samples: update mecheye_cpp_samples to SDK 2.6.0

area_scan_3d_camera/Advanced/CaptureDepthSource2DImage/CMakeLists.txt

@@ -0,0 +1,45 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(CaptureDepthSource2DImage)
+
+set(CMAKE_CXX_STANDARD 14)
+
+set(Files ${PROJECT_SOURCE_DIR}/CaptureDepthSource2DImage.cpp)
+
+if(CMAKE_HOST_WIN32)
+  find_package(MechEyeApi REQUIRED CONFIG PATHS "$ENV{MECHEYE_DIR}/API")
+  if(NOT MechEyeApi_FOUND)
+    message(
+      FATAL_ERROR "MechEyeApi not found. Please install MechEyeApi first.")
+  endif()
+elseif(CMAKE_HOST_UNIX)
+  find_package(PkgConfig)
+  if(NOT PkgConfig_FOUND)
+    message(FATAL_ERROR "PkgConfig not found.")
+  else()
+    pkg_check_modules(MECHEYEAPI REQUIRED MechEyeApi)
+    if(NOT MECHEYEAPI_FOUND)
+      message(
+        FATAL_ERROR "MechEyeApi not found. Please install MechEyeApi first.")
+    endif()
+  endif()
+endif()
+
+# OpenCV_DIR: set as your OpenCV libraries directory; Uncomment next line to set
+# OpenCV_DIR manually
+
+# set(OpenCV_DIR  "path to OpenCV directory")
+find_package(OpenCV REQUIRED)
+if(NOT OpenCV_FOUND)
+  message(
+    FATAL_ERROR
+      "OpenCV not found. Please point OpenCV_DIR to the directory of your OpenCV installation (containing the file OpenCVConfig.cmake)."
+  )
+endif()
+
+include_directories(${MECHEYEAPI_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
+link_directories(${MECHEYEAPI_LIBRARY_DIRS} ${OpenCV_LIBRARY_DIRS})
+
+add_executable(${PROJECT_NAME} ${Files})
+
+target_link_libraries(${PROJECT_NAME} ${MECHEYEAPI_LIBRARIES} ${OpenCV_LIBS})

area_scan_3d_camera/Advanced/CaptureDepthSource2DImage/CaptureDepthSource2DImage.cpp

@@ -0,0 +1,83 @@
+/*******************************************************************************
+ *BSD 3-Clause License
+ *
+ *Copyright (c) 2016-2025, Mech-Mind Robotics Technologies Co., Ltd.
+ *All rights reserved.
+ *
+ *Redistribution and use in source and binary forms, with or without
+ *modification, are permitted provided that the following conditions are met:
+ *
+ *1. Redistributions of source code must retain the above copyright notice, this
+ *   list of conditions and the following disclaimer.
+ *
+ *2. Redistributions in binary form must reproduce the above copyright notice,
+ *   this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ *
+ *3. Neither the name of the copyright holder nor the names of its
+ *   contributors may be used to endorse or promote products derived from
+ *   this software without specific prior written permission.
+ *
+ *THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ *AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ *IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ *FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ *DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ *SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ *OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ *OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ ******************************************************************************/
+
+/*
+With this sample, you can obtain and save the 2D image from the depth source camera.
+*/
+
+#include <opencv2/opencv.hpp>
+#include "area_scan_3d_camera/Camera.h"
+#include "area_scan_3d_camera/api_util.h"
+
+int main()
+{
+    mmind::eye::Camera camera;
+    if (!findAndConnect(camera))
+        return -1;
+
+    mmind::eye::Frame2D frame2D;
+    auto errorStatus = camera.captureDepthSource2D(frame2D);
+    if (!errorStatus.isOK()) {
+        showError(errorStatus);
+        return -1;
+    }
+
+    cv::Mat image2D;
+    const std::string imageFile = "DepthSource2DImage.png";
+
+    switch (frame2D.colorType()) {
+    case mmind::eye::ColorTypeOf2DCamera::Monochrome:
+    {
+        mmind::eye::GrayScale2DImage grayImage = frame2D.getGrayScaleImage();
+        image2D = cv::Mat(grayImage.height(), grayImage.width(), CV_8UC1, grayImage.data());
+        break;
+    }
+    case mmind::eye::ColorTypeOf2DCamera::Color:
+    {
+        mmind::eye::Color2DImage colorImage = frame2D.getColorImage();
+        image2D = cv::Mat(colorImage.height(), colorImage.width(), CV_8UC3, colorImage.data());
+        break;
+    }
+    default:
+        std::cerr << "The depth source 2D image has an unsupported pixel type." << std::endl;
+        camera.disconnect();
+        return -1;
+    }
+
+    cv::imwrite(imageFile, image2D);
+    std::cout << "Capture and save the 2D image from the depth source camera: " << imageFile
+              << std::endl;
+
+    camera.disconnect();
+    std::cout << "Disconnected from the camera successfully." << std::endl;
+    return 0;
+}

