C++

Description

The C++ SDK utilizes three open-source libraries for easy integration:

HTTP/HTTPS library https://github.com/yhirose/cpp-httplib Used for making HTTP requests.
JSON for Modern C++ https://github.com/nlohmann/json Used for parsing JSON strings.
PNG encoder and decoder https://github.com/lvandeve/lodepng Used for storing image data.

Interface Definition

struct EpicEyeInfo {
    std::string SN;         // Serial number
    std::string IP;         // Camera IP address
    std::string model;      // Camera model
    std::string alias;      // Camera alias, which can be changed via Web UI
    uint32_t width = 0;     // Image width
    uint32_t height = 0;    // Image height
};

Function Name Description Parameters and Return Value

Function Name	Description	Parameters and Return Value
`std::string getSDKVersion()`	Retrieve the SDK version	Return Value: A std::string containing the SDK version number
`bool getInfo(std::string ip, EpicEyeInfo &info)`	Get camera information	Parameters: ip: The IP address of the camera info: An EpicEyeInfo object to receive detailed camera information, including width and height Return Value: A bool indicating whether the request was successful
`bool triggerFrame(std::string ip, std::string &frameID, bool pointCloud = true)`	Trigger capturing a frame	Parameters: ip: The IP address of the camera frameID: A std::string to receive the frame ID of the captured image pointCloud: A bool indicating whether to request point cloud data Return Value: A bool indicating whether the request was successful
`bool getImage(std::string ip, std::string frameID, void *imageBuffer, int &pixelByteSize)`	Retrieve a 2D image by frame ID	Parameters: ip: The IP address of the camera frameID: The frame ID of the data to be retrieved imageBuffer: A void pointer to store the returned image data pixelByteSize: An int to receive the size of the image data in bytes Return Value: A bool indicating whether the request was successful
`bool getPointCloud(std::string ip, std::string frameID, float *pointCloudBuffer)`	Retrieve point cloud data by frame ID, with memory allocated and released by the SDK user	Parameters: ip: The IP address of the camera frameID: The frame ID of the data to be retrieved, obtained via triggerFrame pointCloudBuffer: A float pointer to store the point cloud data, with memory of size width * height * sizeof(float) * 3 managed by the SDK user Return Value: A bool indicating whether the request was successful
`bool getDepth(std::string ip, std::string frameID, float *depth)`	Retrieve depth map by frame ID, with memory allocated and released by the SDK user	Parameters: ip: The IP address of the camera frameID: The frame ID of the data to be retrieved, obtained via triggerFrame depth: A float pointer to store the depth map data, with memory of size width * height * sizeof(float) managed by the SDK user Return Value: A bool indicating whether the request was successful
`bool getConfig(std::string ip, nlohmann::json &configJson, std::string frameID = "")`	Retrieve camera configuration by frame ID. If frameID is an empty string "", the latest camera configuration will be returned	Parameters: ip: The IP address of the camera configJson: An nlohmann::json object to receive the camera configuration data frameID: The frame ID of the data to be retrieved, obtained via triggerFrame Return Value: A bool indicating whether the request was successful
`bool setConfig(std::string ip, const nlohmann::json &configJson)`	Update camera configuration	Parameters: ip: The IP address of the camera configJson: An nlohmann::json object containing the configuration data to be set Return Value: A bool indicating whether the request was successful
`bool getCameraMatrix(std::string ip, std::vector<float> &cameraMatrix)`	Retrieve the camera intrinsic matrix	Parameters: ip: The IP address of the camera cameraMatrix: A std::vector<float> storing the camera matrix in row-major order, compatible with OpenCV Return Value: A bool indicating whether the request was successful
`bool getDistortion(std::string ip, std::vector<float> &distortion)`	Retrieve camera distortion coefficients	Parameters: ip: The IP address of the camera distortion: A std::vector<float> containing distortion coefficients, compatible with OpenCV Return Value: A bool indicating whether the request was successful
`bool searchCamera(std::vector<EpicEyeInfo> &cameraList)`	Automatically search for cameras	Parameters: cameraList: A std::vector<EpicEyeInfo> to store the list of found cameras Return Value: A bool indicating whether cameras were successfully discovered

std::string getSDKVersion()

Retrieve the SDK version

Return Value: A std::string containing the SDK version number

bool getInfo(std::string ip, EpicEyeInfo &info)

Get camera information

Parameters:

ip: The IP address of the camera

info: An EpicEyeInfo object to receive detailed camera information, including width and height

Return Value: A bool indicating whether the request was successful

bool triggerFrame(std::string ip, std::string &frameID, bool pointCloud = true)

