Classes | |
class | Constants |
struct | SR_3DPOINT |
Static Public Member Functions | |
static int | getAPIVersion (ref string version) |
function To get the API Version number More... | |
static int | getProfileComponents (int dattyp, ref int height, ref int width, ref short[] data, ref short[] profData, ref short[] intensData, ref short[] lltData) |
Splits the data from Scanner into profile, intensity and laser line thickness according to the datatype. More... | |
static int | registerUserCB (int CBtype, int command, CBFunc userCB) |
define user callbacks for special functionality More... | |
static int | registerUserCB (int CBtype, int command, CBFuncExtData userCB) |
define user callbacks for special functionality More... | |
static int | registerUserCB (int CBtype, int command, CBFuncDefaultMode userCB) |
static int | init (StatusCB statuscb) |
function to Initialize the Sensor More... | |
static int | connectSensor (string name, string ipAdr, ushort port) |
function adds a New Sensor to be connected More... | |
static int | disconnectSensor (string sensorName) |
function adds a Disconnects Sensor More... | |
static int | startSensor (int sensorId) |
function to start the Sensor More... | |
static int | stopSensor (int sensorId) |
function to stop the Sensor More... | |
static int | readCamParsFromFile (string filename) |
read parameterset from file More... | |
static int | sendParsToCam (int sensorId) |
sending the parameterset to camera More... | |
static int | updateCam (int sensorId, IntPtr filename) |
checks the file extension and startet the appropriate function More... | |
static int | changeIp (int sensorId, IntPtr newipadr, ushort newport) |
change IP number More... | |
static int | getMACAdr (int sensorId, ref string macAdr) |
read the MAC address from the MPAR More... | |
static int | getSerial (int sensorId, ref string serial) |
read the serialnumber from the MPAR More... | |
static int | getSwVersion (int sensorId, ref string swVersion) |
read the Software version information of the camera More... | |
static int | getHwVersion (int sensorId, ref string hwVersion) |
read the Hardware version information of the camera More... | |
static int | getSensorType (int sensorId, ref string partNumber) |
read partnumber to identify the sensor type More... | |
static int | getSensorSize (int sensorId, ref int width, ref int height) |
read size of the imager More... | |
static int | getSensorCenterPosition (int sensorId, ref int centerX, ref int centerY) |
read the center position of the sensor More... | |
static int | setLaser (int sensorId, int pulse_mode, int external_mode, int enable, int power) |
configure the laser 2010-11-08: int power (0..100[%]) hinzu More... | |
static int | setOutput (int sensorId, int channel, int val) |
set the digital output of the camera More... | |
static int | getInput (int sensorId, int channel, ref int val) |
get input status from the camera More... | |
static int | setExposure (int sensorId, int enableDoubleExpo, int expo_small, int expo_large) |
configure the exposure module and send it to cam More... | |
static int | setTrigger (int sensorId, int mode, int source, int edge, int outputselect, int trigfrq, int trigcnt, int trigoffset) |
configure the trigger module and send it to camera More... | |
static int | setImager (int sensorId, int startx, int starty, int width, int height, int gainEnable, int gain) |
configure the CMOS module and send it to camera More... | |
static int | getImager (int sensorId, ref int startx, ref int starty, ref int width, ref int height, ref int gainEnable, ref int gain) |
read the CMOS module from the loaded parameterset More... | |
static int | getExposure (int sensorId, ref int enableDoubleExpo, ref int expo_small, ref int expo_large) |
read the exposure module from the loaded parameterset More... | |
static int | getTrigger (int sensorId, ref int mode, ref int source, ref int edge, ref int outputselect, ref int trigfrq, ref int trigcnt, ref int trigoffset) |
read the trigger module from the loaded parameterset More... | |
static int | createWorldData (int sensorId, int startX, int width, IntPtr profil, ref SR_3DPOINT[] world) |
create WorldCoordinates with LUT in SR_3DPOINT.float More... | |
