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SampleCodeIntroduction.md

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7. 例程介绍

本篇将为您介绍如何使用 SDK 的单个 API 接口。为了帮助用户快速掌握，我们将根据产品类型进行分类，例如 DS86 & DS87、DS77、DS77C 等。这些例程涵盖了打开图像数据流、图像获取、软/硬触发、点云转换与保存等 API 接口的使用。接下来，我们将详细介绍每个例程的功能。

7.1. DevHotPlugCallbackC

例程功能

C 设置设备热插拔回调

输出结果

Get device count: 0
Get device count: 0
Get device count: 1
uri:***
alias:***
ip:192.168.1.101
connectStatus:2
open device successful,status :0
 wait for hotplug operation
uri 1  ***    remove
alias 1  ***    remove
VZ_StopStream 0
VZ_CloseDevice 0
uri 0  ***    add
alias 0  ***    add
VZ_OpenDevice 0
VZ_StartStream 0

7.2. DevHotPlugCallbackCpp

例程功能

C++设置设备热插拔回调

输出结果

Get device count: 0
Get device count: 0
Get device count: 1
uri:***
alias:***
ip:192.168.1.101
connectStatus:2
open device successful,status :0
 wait for hotplug operation
uri 1  ***    remove
alias 1  ***    remove
VZ_StopStream 0
VZ_CloseDevice 0
uri 0  ***    add
alias 0  ***    add
VZ_OpenDevice 0
VZ_StartStream 0

7.3. DeviceConnectByAlias

例程功能

设置设备通过设备 SN 连接

输出结果

Get device count: 0
Get device count: 0
Get device count: 1
uri:***
alias:***
ip:192.168.1.101
connectStatus:2

7.4. DeviceConnectByIP

例程功能

设置设备通过 IP 地址链接

输出结果

Get device count: 0
Get device count: 0
Get device count: 1
uri:***
alias:***
ip:192.168.1.101
connectStatus:2

7.5. DeviceHWTriggerMode

例程功能

设置设备为硬触发模式

输出结果

Get device count: 0
Get device count: 0
Get device count: 1
uri:***
alias:***
ip:192.168.1.101
connectStatus:2
Hardware trigger test begins

7.6. DeviceSWTriggerMode

例程功能

设置设备为软触发模式

输出结果

Get device count: 0
Get device count: 0
Get device count: 1
uri:***
alias:***
ip:192.168.1.101
connectStatus:2
Software trigger test begins

7.7. DeviceInfoGet

例程功能

获取设备 SN、IP 地址、固件版本信息

输出结果

Get device count: 0
Get device count: 0
Get device count: 1
uri:***
alias:***
ip:192.168.1.101
connectStatus:2
FirmwareVersionNum:***

7.8. DeviceParamSetGet

例程功能

获取设备内外参、畸变参数，设置获取设备 GmmaGian 值

输出结果

Get device count: 0
Get device count: 0
Get device count: 1
uri:***
alias:***
ip:192.168.1.101
connectStatus:2

Get VzGetCameraParameters status: 0
Depth Camera Intinsic:
Fx: ***
Cx: ***
Fy: ***
Cy: ***
Depth Distortion Coefficient:
K1: ***
K2: ***
P1: ***
P2: ***
K3: ***
K4: ***
K5: ***
K6: ***

default gmmgain: 100
set gmmgain: 100 succeeded

7.9. DeviceSearchAndConnect

例程功能

搜索并连接设备

输出结果

Get device count: 0
Get device count: 0
Get device count: 1
uri:***
alias:***
connectStatus:2
open device successful,status :0

7.10. DeviceSetFrameRate

例程功能

设置设备帧率

输出结果

Get device count: 0
Get device count: 0
Get device count: 1
open device successful,status :0
set frame rate :5 is OK.
Start testing the average frame rate for 30 seconds, Please wait patiently

7.11. DeviceSetParamsByJson

例程功能

通过 Json 设置设备参数

输出结果

Get device count: 0
Get device count: 0
Get device count: 1
uri:***
alias:***
ip:192.168.1.101
connectStatus:2
Please input Json file path:
***
VZ_SetParamsByJson ret:0

7.12. DeviceStartStopStreaming

例程功能

开始与停止设备数据流

输出结果

Get device count: 0
Get device count: 0
Get device count: 1
uri:***
alias:***
ip:192.168.1.101
connectStatus:2

7.13. FrameCaptureAndSave

例程功能

捕获与保存设备图像

输出结果

Get device count: 0
Get device count: 0
Get device count: 1
uri:***
alias:***
ip:192.168.1.101
connectStatus:2
get Frame successful,status:0  Save...

