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SmartRay_GrabPointCloud_WithTimeout


Header:ThirdPartySdk.h
Namespace:fil

Captures a point cloud with timeout using SmartRay.

Syntax

bool fil::SmartRay_GrabPointCloud_WithTimeout
(
	SmartRay_State& ioState,
	const ftl::String& inAddress,
	int inPort,
	int inConnectionTimeout,
	int inInputQueueSize,
	const ftl::Optional<int> inTimeout,
	float inTransportResolution,
	int inNumberOfProfiles,
	ftl::Optional<const ftl::File&> inCalibrationFile,
	const fil::SmartRayDataTrigger& inDataTrigger,
	ftl::Optional<bool> inSmartXccelerate,
	ftl::Optional<const fil::SmartRayRegionOfInterest&> inRegionOfInterest,
	ftl::Optional<const fil::SmartRayExposure&> inExposure,
	ftl::Optional<const fil::SmartRayLaser&> inLaser,
	ftl::Optional<const fil::SmartRayStartTrigger&> inStartTrigger,
	ftl::Optional<const fil::SmartRayReflectionFilter&> inReflectionFilter,
	ftl::Optional<const ftl::Array<int>&> inLaserLineThreshold,
	ftl::Conditional<fil::Point3DGrid>& outPointCloud,
	ftl::Conditional<fil::Image>& outIntensity,
	ftl::Conditional<fil::Image>& outLaserLineThickness
)

Parameters

Name Type Range Default Description
ioState SmartRay_State& Object used to maintain state of the function.
inAddress const String& \"192.168.178.200\" Device identifying address
inPort int 40 Device identifying network port
inConnectionTimeout int 1 - 1000 60 Timeout in seconds
inInputQueueSize int 1 - 200 4 Capacity of output frames queue
inTimeout const Optional<int> 100 Frame timeout in milliseconds
inTransportResolution float 0.0 - 1.0f Defines x-axis step for every profile
inNumberOfProfiles int 10 Number of profiles to capture
inCalibrationFile Optional<const File&> NIL Do not set file to load data from device internal memory
inDataTrigger const SmartRayDataTrigger&
inSmartXccelerate Optional<bool> NIL
inRegionOfInterest Optional<const SmartRayRegionOfInterest&> NIL
inExposure Optional<const SmartRayExposure&> NIL
inLaser Optional<const SmartRayLaser&> NIL
inStartTrigger Optional<const SmartRayStartTrigger&> NIL
inReflectionFilter Optional<const SmartRayReflectionFilter&> NIL
inLaserLineThreshold Optional<const Array<int>&> NIL
outPointCloud Conditional<Point3DGrid>&
outIntensity Conditional<Image>&
outLaserLineThickness Conditional<Image>&

Remarks

Device identification

inAddress can be used to pick one of multiple devices connected to the computer. inAddress can be set to:

  • IP Address - SmartRay Device identifying IP address (e.g. "127.0.0.1")

Camera driver software

This filter is intended to cooperate with a camera using its vendor SDK. To be able to connect to a camera, it is required to install SmartRay SDK software with camera dedicated drivers.

Add DLL path to system environment variable may be required.

Recommended SmartRay SDK version for FabImage Studio usage is 5.1.2.39.

Disable firewall software and set 192.168.178.100 static IP in your network interface may be needed.

SmartRay SDK may need Microsoft Visual C++ 2010 Redistributable Package for 64-bit architecture.

Camera parameters

Setting inInputQueueSize parameter to 'Auto' will select four value as input queue size.

All the other parameters exposed by camera filters are optional, setting them to 'Auto' leaves related parameter unchanged in camera (device default or user set configuration).

To change other, more advanced camera parameters, use specific filters.

Multithreaded environment

This function is not guaranteed to be thread-safe. When used in multithreaded environment, it has to be manually synchronized.

See Also