3.3. Camera Configuration

3.3.1. Obtain the Serial Number

Context context = new Context();
DeviceList deviceList = context.QueryDeviceList();
Device device = deviceList.GetDevice(0);
DeviceInfo deviceInfo = device.GetDeviceInfo();
// get device serial number
string serialNumber = deviceInfo.SerialNumber();

3.3.2. Obtain the Camera Intrinsic and Extrinsic Parameters

Pipeline pipeline = new Pipeline();
Config config = new Config();
config.EnableVideoStream(StreamType.OB_STREAM_DEPTH, 0, 0, 0, Format.OB_FORMAT_Y16);
config.EnableVideoStream(StreamType.OB_STREAM_COLOR, 0, 0, 0, Format.OB_FORMAT_RGB);
config.SetFrameAggregateOutputMode(FrameAggregateOutputMode.OB_FRAME_AGGREGATE_OUTPUT_ALL_TYPE_FRAME_REQUIRE);
pipeline.Start(config);
var profile_list = pipeline.GetStreamProfileList(SensorType.OB_SENSOR_COLOR);
// Get color_profile
var color_profile = profile_list.GetVideoStreamProfile(0,0, Format.OB_FORMAT_UNKNOWN,0);
profile_list = pipeline.GetStreamProfileList(SensorType.OB_SENSOR_DEPTH);
//Get depth_profile
var depth_profile = profile_list.GetVideoStreamProfile(0, 0, Format.OB_FORMAT_UNKNOWN, 0);
//Get external parameters
var extrinsic = depth_profile.GetExtrinsicTo(color_profile);
Console.WriteLine($"extrinsic={extrinsic}");
//Get depth inernal parameters
var depth_intrinsics = depth_profile.GetIntrinsic();
Console.WriteLine($"depth_intrinsics={depth_intrinsics}");
//Get depth distortion parameter
var depth_distortion = depth_profile.GetDistortion();
Console.WriteLine($"depth_distortion={depth_distortion}");
//Get color internala parameters
var color_intrinsics = color_profile.GetIntrinsic();
Console.WriteLine($"color_intrinsics={color_intrinsics}");
//Get color distortion parameter
var color_distortion = color_profile.GetDistortion();
Console.WriteLine($"color_distortion={color_distortion}");

3.3.3. Open Device

Method 1: Obtain the specified device by specifying the index number of the enumerated device list.

Context context = new Context();
DeviceList deviceList = context.QueryDeviceList();
Device device = deviceList.GetDevice(0);

Method 2: Obtain the specified device by specifying the SN of the enumerated device list.

Context context = new Context();
DeviceList deviceList = context.QueryDeviceList();
// For example, obtain the device whose SN number is "CP1S34D0004S".
Device device = deviceList.GetDeviceBySN("CP1S34D0004S");

Method 3: Obtain the specified device by specifying the UID of the enumerated device list.

Context context = new Context();
DeviceList deviceList = context.QueryDeviceList();
// For example, the device with uid f7da3fb.
Device device = deviceList.GetDeviceByUid("f7da3fb");

Method 4: Get device through pipiline

Pipeline pipeline = new Pipeline();
Device device = pipeline.GetDevice();

3.3.4. Device Reboot

Context context = new Context();
DeviceList deviceList = context.QueryDeviceList();
// get device
Device device = deviceList.GetDevice(0);
// reboot device
device.Reboot();

3.3.5. Laser Switch

Notes: The instruction for switching lasers of the Gemini 330 series is: PropertyId.OB_PROP_LASER_CONTROL_INT.

3.3.6. LDP Switch

Pipeline pipeline = new Pipeline();
var device = pipeline.GetDevice();
//#True：turn on LDP，False：turn off LDP
device.SetBoolProperty(PropertyId.OB_PROP_LDP_BOOL, true);

3.3.7. Obtain LDP Protection Measurements

Pipeline pipeline = new Pipeline();
Device device = pipeline.GetDevice();
int distance = device.GetIntProperty(PropertyId.OB_PROP_LDP_MEASURE_DISTANCE_INT);
Console.WriteLine(distance);

3.3.8. Obtain LDP Protection Status

Pipeline pipeline = new Pipeline();
Device device = pipeline.GetDevice();
// Return value true:Trigger LDP protection
bool ldpStatus = device.GetBoolProperty(PropertyId.OB_PROP_LDP_STATUS_BOOL);
Console.WriteLine(ldpStatus);

3.3.9. Device Time Synchronization

Device Timing: sets the host time to the device.

Gemini 2/2L, Gemini 330 series, Femto Mega、Femto Bolt support device timing.

If only a single device is connected, the following interface can be called:

Pipeline pipeline = new Pipeline();
Device device = pipeline.GetDevice();
device.TimerSyncWithHost();

If multiple devices are connected at the same time, the following interfaces can be called:

Context context = new Context();
// Parameter: The interval for auto-repeated synchronization, in milliseconds. If the value is 0, synchronization is performed only once.
context.EnableDeviceClockSync(60000);