SICK Ranger E

Reference Manual Chapter 8
Ranger E/D
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iCon API
8 iCon API
When developing the applications that analyze the measurement data from Ranger or
Ruler cameras, you use the iCon API for controlling the camera as well as retrieving the
resulting profiles. Starting from version 4.0 of the iCon API there is full support also for
Ruler cameras. Earlier versions did not support retrieving calibrated data from Rulers. With
the calibration support introduced in iCon 4.0 Rangers and Rulers can be programmed
using exactly the same software and API. The only thing not yet included in iCon which was
supported in the Ruler API is rotation and translation of the calibrated coordinate system.
Note that the example applications for Ranger E and D which are included in the SDK can
also be used for Rulers, including the calibration example.
There are two different APIs installed with the 3D Cameras Software Development Kit:
iCon C++ API For use with C++
iCon C API For use with C
Both APIs contain the same functions and differ mainly in the syntax used.
The iCon APIs are based on two classes:
 Camera class that is used for controlling the camera, such as starting, stopping and
changing configuration
 FrameGrabber class, from which your application receives the measurement data.
In addition the APIs contain a number of support classes (for example for setting frame
grabber parameters) and enumerations (error and status codes).
Figure 8.1 –The FrameGrabber and the Camera classes are the main classes in the iCon
API that your application interacts with.
In your application, you use the sub-class that corresponds to the type of camera used in
the system.
 EthernetCamera for Ranger D/E and Ruler E
 RangerC for Ranger C
When building an application using the iCon C++ API, make sure that it is linked with the
iCon library lib file that corresponds to your version of Visual Studio. Also note that you
must link with the debug version of the lib files if you intend to use the debugger. The
easiest way to do this is to include icon_auto_link.h in the application, see example pro-
grams for examples. The lib files are located in the icon/lib subdirectory of your 3D Cam-
eras SDK installation. If you installed the SDK in the default location you will find it in the
following directory:
Profiles
Control
iCon API
Application
Request
Buffers
Control
Camera
Frame
Grabber