sick_visionary_cpp_base

Table of Contents

• Overview
• License
• Supported environments
• Supported Hardware
• Building
• Support

Overview

This repository provides the base interfaces to access SICK Visionary devices. Using the classes in this module parameters can be queried and configured, status information can be accessed and 3D image data streams can be set up and controlled.

Supported protocols are:

• CoLa-B for parametrization as used by the Visionary-S CX device.

• CoLa-2 for parametrization as used by the Visionary-T Mini CX device.

• the SICK Blob format for streaming data.

License

The source code is released under The Unlicense.

Supported environments

The samples in this repository have been tested with the following platforms:

Platform	Compiler	Version	Notes
Windows	Visual Studio / Build Tools	2022 (MSVC = 19.3x)
Windows	gcc (mingw64)	14.2.0 (>= 11.1)
Linux inside WSL2	gcc	11.4.0 (>= 11.1)	finding_and_connecting_devices (AutoIP) and image_streaming_and_storing (UDP) will not work with default WSL2 configuration (NAT)

Supported Hardware

device name	part no.	description	firmware version
Visionary-T Mini CX (V3S105-1AAAAAA)	1112649	3D time-of-flight camera	2.1.0 & ✔ 3.0.0
Visionary-S CX (V3S102-1AAAAAA, V3S102-1AABAAB)	1090184 1090185	3D structured light stereovision camera with RGB data	6.0.0 & ✔ 6.5.0

Building

The module uses the CMake build system version 3.24 or higher. Beside the standard options like CMAKE_BUILD_TYPE for code generation and the installation directory options it supports the following additional CMake build options:

option name	description	values	default value
BUILD_SHARED_LIBS	Build using shared libraries	ON, OFF	OFF
VISIONARY_BASE_ENABLE_AUTOIP	Enables the SOPAS Auto-IP device scan code (needs boost’s ptree and foreach)	ON, OFF	ON
VISIONARY_BASE_ENABLE_UNITTESTS	Enables google-test based unit tests	ON, OFF	OFF
VISIONARY_BASE_USE_BUNDLED_BOOST	Uses the bundled Boost implementation	ON, OFF	ON

Note	If you run into WARNING_AS_ERROR issue with some compiler (which is enabled per default) just use the cmake override --compile-no-warning-as-error when configuring the project.

Support

Depending on the nature of your question, there are two support channels:

1. For questions regarding the code shared in this repo please check the FAQ first and search if an issue already exists. If a related issue doesn’t exist, you can open a new issue using the issue form.

2. For application or device specific questions look for common solutions and knowledge articles on the Sick Support Portal. If your question is not answered there, open a ticket on the Sick Support Portal.