7.14. MultiConnection

例程功能

多设备连接

输出结果

Get device count: 0
Get device count: 0
Get device count: 2
CameraIndex: 0
uri:***
alias:***
connectStatus:2
CameraIndex: 1
uri:***
alias:***
connectStatus:2
*** frameIndex :22
*** frameIndex :17
*** frameIndex :23
*** frameIndex :18
*** frameIndex :24
*** frameIndex :19

7.15. MultiConnectionInMultiThread

例程功能

在多线程中多设备连接

输出结果

Get device count: 0
Get device count: 0
Get device count: 2
uri:DS77Lite:***
uri:DS77Lite:***
alias:***
connectStatus:2
alias:***
connectStatus:2
*** frameIndex :8
*** frameIndex :9
*** frameIndex :10
*** frameIndex :11
*** frameIndex :12
*** frameIndex :8
*** frameIndex :9
*** frameIndex :10
*** frameIndex :11
*** frameIndex :12

7.16. PointCloudCaptureAndSave

例程功能

捕获与保存点云

输出结果

Get device count: 0
Get device count: 0
Get device count: 1
uri:***
alias:***
ip:192.168.1.101
connectStatus:2
Save point cloud successful in PointCloud.txt

7.17. PointCloudCaptureAndSaveDepthImgToColorSensor

例程功能

捕获点云并且将其保存到彩色图像传感器

输出结果

Get device count: 0
Get device count: 0
Get device count: 1
uri:***
alias:***
ip:192.168.1.101
connectStatus:2
open device successful,status :0
set to 800_600
VZ_SetTransformDepthImgToColorSensorEnabled Enabled
get Frame successful,status:0  frameTpye:5  frameIndex:12
800,600
Save point cloud successful in PointCloud.txt

7.18. PointCloudVectorAndSave

例程功能

捕获与保存 ROI 区域中的点云

输出结果

Get device count: 0
Get device count: 0
Get device count: 1
uri:***
alias:***
ip:192.168.1.101
connectStatus:2
open device successful,status :0
Save point cloud successful in PointCloud.txt

7.19. PointCloudVectorAndSaveDepthImgToColorSensor

例程功能

捕获 ROI 区域中的点云并且将其保存到彩色图像传感器

输出结果

Get device count: 0
Get device count: 0
Get device count: 1
uri:***
alias:***
ip:192.168.1.101
connectStatus:2
open device successful,status :0
set to 800_600
VZ_SetTransformDepthImgToColorSensorEnabled Enabled
get Frame successful,status:0  frameTpye:5  frameIndex:12
800,600
Save point cloud successful in PointCloud.txt

7.20. RGBExposureTimeSetGet

例程功能

设置获取设备 RGB 曝光时间

输出结果

Get device count: 0
Get device count: 0
Get device count: 1
uri:***
alias:***
ip:192.168.1.101
connectStatus:2
open device successful,status :0

---- To  VzExposureControlMode_Manual ----
VZ_SetExposureControlMode  ok
* step1. Get Color exposure time range with frameRate 5*
Recommended scope: 100 - 30000
* step2. Set and Get new ExposureTime *
SetExposureTime:3000
GetExposureTime:3000

---- To VzExposureControlMode_Auto ----
VZ_SetExposureControlMode ok
* step1. Get Color exposure time range *
Recommended scope: 100 - 30000
* step2. Set and Get new Auto Max Color exposure time range *
SetExposureTimeAutoMax:10000
GetExposureTimeAutoMax:10000