area_scan_3d_camera/Advanced/CaptureDepthSource2DImage/README.md

@@ -0,0 +1,120 @@
+# CaptureDepthSource2DImage Sample
+
+With this sample, you can obtain and save the 2D image from the depth source camera.
+
+> Note: This sample is only applicable to camera models with an external 2D camera, such as ULTRA M and NANO ULTRA models that provide a dedicated depth source 2D image.
+
+If you have any questions or have anything to share, feel free to post on the [Mech-Mind Online Community](https://community.mech-mind.com/). The community also contains a [specific category for development with Mech-Eye SDK](https://community.mech-mind.com/c/mech-eye-sdk-development/19).
+
+## Build the Sample
+
+Prerequisites and instructions for building the sample on Windows and Ubuntu are provided.
+
+### Windows
+
+#### Prerequisites
+
+The following software are required to build this sample. Please download and install these software.
+
+* [Mech-Eye SDK (latest version)](https://downloads.mech-mind.com/?tab=tab-sdk)
+* [Visual Studio (version 2017 or above)](https://visualstudio.microsoft.com/vs/community/)
+* [CMake (version 3.2 or above)](https://cmake.org/download/)
+* [OpenCV (version 3.4.5 or above)](https://opencv.org/releases/)
+
+#### Instructions
+
+1. Make sure that the sample is stored in a location with read and write permissions.
+2. Add the following directories to the **Path** environment variable:
+
+   * `xxx/opencv/build/x64/vc14/bin`
+   * `xxx/opencv/build/x64/vc14/lib`
+
+3. Run Cmake and set the source and build paths:
+
+   | Field                       | Path                                 |
+   | :----                       | :----                                |
+   | Where is the source code    | xxx/CaptureDepthSource2DImage        |
+   | Where to build the binaries | xxx/CaptureDepthSource2DImage/build  |
+
+4. Click the **Configure** button. In the pop-up window, set the generator and platform according to the actual situation, and then click the **Finish** button.
+5. When the log displays **Configuring done**, click the **Generate** button. When the log displays **Generating done**, click the **Open Project** button.
+6. In Visual Studio toolbar, change the solution configuration from **Debug** to **Release**.
+7. In the **Solution Explorer** panel, right-click the sample, and select **Set as Startup Project**.
+8. Click the **Local Windows Debugger** button in the toolbar to run the sample.
+9. Enter the index of the camera to which you want to connect, and press the Enter key. The obtained file is saved to the `build` folder.
+
+### Ubuntu
+
+Ubuntu 18 or above is required.
+
+#### Prerequisites
+
+* Update the software source list.
+
+  ```bash
+  sudo apt-get update
+  ```
+
+* Install required tools.
+
+  ```bash
+  sudo apt-get install -y build-essential pkg-config cmake
+  ```
+
+* Install [Mech-Eye SDK (latest version)](https://downloads.mech-mind.com/?tab=tab-sdk).
+
+  >Note: If you have installed Mech-Eye SDK before, please uninstall it first with the following command:
+  >
+  >```bash
+  >sudo dpkg -P MechEyeApi
+  >```
+
+  * If the system architecture is AMD64, execute the following command:
+
+    ```bash
+    sudo dpkg -i 'Mech-Eye_API_x.x.x_amd64.deb'
+    ```
+
+  * If the system architecture is ARM64, execute the following command:
+
+    ```bash
+    sudo dpkg -i 'Mech-Eye_API_x.x.x_arm64.deb'
+    ```
+
+* Install third-party libraries: OpenCV is required.
+
+  * Install OpenCV (latest version):
+
+    ```bash
+    sudo apt update && sudo apt install -y unzip
+    wget -O opencv.zip https://github.com/opencv/opencv/archive/4.x.zip
+    unzip opencv.zip
+    mkdir build && cd build
+    cmake ../opencv-4.x
+    cmake --build .
+    sudo make install
+    ```
+
+#### Instructions
+
+1. Navigate to the directory of the sample.
+
+   ```bash
+   cd xxx/area_scan_3d_camera/Advanced/CaptureDepthSource2DImage/
+   ```
+
+2. Configure and build the sample.
+
+   ```bash
+   sudo mkdir build && cd build
+   sudo cmake ..
+   sudo make
+   ```
+
+3. Run the sample.
+
+   ```bash
+   sudo ./CaptureDepthSource2DImage
+   ```
+
+4. Enter the index of the camera to which you want to connect, and press the Enter key. The obtained file is saved to `/CaptureDepthSource2DImage/build`.

