C++ 程序员指南#

using namespace Pylon;
GenApi::INodeMap& nodemap = camera.GetNodeMap();
CIntegerParameter depthSeg(nodemap, "BslDepthSeg" );
std::cout << "Segmentation: " << depthSeg.GetValue() << std::endl;

#include <pylon/PylonIncludes.h>
#include <pylon/StereoAceInstantCamera.h>
using namespace Pylon;

// ...

// Before using any pylon methods, the pylon runtime must be initialized.
PylonInitialize();

try {
    // 1: Create a camera object for the first available Stereo ace camera.
    CUniversalInstantInterface instantInterface(
        CInterfaceInfo().SetDeviceClass(Pylon::BaslerGenTlStaDeviceClass));
    CStereoAceInstantCamera camera(instantInterface.CreateFirstDevice());

    // 2. Register a default configuration if available (see samples).
    // camera.RegisterConfiguration(...);

    // 3. Open the camera, i.e., establish a connection to the camera device.
    camera.Open();

    // Use the camera.
    std::cout << "Connected to camera "
        << camera.GetDeviceInfo().GetFriendlyName() << std::endl;
    // ...

    // Close the connection.
    camera.Close();
} catch (const GenICam::GenericException& e) {
    std::cerr << "Exception occurred: " << std::endl
        << e.GetDescription() << std::endl;
}

// Releases all pylon resources.
PylonTerminate();

CUniversalInstantInterface instantInterface(
    CInterfaceInfo().SetDeviceClass(Pylon::BaslerGenTlStaDeviceClass));
CStereoAceInstantCamera camera(instantInterface.CreateFirstDevice());

CUniversalInstantInterface instantInterface(
    CInterfaceInfo().SetDeviceClass(Pylon::BaslerGenTlStaDeviceClass));
CStereoAceInstantCamera camera(instantInterface.CreateFirstDevice(
    CDeviceInfo().SetSerialNumber("40410842")));

CUniversalInstantInterface instantInterface(
    CInterfaceInfo().SetDeviceClass(Pylon::BaslerGenTlStaDeviceClass));
CStereoAceInstantCamera camera(instantInterface.CreateFirstDevice(
    CDeviceInfo().SetUserDefinedName("MyCamera")));

#include <pylon/PylonIncludes.h>
#include <pylon/StereoAceInstantCamera.h>
#include <ostream>
using namespace Pylon;

// ....

// Before using any pylon methods, the pylon runtime must be initialized.
PylonInitialize();

// ....

// Enumerate all Stereo ace cameras.
CTlFactory& TlFactory = CTlFactory::GetInstance();
DeviceInfoList_t lstDevices;
DeviceInfoList_t filter;
filter.push_back(CDeviceInfo().SetDeviceClass(BaslerGenTlStaDeviceClass));
TlFactory.EnumerateDevices(lstDevices, filter);
if (!lstDevices.empty()) {
    DeviceInfoList_t::const_iterator it;
    for (it = lstDevices.begin(); it != lstDevices.end(); ++it) {
        std::cout << it->GetFullName();

        // Open camera, i.e., establish a connection to the camera device.
        CStereoAceInstantCamera camera(CTlFactory::GetInstance().CreateDevice(*it));
        // Optionally register configuration(s) here.
        camera.Open();

        // Print out some information.
        std::cout << "Connected to camera "
            << camera.GetDeviceInfo().GetFriendlyName() << std::endl;
        std::cout << "IP Address: "
            << camera.GevCurrentIPAddress.GetValue() << std::endl;
        std::cout << "User-defined name: "
            << camera.DeviceUserID.GetValue() << std::endl;
        std::cout << "Serial Number: "
            << camera.DeviceSerialNumber.GetValue() << std::endl;
}  // The connection will be closed automatically when leaving the scope here.
else {
    std::cerr << "No devices found!" << std::endl;
}

// Include files to use the pylon API
#include <pylon/PylonIncludes.h>
#include <pylon/StereoAceInstantCamera.h>

// Namespaces for using the pylon API and the Stereo ace camera parameters
using namespace Pylon;
using namespace StereoAceCameraParams_Params;


