About
API
C
C++
CLI
Python
Halcon
ROS
Tree
Commands
Guides
Hardware Specification
AddPatternBufferView
Parameters
Filter
Name
AdjustExposureAndGain
Parameters
AdjustExposure
AdjustGain
Apply
Brightness
Cameras
Exposure
Gain
Result
Exposure
Gain
Break
Calibrate
Parameters
Background
Cameras
PatternCount
StereoCalibrationOnly
Threads
Result
Progress
MonocularCalibration
StereoCalibration
CalibrateHandEye
Parameters
Angles
0
0
1
…
1
0
1
…
…
Cameras
Fixed
Link
Rotation
Translation
PatternPose
Rotation
Translation
Scaling
Iterations
Link
Links
0
1
…
MeasureCalibration
PatternPose
Poses
Scaling
Setup
Target
Threads
Tolerance
Transformations
0
1
…
Result
Angles
Iterations
Link
PatternPose
PoseError
Progress
Iterations
Residual
Residual
CalibrateWorkspace
Parameters
AlignAxis
Cameras
DefinedPose
Offset
PatternPose
Target
Type
Capture
Parameters
Cameras
ClearImageBufferOnTrigger
FinalTrigger
ImageSet
InitialTrigger
Operation
Threads
Timeout
WaitFor
WaitForProjector
Result
120001
CaptureEvents
0
Message
Symbol
Timestamp
…
FinalTrigger
InitialTrigger
PacketsResent
Retrieved
Detail
Trigger Terms and Definitions
Triggering
Triggered State
Capture Phases
Camera Order
Error Symbols
ChainTransformations
Parameters
Transformations
Result
Transformation
ClearImageBuffer
Parameters
Cameras
ClearImages
Parameters
Cameras
DisparityMap
Normals
PointMap
Raw
Rectified
ClearOverlay
Parameters
Cameras
ShowRectifiedArea
Close
Parameters
Cameras
Threads
Unsafe
CollectPattern
Parameters
Blur
Buffer
Cameras
DecodeData
Direction
Downsample
DrawAxes
Filter
HUD
MarkOnly
Projector
Refinement
ReturnAllPattern
ShowObjectPoints
Threads
UpdateGlobalPatternData
Result
GlobalPatternDataUpdated
Patterns
Stereo
0
GridSize
GridSpacing
Left
Brightness
Contrast
Transformation
Offset
Right
Brightness
Contrast
Transformation
Thickness
Type
1
…
ComputeDisparityMap
Parameters
Cameras
CUDA
Device
Enabled
UseFloat16
Threads
ComputeImageContrast
Parameters
Cameras
Region
Left
Right
Threads
UseBufferedPatterns
Result
120001
Contrast
Left
0
1
…
Right
0
1
…
ComputeNormals
Parameters
Cameras
CUDA
Device
Enabled
Radius
Threads
ComputePointMap
Parameters
Cameras
Threads
ComputeTexture
Parameters
Cameras
Left
Right
Threads
ConvertTransformation
Parameters
SplitRotation
Transformation
Result
Transformation
Transformations
CreateCamera
Parameters
Baseline
CalibrationFile
FolderPath
HalfVergence
Lens
ModelName
PatternType
ProjectorPower
Sensor
SerialNumber
DeleteCamera
Parameters
Cameras
DiscardPatterns
Parameters
Cameras
EstimateDisparitySettings
Parameters
Cameras
Threads
Result
120001
MinimumDisparity
NumberOfDisparities
EstimatePatternPose
Parameters
Average
DrawAxes
EstimateGridSpacing
Filter
Pose
Recalibrate
Relative
ReprojectionErrorScale
Threads
Type
Result
Patterns
0
EpipolarError
GridSize
GridSpacing
Left
ReprojectionError
PatternPose
PoseError
RayDistanceError
ReprojectionError
Right
ReprojectionError
TriangulationError
Type
…
EthernetConfiguration
Parameters
Blind
Cameras
Configuration
0
Gateway
IpAddress
IpSubnetMask
Left
Gateway
IpAddress
IpSubnetMask
Method
Method
Projector
Gateway
IpAddress
IpSubnetMask
Method
Right
Gateway
IpAddress
IpSubnetMask
Method
…
MacAddresses
FilterPatternBuffer
Parameters
Filter
FitPrimitive
Primitive Search Parameters
Parameters
BoundingBox
Cameras
FailureProbability
InlierFraction
InlierThreshold
Iterations
Normal
Radius
Primitive
0 (Plane example)
Type
1 (Sphere example)
Count
Radius
Max
Min
Type
2 (Cylinder example)
Radius
Max
Min
Type
…
Scaling
Threads
Result
Primitive
0
Index
1
2
…
Flash
Parameters
Cameras
FrontLight
Glow
Projector
GenerateCalibrationPattern
Parameters
Encoding
Filename
ImageSize
Patterns
0
GridSpacing
Offset
0
1
Text
Thickness
…
Result
0
…
GetModelInfo
Parameters
Cameras
Disparity
Distance
MinimumDisparity
ModelName
NumberOfDisparities
WorldCoordinates
Result
Blur
Disparity
DisparityAccuracy
Distance
