SaveFeaturesToFile/LoadFeaturesFromFile 保存相机配置到文件/从文件加载配置

SaveFeaturesToStorage/LoadFeaturesFromStorage 保存配置到相机内部存储区/从相机内部存储区加载配置

RegisterFrameSetCallback 图像回调函数

RegisterCameraEventCallback 相机事件回调函数

UserSetManager 类

GetAllUserSets 获取所有用户设置

SaveToUserSet 保存到用户设置

SaveToUserSetWithNewName 重命名用户设置并保存

LoadUserSet 加载用户设置

CurrentUserSet 读取当前用户设置

GetPowerOnUserSet 读取相机上电时的用户设置

SetPowerOnUserSet 设置相机上电时的用户设置

ImageProc 类

DepthImageToPointCloud 将深度图转换为点云

PointCloudToDepthImage 将点云转换为深度图

TransformPointCloud 将点云转换到另一个坐标系下

MapTextureImageToDepth 将彩色图对齐到深度图

MapGrayImageToDepth 将灰度图对齐到深度图

MapDepthImageToTexture 将深度图对齐到彩色图

UndistortImage 对图像进行去畸变处理

CameraApiStatusCode（API状态码）

设置/读取相机属性

IsValid 检查属性是否有效

GetName 获取属性名称

GetAccessMode 读取相机属性权限

GetType 获取相机属性类型

Int64 类

读取参数值

判断参数类型

读取参数范围

设置参数值

完整示例

Bool类

读取参数值

判断参数类型

设置参数值

完整示例

Float64 类

读取参数值

判断参数类型

读取参数范围

设置参数值

完整示例

Enumeration 类

读取参数值

判断参数类型

读取列表

设置参数值

完整示例

API 详解（C++）