7.21. RGBResolutionChange

例程功能

更改设备 RGB 分辨率

输出结果

Get device count: 0
Get device count: 0
Get device count: 1
uri:***
alias:***
ip:192.168.1.101
connectStatus:2
open device successful,status :0
set to 640_480
get Frame successful,status:0  resolution: 640x480
get Frame successful,status:0  resolution: 640x480
get Frame successful,status:0  resolution: 640x480
get Frame successful,status:0  resolution: 640x480
get Frame successful,status:0  resolution: 640x480
get Frame successful,status:0  resolution: 640x480
get Frame successful,status:0  resolution: 640x480
get Frame successful,status:0  resolution: 640x480
get Frame successful,status:0  resolution: 640x480
get Frame successful,status:0  resolution: 640x480
set to 1600_1200
get Frame successful,status:0  resolution: 1600x1200
get Frame successful,status:0  resolution: 1600x1200
get Frame successful,status:0  resolution: 1600x1200
get Frame successful,status:0  resolution: 1600x1200
get Frame successful,status:0  resolution: 1600x1200
get Frame successful,status:0  resolution: 1600x1200
get Frame successful,status:0  resolution: 1600x1200
get Frame successful,status:0  resolution: 1600x1200
get Frame successful,status:0  resolution: 1600x1200
get Frame successful,status:0  resolution: 1600x1200

7.22. ToFExposureTimeSetGet

例程功能

设置获取设备 ToF 曝光时间

输出结果

---- ToFExposureTimeSetGet ----
Get device count: 0
Get device count: 0
Get device count: 1
uri:***
alias:***
ip:192.168.1.101
connectStatus:2
Open device successful,status :0

---- Default FrameRate ----
Set control mode to manual.
Get default frame rate: 30
Recommended scope: 58 - 6600

7.23. ToFFiltersSetGet

例程功能

设置获取设备 ToF 滤波开关

输出结果

--------------ToFFiltersSetGet-------------
Get device count: 0
Get device count: 0
Get device count: 1
uri:***
alias:***
ip:192.168.1.101
connectStatus:2
open device successful,status :0

-------------1------------ test TimeFilter --------------------------
The default TimeFilter switch is true
Set TimeFilter switch to false is Ok.

-------------2--------- test ConfidenceFilter -----------------------
The default ConfidenceFilter switch is true
Set ConfidenceFilter switch to false is Ok.

-------------3--------- test FlyingPixelFilter ----------------------
The default FlyingPixelFilter switch is true
Set FlyingPixelFilter switch to false is Ok.

-------------4---------- test FillHoleFilter ------------------------
The default FillHoleFilter switch is true
Set FillHoleFilter switch to false is Ok.

-------------5---------- test SpatialFilter -------------------------
The default SpatialFilter switch is false
Set SpatialFilter switch to true is Ok.

7.24. TransformColorImgToDepthSensorFrame

例程功能

将彩色图像对齐到设备的深度图像空间

输出结果

---TransformColorImgToDepthSensorFrame---
Get device count: 0
Get device count: 0
Get device count: 1
uri:***
alias:***
ip:192.168.1.101
connectStatus:2
open device successful,status :0
VZ_SetTransformColorImgToDepthSensorEnabled  Enabled
get Frame successful,status:0  frameTpye:4  frameIndex:11
get Frame successful,status:0  frameTpye:4  frameIndex:12
get Frame successful,status:0  frameTpye:4  frameIndex:13
get Frame successful,status:0  frameTpye:4  frameIndex:14
get Frame successful,status:0  frameTpye:4  frameIndex:15

7.25. TransformDepthImgToColorSensorFrame

例程功能

将深度图像对齐到设备的彩色图像空间

输出结果

---TransformColorImgToDepthSensorFrame---
Get device count: 0
Get device count: 0
Get device count: 1
uri:***
alias:***
ip:192.168.1.101
connectStatus:2
open device successful,status :0
VZ_SetTransformDepthImgToColorSensorEnabled  Enabled
get Frame successful,status:0  frameTpye:4  frameIndex:11
get Frame successful,status:0  frameTpye:4  frameIndex:12
get Frame successful,status:0  frameTpye:4  frameIndex:13
get Frame successful,status:0  frameTpye:4  frameIndex:14
get Frame successful,status:0  frameTpye:4  frameIndex:15