area_scan_3d_camera/CMakeLists.txt

@@ -12,6 +12,9 @@ endif()
 
 option(USE_OPENCV "Enable samples which depend on OpenCV" ON)
 option(USE_PCL "Enable samples which depend on Point Cloud Library (PCL)" ON)
+if(CMAKE_HOST_WIN32)
+  add_definitions(-DNOMINMAX)
+endif()
 if(CMAKE_HOST_SYSTEM_PROCESSOR MATCHES "aarch64")
   set(USE_HALCON FALSE)
   add_compile_options(-mno-outline-atomics)
@@ -28,6 +31,7 @@ set(SAMPLES
     Basic/CapturePointCloud
     Basic/CapturePointCloudWithNormals
     Basic/SaveVirtualDevice
+    Advanced/CaptureDepthSource2DImage
     Advanced/CaptureStereo2DImages
     Advanced/RenderDepthMap
     Advanced/ConvertDepthMapToPointCloud
@@ -60,6 +64,7 @@ set(PCL_DEPENDING
 
 set(OpenCV_DEPENDING
     Capture2DImage
+  CaptureDepthSource2DImage
     CaptureDepthMap
     RenderDepthMap
     CaptureStereo2DImages

area_scan_3d_camera/Calibration/HandEyeCalibration/HandEyeCalibration.cpp

@@ -39,6 +39,7 @@ complete hand-eye calibration.
 #include "area_scan_3d_camera/Camera.h"
 #include "area_scan_3d_camera/api_util.h"
 #include "HandEyeCalibrationUtil.h"
+#include <iomanip>
 #include <opencv2/highgui/highgui.hpp>
 
 int main()
@@ -197,6 +198,19 @@ int main()
             }
             break;
         }
+        case CommandType::GetCurrentImageFirstCorner:
+        {
+            mmind::eye::PointXYZ corner;
+            mmind::eye::ErrorStatus status =
+                calibration.extractCurrentImageFirstCorner(camera, corner);
+            showError(status);
+            if (status.isOK()) {
+                std::cout << "The first corner is: " << std::fixed << std::setprecision(3)
+                          << corner.x << ", " << corner.y << ", " << corner.z
+                          << std::endl;
+            }
+            break;
+        }
         case CommandType::Unknown:
         {
             std::cout << "Error: Unknown command" << std::endl;