FocalLength
FocusDistance
LeftBottom
LeftTop
Pattern
GridSize
GridSpacing
OuterSize
Thickness
PixelPitch
PixelSize
RightBottom
RightTop
Vergence
GetPatternBuffer
Parameters
Filter
Result
Patterns
GetRawCalibrationData
Parameters
Cameras
Result
Calibration
GetSensorTags
Parameters
Cameras
Result
Left
Right
InternalPwm
Parameters
Cameras
DutyCycle
Frequency
Output
LED
Left
Result
120001
DutyCycle
Frequency
LoadCalibration
Parameters
Calibration
Cameras
GenerateEmptyCalibration
Result
EepromFormat
LoadImage
Parameters
Filename
ForceGrayscale
Node
LoadUEyeParameterSet
Parameters
Cameras
Filename
MeasureCalibration
Parameters
Direction
Filter
Index
ReprojectionErrorScale
Result
PatternPose
Patterns
0
PatternPose
ReprojectionError
1
PatternPose
ReprojectionError
…
ReprojectionError
Open
Parameters
BandwidthLimit
Automatic
ReserveFactor
Cameras
FirmwareUpload
Camera
Projector
KeepAliveTimeout
LoadCalibration
Projector
Threads
WiringTest
PartFinder
Parameters
Angle
AngularResolution
BoundingBox
Camera
Cameras
Cluster
Count
MaximumClusterSize
MinimumAspectRatio
MinimumLeadingScore
Scaling
CombinedScore
CompressModel
CoverageDistanceThreshold
CoverageScore
Distance
DistanceRatio
Duplication
Scaling
ExcludeObjects
Function
Hypothesis
Count
Score
InPlaneAngularResolution
Model
ModelId
ModelPath
Objects
RefineCombined
Iterations
Refinement
Refine3D
RelativeModelSamplingDistance
Subsampling
Supplementary
Texture
Threads
ViewPoints
Result
Camera
Distance
Far
Hypothesis
Count
ModelId
Models
0
Angle
AngularResolution
Distance
Filename
InPlaneAngularResolution
ModelId
RelativeModelSamplingDistance
Subsampling
TemplateCount
Texture
ViewPoints
…
Near
Objects
0
Coverage
Score
Texture
ViewPointIndex
…
PointMap
Supplementary
Texture
Functions
Function overview
Function description
PatternBufferInfo
Parameters
ConnectedCameras
Filter
Result
ConnectedCameras
0
0
…
…
Count
PatternCount
ProjectPattern
Parameters
Cameras
GridSize
GridSpacing
PatternPose
Rectified
Threads
Result
Corners
Pattern
GridSize
GridSpacing
Points
Left
0
1
…
Right
0
1
…
Stereo
Pattern
GridSize
GridSpacing
Points
Left
0
1
…
Right
0
1
…
Recalibrate
Parameters
Cameras
Filter
Result
120001
Epipolar
OpticalAxis
Patterns
Vergence
RectifyImages
Parameters
Cameras
CUDA
Device
Enabled
Threads
ReducePatternBuffer
Parameters
Count
Mode
Result
Reduced
RemovePatternBufferView
Parameters
Name
RenderPointMap
Parameters
Camera
Cameras
Far
FillXYCoordinates
Near
PixelSize
Scaling
Size
Texture
Threads
UseOpenGL
ViewPose
ZBufferOnly
Error Symbols
Rendering Methods
Rendering with OpenGL on the GPU
Rendering on the CPU
Comparison of rendering methods
RenderView
Parameters
Cameras
Far
Near
PatternPose
PointCloud
BillboardSize
ColoringMode
ColorOffset
ColorRepetitionDistance
PointSize
RenderingMode
Primitive
ShowCameras
ShowGrid
ShowNormals
ShowSurface
ShowUserDefinedModels
Size
SurfaceConnectivity
Threads
ViewPose
Retrieve
Parameters
Cameras
Operation
Threads
Timeout
Result
120001
CaptureEvents
0
Message
Symbol
Timestamp
…
PacketsResent
Retrieved
SaveImage
Parameters
Filename
Node
SaveModel
Parameters
Cameras
Filename
Texture
Threads
SetPatternBuffer
Parameters
Patterns
SetStatusLeds
SimulatePhysics
Parameters
ResetClock
Time
StoreCalibration
Parameters
Calibration
Cameras
DynamicOffsets
Force
Link
Synchronize
Parameters
Cameras
Nodes
Description of Synchronization Procedure
Examples
When to use the Synchronize command
Commands with Exlusive Hardware Access
Use Case
Trigger
Parameters
Cameras
ClearImageBufferOnTrigger
ImageSet
Subset
Threads
WaitForProjector
Result
120001
Triggered
UpdateFirmware
Parameters
Camera
Cameras
Filename
Projector
VisualizePatternBuffer
Parameters
Cameras
Filter
Wifi
Parameters
Command
Default
Passphrase
Ssid
Commands - Ensenso SDK
»
UpdateFirmware
»
Parameters
Parameters
¶
Required
Cameras
Optional
Camera
Filename
Projector
Version
Other Versions