static int | remapWorldToMatrix (ref SR_3DPOINT[] world, ref short[] intens, int len, float range_start, float range_end, ref short[] iS, ref short[] zS, float offsetZ, float scaleZ) |
remapping the world coordinates in to a matrix and keep z-world and y-world Erst wird zu WeltZ der offsetZ addiert, das Ergebnis wird dann mit scaleZ multipliziert More... | |
static int | WorldToImage (int sensorId, ref SR_3DPOINT point, ref int imgX, ref int imgY) |
convert world points in to image points More... | |
static int | readLutInfoFile (int sensorId, IntPtr DateiPfad, IntPtr infoLut) |
read the LUT information from file More... | |
static int | loadLutFromFile (int sensorId, String DateiPfad) |
load a LUT form file More... | |
static int | getErrorString (int error_code, ref string error_string) |
Create an error string out of a error code. More... | |
static int | GetParamProfile (int sensorId, ref int packetSize, ref int numOfProfiles) |
Get values from the GetNextLine & SendTCP module and send it to camera. More... | |
static int | SetParamProfile (int sensorId, int packetSize, int numOfProfiles) |
Set the GetNextLine & SendTCP module and send it to camera. More... | |
static int | getSensorName (int sensorId, ref string productName) |
Get the Sensor Factory Name. More... | |
static int | getCamIndex (int sensorId) |
function gets the index of the sensor w.r.t sensorId More... | |
static int | getName (int sensorId, ref string name) |
function gets the name of the sensor entered by the user for the corresponding sensorId More... | |
static int | getIp (int sensorId, ref string ipAdr) |
function gets the IP of the sensor w.r.t sensorId More... | |
static int | getPortNum (int sensorId) |
function gets the port number of the sensor w.r.t sensorId More... | |
static int | getConnectionState (int sensorId) |
function gets the connection state of the sensor More... | |
static int | getLaserEnableStatus (int sensorId) |
function gets the laser Enable status (enable/disable) of the sensor More... | |
static int | getLaserLightStatus (int sensorId) |
function gets the laserlight status (on/off) of the sensor More... | |
static int | getFps (int sensorId) |
function gets the framerate of the sensor More... | |
static int | getTps (int sensorId) |
function gets the Triggerrate of the sensor More... | |
static float | getTemp (int sensorId) |
function retrieves the Temperature of the sensor More... | |
static int | isRunning (int sensorId) |
function checks if the sensor is alive More... | |
Static Public Attributes | |
static CBFunc | m_userCbf1 |
static CBFuncExtData | m_userCbfextd1 |
static CBFuncDefaultMode | m_userCbfdefault |
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change IP number
sensorId | - Unique id of the connected sensor |
newip | - pointer to the byte array which stores the new IP address |
newport | - new port number on which camera should listen |
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function adds a New Sensor to be connected
sensorName | must be a unique name to identify the sensor to connect |
ipAdr | the ip4 Ip Address of the sensor to connect |
port | the portnumber of the sensor to connect |
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create WorldCoordinates with LUT in SR_3DPOINT.float
sensorId | - Unique id of the connected sensor |
startX | - start position in x direction |
width | - width of the profile |
profil | - pointer for the storage of the profiles, profiles has a 14 bit width |
world | - pointer for the storage of the world coordinates as X,Y,Z Tupel |
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function adds a Disconnects Sensor
sensorName | must be a unique name to identify the sensor to connect |
ipAdr | the ip4 Ip Address of the sensor to connect |
port | the portnumber of the sensor to connect |
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function To get the API Version number
version | - API Version Number String |
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function gets the index of the sensor w.r.t sensorId
sensorId | must be a unique id to identify the sensor |
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function gets the connection state of the sensor
sensorId | must be a unique id to identify the sensor |
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Create an error string out of a error code.
