SICK Ranger E

Chapter 8 Reference Manual
Ranger E/D
92 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved
iCon API
NotInitialized
Stopped
Started
WaitingForEnable
init()
start()
stop()
setParameterValues()
fileLoadParameters()
close()
Not Connected
Stopped
Started
connect()
startGrab()
stopGrab()
Initializing
disconnect()
Figure 8.2 – The normal states for the camera and the frame grabber.
In addition to the states in the illustration, the camera also has an Error state, which
means that the current configuration is not valid, and therefore the camera cannot be
started.
8.2 Retrieving Measurement Data
8.2.1 IconBuffers, Scans, Profiles and Data Format
Your application retrieves the measurement data from the frame grabber in the form of
IconBuffers. Each IconBuffer contains a number of consecutive scans.
Each scan in the IconBuffer contains one or more profiles. The number of profiles – as well
as their type and the order of the profiles – depends on how the camera is configured, For
example, when the Hi3D component is used, each scan will contain one range profile and
one intensity profile. If the camera measures with several components simultaneously
(MultiScan), each scan may even contain several profiles containing – for example –
intensity measurements.
create
ob
j
ect
NOTINITIALIZED
STARTED
STOPPED
create
ob
j
ect
Data
FrameGrabber
Camera
s
etParameterValues()
for certain parameters