RGB-D相机SDK使用说明

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2022-07-11 14:06

RGB-D相机

RGB-D相机SDK使用说明

一、RGB-D相机SDK

RGB-D相机SDK是一套适用于RGB-D系列相机的统一SDK接口，为上层软件的二次开发提供简单易用的API。此RGB-D系列相机主要包括MV-DB500S-S、MV-DB500S-R、MV-DB500S-C、MV-DB1300A、MV-EB435i，采用主动双目立体成像技术，结合彩色摄像头输出深度图像和RGB图像。相机内置高精度深度融合算法、宽动态图像处理算法，广泛应用于仓储物流、大件体积测量等应用场景。

二、SDK接口调用流程

图2-1 RGB-D相机SDK接口调用流程图

三、SDK示例程序

该示例程序说明了如何通过调用SDK接口获取图像数据

#include "../common/common.hpp"

#include "../common/RenderImage.hpp"

int main(int argc,char** argv)

{

MV3D_RGBD_VERSION_INFO stVersion;

ASSERT_OK( MV3D_RGBD_GetSDKVersion(&stVersion) );

ASSERT_OK(MV3D_RGBD_Initialize());

unsigned int nDevNum = 0;

ASSERT_OK(MV3D_RGBD_GetDeviceNumber(DeviceType_Ethernet | DeviceType_USB, &nDevNum));

LOGD("MV3D_RGBD_GetDeviceNumber success! nDevNum:%d.", nDevNum);

ASSERT(nDevNum);

// 查找设备

std::vector<MV3D_RGBD_DEVICE_INFO> devs(nDevNum);

ASSERT_OK(MV3D_RGBD_GetDeviceList(DeviceType_Ethernet | DeviceType_USB, &devs[0], nDevNum, &nDevNum));

for (unsigned int i = 0; i < nDevNum; i++)

{

LOG("Index[%d]. SerialNum[%s] IP[%s] name[%s].\r\n", i, devs[i].chSerialNumber, devs[i].SpecialInfo.stNetInfo.chCurrentIp, devs[i].chModelName);

}

//打开设备

void* handle = NULL;

unsigned int nIndex = 0;

ASSERT_OK(MV3D_RGBD_OpenDevice(&handle, &devs[nIndex]));

LOGD("OpenDevice success.");

// 开始工作流程

ASSERT_OK(MV3D_RGBD_Start(handle));

LOGD("Start work success.");

BOOL bExit_Main = FALSE;

RenderImgWnd depthViewer(768, 512, "depth");

MV3D_RGBD_FRAME_DATA stFrameData = {0};

while (!bExit_Main && depthViewer)

{

// 获取图像数据

int nRet = MV3D_RGBD_FetchFrame(handle, &stFrameData, 5000);

if (MV3D_RGBD_OK == nRet)

{

LOGD("MV3D_RGBD_FetchFrame success.");

RIFrameInfo depth = { 0 };

RIFrameInfo rgb = { 0 };

parseFrame(&stFrameData, &depth, &rgb);

depthViewer.RenderImage(depth);

}

//按任意键退出

if (_kbhit())

{

bExit_Main = TRUE;

}

ASSERT_OK(MV3D_RGBD_Stop(handle));

ASSERT_OK(MV3D_RGBD_CloseDevice(&handle));

ASSERT_OK(MV3D_RGBD_Release());

LOGD("Main done!");

return 0;

}

四、SDK接口列表

序号	接口名称	接口功能说明
1	MV3D_RGBD_GetSDKVersion(MV3D_RGBD_VERSION_INFO* pstVersion)	获取SDK版本号
2	MV3D_RGBD_Initialize()	SDK运行环境初始化
3	MV3D_RGBD_Release()	SDK运行环境释放
4	MV3D_RGBD_GetDeviceNumber(uint32_t nDeviceType, uint32_t* pDeviceNumber)	获取当前环境中设备数量
5	MV3D_RGBD_GetDeviceList(uint32_t nDeviceType, MV3D_RGBD_DEVICE_INFO* pstDeviceInfos, uint32_t nMaxDeviceCount, uint32_t* pDeviceCount);	获取设备列表
6	MV3D_RGBD_OpenDevice(HANDLE handle, MV3D_RGBD_DEVICE_INFO pstDeviceInfo = NULL)	打开设备
7	MV3D_RGBD_OpenDeviceByName(HANDLE handle, const char chDeviceName)	通过设备名称打开设备
8	MV3D_RGBD_OpenDeviceBySerialNumber(HANDLE handle, const char chSerialNumber)	通过序列号打开设备
9	MV3D_RGBD_OpenDeviceByIp(HANDLE handle, const char chIP)	通过IP打开设备,仅网口设备有效
10	MV3D_RGBD_CloseDevice(HANDLE *handle)	关闭设备
11	MV3D_RGBD_GetDeviceInfo(HANDLE handle, MV3D_RGBD_DEVICE_INFO* pstDevInfo)	获取当前设备的详细信息
12	MV3D_RGBD_SetIpConfig(const char* chSerialNumber, MV3D_RGBD_IP_CONFIG* pstIPConfig)	配置IP,仅网口设备有效
13	MV3D_RGBD_RegisterFrameCallBack(HANDLE handle, MV3D_RGBD_FrameDataCallBack cbOutput, void* pUser)	注册图像数据回调
14	MV3D_RGBD_RegisterExceptionCallBack(HANDLE handle, MV3D_RGBD_ExceptionCallBack cbException, void* pUser)	注册异常消息回调
15	MV3D_RGBD_Start(HANDLE handle)	开始工作
16	MV3D_RGBD_Stop(HANDLE handle)	停止工作
17	MV3D_RGBD_FetchFrame(HANDLE handle, MV3D_RGBD_FRAME_DATA* pstFrameData, uint32_t nTimeOut)	轮询方式获取帧数据
18	MV3D_RGBD_SoftTrigger(HANDLE handle)	执行设备软触发
19	MV3D_RGBD_Execute(HANDLE handle, const char* strKey)	执行设备Command命令
20	MV3D_RGBD_GetCalibInfo(HANDLE handle, uint32_t nCoordinateType, MV3D_RGBD_CALIB_INFO *pstCalibInfo)	获取相机当前标定信息
21	MV3D_RGBD_LocalUpgrade(HANDLE handle, const char* pFilePathName)	设备升级
22	MV3D_RGBD_GetUpgradeProcess(HANDLE handle, uint32_t* pProcess)	获取升级进度
23	MV3D_RGBD_GetParam(HANDLE handle, const char* strKey, MV3D_RGBD_PARAM* pstParam)	获取相机参数值
24	MV3D_RGBD_SetParam(HANDLE handle, const char* strKey, MV3D_RGBD_PARAM* pstParam)	设置相机参数值
25	MV3D_RGBD_ExportAllParam(HANDLE handle, const char* pOutFileName)	导出相机参数
26	MV3D_RGBD_ImportAllParam(HANDLE handle, const char* pInFileName)	导入相机参数
27	MV3D_RGBD_MapDepthToPointCloud(void* handle, MV3D_RGBD_IMAGE_DATA* pstDepthImage, MV3D_RGBD_IMAGE_DATA* pstPointCloudImage)	RGBD相机深度图像转换点云图像