error_code | - error code for which we want to generate an error string |
error_string | - string for the converted errorcode |
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read the exposure module from the loaded parameterset
sensorId | - Unique id of the connected sensor |
*enableDoubleExpo | - enable double exposure |
*enableCtrlSmall | - enable the short exposure time |
*enableCtrlLarge | - enable the large exposure time |
*expo_small | - time of the short exposure time in microseconds |
*expo_large | - time of the large exposure time in microseconds |
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function gets the framerate of the sensor
sensorId | must be a unique id to identify the sensor |
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read the Hardware version information of the camera
sensorId | - Unique id of the connected sensor |
hwVersion | - hardware version string |
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read the CMOS module from the loaded parameterset
sensorId | - Unique id of the connected sensor |
*startx | - start position of the ROI in x direction |
*starty | - start position of the ROI in y direction |
*width | - width of the ROI |
*height | - height of the ROI |
*gainEnable | - enable the gain of the CMOS imager |
*gain | - configure the gain of the imager |
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get input status from the camera
this will be done only local from API because the information will be update every 200ms via the alive signal
sensorId | - Unique id of the connected sensor |
channel | - selected channel |
val | - pointer for the storage of the selected channel status |
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function gets the IP of the sensor w.r.t sensorId
sensorId | - must be a unique id to identify the sensor |
ipAdr | - IPAddress String |
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function gets the laser Enable status (enable/disable) of the sensor
sensorId | must be a unique id to identify the sensor |
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function gets the laserlight status (on/off) of the sensor
sensorId | must be a unique id to identify the sensor |
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read the MAC address from the MPAR
sensorId | - Unique id of the connected sensor |
macAdr | - MAC address string |
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function gets the name of the sensor entered by the user for the corresponding sensorId
sensorId | - must be a unique id to identify the sensor |
name | - Sensor name string |
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Get values from the GetNextLine & SendTCP module and send it to camera.
sensorId | - Unique id of the connected sensor |
inst | - instance of module |
packetSize | - number of profile lines to transmit |
numProfiles | - stop sensor after this number of profile lines are generated / if 0 (zero) we run continuously |
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function gets the port number of the sensor w.r.t sensorId
sensorId | must be a unique id to identify the sensor |
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Splits the data from Scanner into profile, intensity and laser line thickness according to the datatype.
Convertion function is valid only for the scanner configured in profile mode
dattyp | - datatype of the callback function |
height | - Height of the profile scan (or total number of profiles captured in each scan as per configuration) |
width | - width of each profile scan |
data | - the data in the scanned profile |
profData | - Reference for the profile data |
intensData | - Reference for the intensity data |
lltData | - Reference for the laser line thickness data |
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read the center position of the sensor
sensorId | - Unique id of the connected sensor |
centerX | - reference of the midview of the X-axis |
centerY | - reference of the midview of the Y-axis |
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Get the Sensor Factory Name.
sensorId | - Unique id of the connected sensor |
productName | - Factory name of the selected 3D Sensor |
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read size of the imager
ToDo!!! idealerweise aus Kamera bzw. Maschinenpar
sensorId | - Unique id of the connected sensor |
width | - reference for the storage of the imager width |
height | - reference for the storage of the imager height |
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read partnumber to identify the sensor type
sensorId | - Unique id of the connected sensor |
partNumber | - stores the partnumber of the sensor |
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read the serialnumber from the MPAR
sensorId | - Unique id of the connected sensor |
serial | - serial number string |
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read the Software version information of the camera
sensorId | - Unique id of the connected sensor |
swVersion | - software version string |
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function retrieves the Temperature of the sensor
sensorId | must be a unique id to identify the sensor |
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function gets the Triggerrate of the sensor
sensorId | must be a unique id to identify the sensor |
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read the trigger module from the loaded parameterset
sensorId | - Unique id of the connected sensor |
*mode | - set the trigger mode 0 - free running 1 - intern 2 - extern 3 - extern In 0 enabled 4 - In 0 enabled |
*source | - set the trigger source 0 - In 1 1 - In 2 2 - both 3 - intern (TTL) 4 - quad |
*edge | - on which edge should be trigger 0 - rising 1 - falling 2 - both |
*outputselect | -
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*trigfrq | - frequency of the trigger |
*trigcnt | - count of suppressed trigger (trigger divider) |
*trigoffset | - number of suppressed trigger after start camera |
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function to Initialize the Sensor
userCB_StatusMessage | call back status message |