area_scan_3d_camera/Calibration/HandEyeCalibration/HandEyeCalibrationUtil.h

@@ -10,7 +10,14 @@
 
 #define PI 3.14159265
 namespace {
-enum class CommandType { AddPose, Calibrate, GetPatternImg, GetOriginImg, Unknown };
+enum class CommandType {
+    AddPose,
+    Calibrate,
+    GetPatternImg,
+    GetOriginImg,
+    GetCurrentImageFirstCorner,
+    Unknown
+};
 // Obtain keyboard input.
 std::string getInputCommand()
 {
@@ -121,6 +128,7 @@ CommandType enterCommand()
     std::cout << "T: obtain the 2D image with feature recognition result" << std::endl;
     std::cout << "A: enter the current robot pose" << std::endl;
     std::cout << "C: calculate extrinsic parameters" << std::endl;
+    std::cout << "F: obtain the first corner of current image" << std::endl;
     const auto command = getInputCommand();
     if (command == "P" || command == "p") {
         return CommandType::GetOriginImg;
@@ -134,6 +142,9 @@ CommandType enterCommand()
     if (command == "C" || command == "c") {
         return CommandType::Calibrate;
     }
+    if (command == "F" || command == "f") {
+        return CommandType::GetCurrentImageFirstCorner;
+    }
     return CommandType::Unknown;
 }
 

area_scan_3d_camera/README.md

@@ -34,7 +34,11 @@ The sample marked with `(HALCON)` requires [HALCON](https://www.mvtec.com/downlo
     Set multiple exposure times, and then obtain and save the point cloud.
   * [CapturePointCloudWithNormals](https://github.com/MechMindRobotics/mecheye_cpp_samples/tree/master/area_scan_3d_camera/Basic/CapturePointCloudWithNormals)  
     Calculate normals and save the point cloud with normals.
+  * [SaveVirtualDevice](https://github.com/MechMindRobotics/mecheye_cpp_samples/tree/master/area_scan_3d_camera/Basic/SaveVirtualDevice) `(OpenCV)`  
+    Save the data acquired by the camera as a virtual device file.
 * **Advanced**
+  * [CaptureDepthSource2DImage](https://github.com/MechMindRobotics/mecheye_cpp_samples/tree/master/area_scan_3d_camera/Advanced/CaptureDepthSource2DImage) `(OpenCV)`
+    Obtain and save the 2D image from the depth source camera.
   * [ConvertDepthMapToPointCloud](https://github.com/MechMindRobotics/mecheye_cpp_samples/tree/master/area_scan_3d_camera/Advanced/ConvertDepthMapToPointCloud)  
     Generate a point cloud from the depth map and save the point cloud.
   * [MultipleCamerasCaptureSequentially](https://github.com/MechMindRobotics/mecheye_cpp_samples/tree/master/area_scan_3d_camera/Advanced/MultipleCamerasCaptureSequentially) `(OpenCV)`  
@@ -43,6 +47,8 @@ The sample marked with `(HALCON)` requires [HALCON](https://www.mvtec.com/downlo
     Obtain and save 2D images, depth maps, and point clouds simultaneously from multiple cameras.
   * [CapturePeriodically](https://github.com/MechMindRobotics/mecheye_cpp_samples/tree/master/area_scan_3d_camera/Advanced/CapturePeriodically) `(OpenCV)`  
     Obtain and save 2D images, depth maps, and point clouds periodically for the specified duration from a camera.
+  * [WarmUp](https://github.com/MechMindRobotics/mecheye_cpp_samples/tree/master/area_scan_3d_camera/Advanced/WarmUp) `(OpenCV)`  
+    Warm up the device.
   * [Mapping2DImageToDepthMap](https://github.com/MechMindRobotics/mecheye_cpp_samples/tree/master/area_scan_3d_camera/Advanced/Mapping2DImageToDepthMap)  
     Generate untextured and textured point clouds from a masked 2D image and a depth map.
   * [RenderDepthMap](https://github.com/MechMindRobotics/mecheye_cpp_samples/tree/master/area_scan_3d_camera/Advanced/RenderDepthMap) `(OpenCV)`