// Set the exposure time of the camera.
camera.ExposureTime.SetValue(5000); // us

// Set the gain.
camera.Gain.SetValue(0.0);

// Set the illumination mode (e.g., AlwaysActive, AlternateActive, Off).
camera.BslIlluminationMode.SetValue(BslIlluminationMode_AlwaysActive);

// Set the illumination strength (0.0 ... 1.0).
camera.BslIlluminationStrength.SetValue(1.0);

// Set the minimum and maximum depth for the working area.
camera.BslDepthMinDepth.SetValue(200); // mm
camera.BslDepthMaxDepth.SetValue(2000); // mm

// Set the output resolutions.
CEnumParameter(camera.GetNodeMap(), "BslDepthResolution").SetValue("High");
CEnumParameter(camera.GetNodeMap(), "BslIntensityResolution").SetValue("Full");

// The producer derives the internal binning and scaling settings automatically.

// Print out current parameter values.
std::cout << "Exposure Time            : "
    << camera.ExposureTime.GetValue() << std::endl;
std::cout << "Gain                     : "
    << camera.Gain.GetValue() << std::endl;
std::cout << "Illumination Mode        : "
    << camera.BslIlluminationMode.GetValue() << std::endl;
std::cout << "Illumination Strength    : "
    << camera.BslIlluminationStrength.GetValue() << std::endl;
std::cout << "Min Depth                : "
    << camera.BslDepthMinDepth.GetValue() << std::endl;
std::cout << "Max Depth                : "
    << camera.BslDepthMaxDepth.GetValue() << std::endl;
std::cout << "Depth Resolution         : "
    << CEnumParameter(camera.GetNodeMap(), "BslDepthResolution").ToString() << std::endl;
std::cout << "Intensity Resolution     : "
    << CEnumParameter(camera.GetNodeMap(), "BslIntensityResolution").ToString() << std::endl;

// Enable disparity maps by enabling the Disparity component and setting the
// appropriate pixel format.
camera.ComponentSelector.SetValue(ComponentSelector_Disparity);
camera.ComponentEnable.SetValue(true);

#include <pylon/PylonIncludes.h>
#include <pylon/StereoAceInstantCamera.h>

using namespace Pylon;
using namespace StereoAceCameraParams_Params;


PylonInitialize();

CUniversalInstantInterface instantInterface(
    CInterfaceInfo().SetDeviceClass(Pylon::BaslerGenTlStaDeviceClass));
CStereoAceInstantCamera camera(instantInterface.CreateFirstDevice());
camera.Open();

size_t nBuffersGrabbed = 0;

// This smart pointer will receive the grab result data.
CGrabResultPtr ptrGrabResult;

camera.StartGrabbing();

while (camera.IsGrabbing() && nBuffersGrabbed < 10) {
    // Wait for an image and then retrieve it. A timeout of 1000 ms is used.
    camera.RetrieveResult(1000, ptrGrabResult, TimeoutHandling_ThrowException);

    // Data grabbed successfully?
    if (ptrGrabResult->GrabSucceeded()) {
        nBuffersGrabbed++;
        // Access the data.
        // ...existing code...
    } else {
        // Error handling
        std::cerr << "Grab error occurred: "
            << ptrGrabResult->GetErrorDescription() << std::endl;
    }
}
// Clean-up
camera.StopGrabbing();
camera.Close();

if (ptrGrabResult->GrabSucceeded()) {
    const auto intensityComponent =
        ptrGrabResult->GetFirstImageDataComponent(
            EComponentType::ComponentType_Intensity, 0, false);
    if (!intensityComponent.IsValid()) {
        throw std::runtime_error(
            "Buffer doesn't contain an intensity component.");
    }

    const auto disparityComponent =
        ptrGrabResult->GetFirstImageDataComponent(
            EComponentType::ComponentType_Disparity, 0, false);
    if (!disparityComponent.IsValid()) {
        throw std::runtime_error(
            "Buffer doesn't contain a disparity component.");
    }

} else {
    std::cerr << "Grab error: " << ptrGrabResult->GetErrorCode() << " "
              << ptrGrabResult->GetErrorDescription() << std::endl;
}