Samples: Automatic updates to public repository

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zivid · Dec 15, 2023 · a181a94 · a181a94
1 parent d316c74
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diff --git a/README.md b/README.md
diff --git a/source/Applications/Advanced/MultiCamera/StitchByTransformation/StitchByTransformation.cpp b/source/Applications/Advanced/MultiCamera/StitchByTransformation/StitchByTransformation.cpp
@@ -197,7 +197,8 @@ int main(int argc, char **argv)
         std::cout << "Press r to centre and zoom the viewer so that the entire cloud is visible" << std::endl;
         std::cout << "Press q to me exit the viewer application" << std::endl;
         while(!viewer.wasStopped())
-        {}
+        {
+        }
         if(saveStitched)
         {
             std::cerr << "Saving " << stitchedPointCloud.points.size()

diff --git a/...ions/Advanced/MultiCamera/StitchByTransformationFromZDF/StitchByTransformationFromZDF.cpp b/...ions/Advanced/MultiCamera/StitchByTransformationFromZDF/StitchByTransformationFromZDF.cpp
@@ -188,7 +188,8 @@ int main(int argc, char **argv)
         std::cout << "Press r to centre and zoom the viewer so that the entire cloud is visible" << std::endl;
         std::cout << "Press q to me exit the viewer application" << std::endl;
         while(!viewer.wasStopped())
-        {}
+        {
+        }
         if(saveStitched)
         {
             std::cerr << "Saving " << stitchedPointCloud.points.size()

diff --git a/source/Applications/Advanced/ReprojectPoints/ReprojectPoints.cpp b/source/Applications/Advanced/ReprojectPoints/ReprojectPoints.cpp
@@ -35,6 +35,7 @@ namespace
         return points;
     }
 
+
     std::vector<Zivid::PointXYZ> transformGridToCalibrationBoard(
         const std::vector<cv::Matx41f> &grid,
         const Zivid::Matrix4x4 &transformCameraToCheckerboard)
@@ -49,6 +50,7 @@ namespace
         return pointsInCameraFrame;
     }
 
+
     void drawFilledCircles(
         cv::Mat image,
         const std::vector<Zivid::PointXY> &positions,

diff --git a/...ce/Applications/Basic/Visualization/ProjectImageStartAndStop/ProjectImageStartAndStop.cpp b/...ce/Applications/Basic/Visualization/ProjectImageStartAndStop/ProjectImageStartAndStop.cpp
@@ -26,6 +26,7 @@ namespace
         return projectorImage;
     }
 
+
     void projecting(Zivid::Camera &camera, const Zivid::Image<Zivid::ColorBGRA> &projectorImageFunctionScope)
     {
         auto projectedImageHandle = Zivid::Experimental::Projection::showImage(camera, projectorImageFunctionScope);
@@ -52,6 +53,7 @@ int main()
         const auto redColor = Zivid::ColorBGRA(0, 0, 255, 255);
 
         auto projectorImage = createProjectorImage(projectorResolution, redColor);
+
         auto projectedImageHandle = Zivid::Experimental::Projection::showImage(camera, projectorImage);
 
         std::cout << "Press enter to stop projecting using the \".stop()\" function." << std::endl;

diff --git a/source/Applications/Basic/Visualization/ReadAndProjectImage/ReadAndProjectImage.cpp b/source/Applications/Basic/Visualization/ReadAndProjectImage/ReadAndProjectImage.cpp
@@ -38,6 +38,7 @@ namespace
         return projectorImage;
     }
 
+
 } // namespace
 
 int main()

diff --git a/source/Applications/PointCloudTutorial.md b/source/Applications/PointCloudTutorial.md
@@ -127,6 +127,8 @@ complete list of output data formats and how to copy them from the GPU.
 | `Zivid::Array2D<Zivid::PointXYZColorRGBA>` | `PointCloud::copyData<PointXYZColorRGBA>()`                                            | 16 bytes       | 37 MB      |
 | `Zivid::Array2D<Zivid::PointXYZColorBGRA>` | `PointCloud::copyPointsXYZColorsBGRA()` or `PointCloud::copyData<PointXYZColorBGRA>()` | 16 bytes       | 37 MB      |
 | `Zivid::Image<Zivid::ColorRGBA>`           | `PointCloud::copyImageRGBA()`                                                          | 4 bytes        | 9 MB       |
+| `Zivid::Image<Zivid::ColorBGRA>`           | `PointCloud::copyImageBGRA()`                                                          | 4 bytes        | 9 MB       |
+| `Zivid::Image<Zivid::ColorsRGB>`           | `PointCloud::copyImagesRGB()`                                                          | 4 bytes        | 9 MB       |
 