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function checks if the sensor is alive
sensorId | must be a unique id to identify the sensor |
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load a LUT form file
sensorId | - Unique id of the connected sensor |
DateiPfad | - path of the LUT |
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read parameterset from file
filename | - path to the file which should be read |
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read the LUT information from file
sensorId | - Unique id of the connected sensor |
DateiPfad | - path of the LUT |
info | - pointer of the storage for the read LUT information |
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define user callbacks for special functionality
CBtype | - type of the callback function |
command | - command which should be send from the callback |
userCB | - pointer to the callback function which should called |
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define user callbacks for special functionality
CBtype | - type of the callback function |
command | - command which should be send from the callback |
userCB | - pointer to the callback function which should called |
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remapping the world coordinates in to a matrix and keep z-world and y-world Erst wird zu WeltZ der offsetZ addiert, das Ergebnis wird dann mit scaleZ multipliziert
Version: 1.1.0 2011-01-20 scaleZ ist nun 1/scaleZ.alt also 0.010 statt 100 eintragen index_last wird beim Lücke suchen auch inkremetiert !! 2011-01-20: TA damit sind Fehlfunktionen des Remappers (bis neue gefunden) eliminiert
srw | - world coordinates |
intens | - intensity array after the separation in profils and intensity from the camera |
len | - length of the world coordinates which is equal to the number of intensity data |
range_start | - start position for the remapping of the world coordinates |
range_end | - end position for the remapping of the world coordinates |
iS | - pointer to store the intensity data after remapping |
zS | - pointer to store the z coordinates after remapping |
offsetZ | - offset from z for the storage of the world into 16 bit |
scaleZ | - scale of the z direction for example 0.01 => zW in mm –> 1/100 == 10um resolution |
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sending the parameterset to camera
sensorId | - Unique id of the connected sensor |
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configure the exposure module and send it to cam
sensorId | - Unique id of the connected sensor |
enableDoubleExpo | - enable double exposure |
enableCtrlSmall | - enable the short exposure time |
enableCtrlLarge | - enable the large exposure time |
expo_small | - time of the short exposure time in microseconds |
expo_large | - time of the large exposure time in microseconds |
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configure the CMOS module and send it to camera
sensorId | - Unique id of the connected sensor |
startx | - start position of the ROI in x direction |
starty | - start position of the ROI in y direction |
width | - width of the ROI |
height | - height of the ROI |
gainEnable | - enable the gain of the CMOS imager |
gain | - configure the gain of the imager |
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configure the laser 2010-11-08: int power (0..100[%]) hinzu
sensorId | - Unique id of the connected sensor |
laser_mode | - select the mode of the laser 0 - pulse 1 - continous |
laser_on_select | - control with software or hardware 0 - software 1 - soft+extern |
enable | - enable oder disable the laser |
power | - power of the laser, values between 0 and 100% |
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set the digital output of the camera
sensorId | - Unique id of the connected sensor |
channel | - select the channel which should be configure |
val | - value to which the selected channel should be set |
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Set the GetNextLine & SendTCP module and send it to camera.
cd | - camera descriptor of the selected camera |
inst | - instance of module |
packetSize | - number of profile lines to transmit |
numProfiles | - stop sensor after this number of profile lines are generated / if 0 (zero) we run continuously |
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configure the trigger module and send it to camera
cd | - camera descriptor of the selected camera |
mode | - set the trigger mode 0 - free running 1 - intern 2 - extern 3 - extern In 0 enabled 4 - In 0 enabled |
source | - set the trigger source 0 - In 1 1 - In 2 2 - both 3 - intern (TTL) 4 - quad |
edge | - on which edge should be trigger 0 - rising 1 - falling 2 - both |
outputselect | -
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trigfrq | - frequency of the trigger |
trigcnt | - count of suppressed trigger (trigger divider) |
trigoffset | - number of suppressed trigger after start camera |
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function to start the Sensor
sensorId | : Unique id for the sensor |
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function to stop the Sensor
sensorId | : Unique id for the sensor |
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checks the file extension and startet the appropriate function
sensorId | - Unique id of the connected sensor |
FileName | - filename of the file which should update the camera |
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convert world points in to image points
Version : 1.01 Convert a WorldPoint (float) into a nearest Imager Position with use of the LUT (no Subpixeling) We use a iteration to find the img. Point !! We limit the databuswidth to 10bit !! because we do not use subpix !! so the max ImagerHeight is 1024 pix !!* Input: Wordcoordinate as X, Y,Z Tupel (X is not used) just ONE point! Output: Corresponding Imager Coordinate to the given World Point
cd | - camera descriptor of the selected camera |
world | - world coordinates we want to convert |
imgX | - pointer for the storage of the image x coordinats |
imgY | - pointer for the storage of the image y coordinats |