Trigger capturing a frame

Parameters:

ip: The IP address of the camera

frameID: A std::string to receive the frame ID of the captured image

pointCloud: A bool indicating whether to request point cloud data

Return Value: A bool indicating whether the request was successful

bool getImage(std::string ip, std::string frameID, void *imageBuffer, int &pixelByteSize)

Retrieve a 2D image by frame ID

Parameters:

ip: The IP address of the camera

frameID: The frame ID of the data to be retrieved

imageBuffer: A void pointer to store the returned image data

pixelByteSize: An int to receive the size of the image data in bytes

Return Value: A bool indicating whether the request was successful

bool getPointCloud(std::string ip, std::string frameID, float *pointCloudBuffer)

Retrieve point cloud data by frame ID, with memory allocated and released by the SDK user

Parameters:

ip: The IP address of the camera

frameID: The frame ID of the data to be retrieved, obtained via triggerFrame

pointCloudBuffer: A float pointer to store the point cloud data, with memory of size width * height * sizeof(float) * 3 managed by the SDK user

Return Value: A bool indicating whether the request was successful

bool getDepth(std::string ip, std::string frameID, float *depth)

Retrieve depth map by frame ID, with memory allocated and released by the SDK user

Parameters:

ip: The IP address of the camera

frameID: The frame ID of the data to be retrieved, obtained via triggerFrame

depth: A float pointer to store the depth map data, with memory of size width * height * sizeof(float) managed by the SDK user

Return Value: A bool indicating whether the request was successful

bool getConfig(std::string ip, nlohmann::json &configJson, std::string frameID = "")

Retrieve camera configuration by frame ID. If frameID is an empty string "", the latest camera configuration will be returned

Parameters:

ip: The IP address of the camera

configJson: An nlohmann::json object to receive the camera configuration data

frameID: The frame ID of the data to be retrieved, obtained via triggerFrame

Return Value: A bool indicating whether the request was successful

bool setConfig(std::string ip, const nlohmann::json &configJson)

Update camera configuration

Parameters:

ip: The IP address of the camera

configJson: An nlohmann::json object containing the configuration data to be set

Return Value: A bool indicating whether the request was successful

bool getCameraMatrix(std::string ip, std::vector<float> &cameraMatrix)

Retrieve the camera intrinsic matrix

Parameters:

ip: The IP address of the camera

cameraMatrix: A std::vector<float> storing the camera matrix in row-major order, compatible with OpenCV

Return Value: A bool indicating whether the request was successful

bool getDistortion(std::string ip, std::vector<float> &distortion)

Retrieve camera distortion coefficients

Parameters:

ip: The IP address of the camera

distortion: A std::vector<float> containing distortion coefficients, compatible with OpenCV

Return Value: A bool indicating whether the request was successful

bool searchCamera(std::vector<EpicEyeInfo> &cameraList)

Automatically search for cameras

Parameters:

cameraList: A std::vector<EpicEyeInfo> to store the list of found cameras

Return Value: A bool indicating whether cameras were successfully discovered

Linux Operation

Dependencies: gcc, g++, cmake, make

For Debian-based Linux systems, install with:
```
sudo apt install gcc g++ cmake make
```

After the environment is set up:

mkdir build && cd build
cmake .. && make -j12

The compiled library and samples binary files are stored in the output folder:

output/
├── bin
│   ├── CameraConfig
│   ├── CameraInfo
│   ├── CameraParameters
│   ├── EpicEyeCapture
│   └── SearchCamera
└── lib
    └── libEpicEyeSDK.a

OpenCV Example

Install OpenCV environment:
```
sudo apt install libopencv-dev
```
Alternatively, download the precompiled package: Download OpenCV Precompiled Package
```
sudo dpkg -i opencv-qytech_4.5.3-5+focal_amd64.deb
```

Windows Operation

If using CMake and Clang toolchain on Windows, refer to the Linux process.

If using Visual Studio, directly open the cpp folder via VsCode, as the project has no external dependencies.

Run all builds:

Select the desired object from the executor to run:

OpenCV Example

The sample project provides an EpicEyeCaptureOpencv program. Configure the OpenCV environment as follows:

Download the appropriate OpenCV version from Opencv release.
Extract to the project directory (epiceyesdk_samples/cpp/samples/EpicEyeCaptureOpencv/thirdparty).
Configure EpicEyeSDK in Visual Studio.
Click Build → Rebuild All to automatically copy OpenCV libraries to the binary output folder.

If you need to update the OpenCV version, modify the path in the CMakeLists.txt file to match the corresponding version path.