 Here is an example of how to copy data.
 

diff --git a/source/CMakeLists.txt b/source/CMakeLists.txt
@@ -2,17 +2,22 @@ cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
 
 project(ZividCppSamples)
 
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake
-                      ${CMAKE_CURRENT_SOURCE_DIR}/cmake/3rd-party)
+set(CMAKE_MODULE_PATH
+    ${CMAKE_MODULE_PATH}
+    ${CMAKE_CURRENT_SOURCE_DIR}/cmake
+    ${CMAKE_CURRENT_SOURCE_DIR}/cmake/3rd-party
+)
 include(CompilerOptions)
 
+set(CMAKE_MAP_IMPORTED_CONFIG_MINSIZEREL "MinSizeRel;Release;")
+set(CMAKE_MAP_IMPORTED_CONFIG_RELWITHDEBINFO "RelWithDebInfo;Release;")
+
 set(ZIVID_VERSION 2.10.0)
 
 option(USE_EIGEN3 "Enable samples which depend on Eigen 3" ON)
 option(USE_OPENCV "Enable samples which depend on OpenCV" ON)
 option(USE_PCL "Enable samples which depend on Point Cloud Library (PCL)" ON)
-option(USE_ARUCO
-       "Enable samples which depend on ArUco (OpenCV with extra modules)" OFF)
+option(USE_ARUCO "Enable samples which depend on ArUco (OpenCV with extra modules)" OFF)
 option(USE_HALCON "Enable samples which depend on Halcon" OFF)
 
 set(SAMPLES
@@ -36,14 +41,15 @@ set(SAMPLES
     Camera/InfoUtilOther/CaptureWithDiagnostics
     Camera/InfoUtilOther/GetCameraIntrinsics
     Camera/InfoUtilOther/FirmwareUpdater
-    Camera/InfoUtilOther/PrintVersionInfo
+    Camera/InfoUtilOther/CameraInfo
     Camera/InfoUtilOther/SettingsInfo
     Camera/InfoUtilOther/FrameInfo
     Camera/InfoUtilOther/ZividBenchmark
     Camera/InfoUtilOther/Warmup
     Camera/Maintenance/VerifyCameraInField
     Camera/Maintenance/VerifyCameraInFieldFromZDF
     Camera/Maintenance/CorrectCameraInField
+    Camera/Maintenance/ResetCameraInField
     Applications/Basic/Visualization/CaptureFromFileCameraVis3D
     Applications/Basic/Visualization/CaptureVis3D
     Applications/Basic/Visualization/ReadPCLVis3D
@@ -70,18 +76,24 @@ set(SAMPLES
     Applications/Advanced/ROIBoxViaCheckerboard
     Applications/Advanced/GammaCorrection
     Applications/Advanced/ProjectAndFindMarker
-    Applications/Advanced/ReprojectPoints)
+    Applications/Advanced/ReprojectPoints
+)
 
-set(Eigen3_DEPENDING UtilizeHandEyeCalibration PoseConversions
-                     ROIBoxViaArucoMarker ROIBoxViaCheckerboard)
+set(Eigen3_DEPENDING
+    UtilizeHandEyeCalibration
+    PoseConversions
+    ROIBoxViaArucoMarker
+    ROIBoxViaCheckerboard
+)
 set(PCL_DEPENDING
     Capture2DAnd3D
     MaskPointCloud
     ReadPCLVis3D
     CaptureWritePCLVis3D
     CaptureHDRVisNormals
     StitchByTransformation
-    StitchByTransformationFromZDF)
+    StitchByTransformationFromZDF
+)
 set(OpenCV_DEPENDING
     Capture2DAnd3D
     CaptureUndistort2D
@@ -94,7 +106,8 @@ set(OpenCV_DEPENDING
     GammaCorrection
     ProjectAndFindMarker
     ReprojectPoints
-    ReadAndProjectImage)
+    ReadAndProjectImage
+)
 set(Visualization_DEPENDING
     CaptureVis3D
     CaptureLiveVis3D
@@ -104,7 +117,8 @@ set(Visualization_DEPENDING
     CaptureUndistort2D
     CreateDepthMap
     ROIBoxViaArucoMarker
-    ROIBoxViaCheckerboard)
+    ROIBoxViaCheckerboard
+)
 set(Clipp_DEPENDING
     CameraUserData
     MultiCameraCalibrationFromZDF
@@ -114,17 +128,25 @@ set(Clipp_DEPENDING
     Capture2DAnd3D
     ZividBenchmark
     CaptureFromFileCamera
-    CaptureFromFileCameraVis3D)
+    CaptureFromFileCameraVis3D
+)
 set(Thread_DEPENDING
-    Capture2DAnd3D MultiCameraCaptureSequentially MultiCameraCaptureInParallel
-    MultiCameraCaptureSequentiallyWithInterleavedProcessing ZividBenchmark)
-set(ArUco_DEPENDING TransformPointCloudViaArucoMarker ROIBoxViaArucoMarker)
-set(Halcon_DEPENDING CaptureHalconViaGenICam CaptureHalconViaZivid)
+    Capture2DAnd3D
+    MultiCameraCaptureSequentially
+    MultiCameraCaptureInParallel
+    MultiCameraCaptureSequentiallyWithInterleavedProcessing
+    ZividBenchmark
+)
+set(ArUco_DEPENDING
+    TransformPointCloudViaArucoMarker
+    ROIBoxViaArucoMarker
+)
+set(Halcon_DEPENDING
+    CaptureHalconViaGenICam
+    CaptureHalconViaZivid
+)
 
-find_package(
-    Zivid ${ZIVID_VERSION}
-    COMPONENTS Core
-    REQUIRED)
+find_package(Zivid ${ZIVID_VERSION} COMPONENTS Core REQUIRED)
 find_package(Threads REQUIRED)
 
 macro(disable_samples DEPENDENCY_NAME)
@@ -143,13 +165,13 @@ if(USE_EIGEN3)
     if(NOT DEFINED EIGEN3_INCLUDE_DIR)
         message(
             FATAL_ERROR
-                "Please point EIGEN3_INCLUDE_DIR to the root directory of your Eigen3 installation (the folder containing Eigen/Core, Eigen/Dense etc.), or disable the Eigen samples (-DUSE_EIGEN3=OFF)."
+            "Please point EIGEN3_INCLUDE_DIR to the root directory of your Eigen3 installation (the folder containing Eigen/Core, Eigen/Dense etc.), or disable the Eigen samples (-DUSE_EIGEN3=OFF)."
         )
     else()
         if(NOT IS_DIRECTORY "${EIGEN3_INCLUDE_DIR}/Eigen")
             message(
                 FATAL_ERROR
-                    "EIGEN3_INCLUDE_DIR was set to ${EIGEN3_INCLUDE_DIR}, which is not a valid Eigen 3 directory. Please correct this, or disable the Eigen samples (-DUSE_EIGEN3=OFF)."
+                "EIGEN3_INCLUDE_DIR was set to ${EIGEN3_INCLUDE_DIR}, which is not a valid Eigen 3 directory. Please correct this, or disable the Eigen samples (-DUSE_EIGEN3=OFF)."
             )
         endif()
     endif()
@@ -162,21 +184,31 @@ if(USE_PCL)
     if(NOT PCL_FOUND)
         message(
             FATAL_ERROR
-                "Point Cloud Library (PCL) not found. Please point PCL_DIR to the directory of your PCL installation (containing the file PCLConfig.cmake), or disable the PCL samples with -DUSE_PCL=OFF."
+            "Point Cloud Library (PCL) not found. Please point PCL_DIR to the directory of your PCL installation (containing the file PCLConfig.cmake), or disable the PCL samples with -DUSE_PCL=OFF."
         )
     endif()
 else()
     disable_samples("PCL")
 endif()
 
 if(USE_OPENCV)
-    set(OPENCV_COMMON_MODULES core highgui calib3d)
+    set(OPENCV_COMMON_MODULES
+        core
+        highgui
+        calib3d
+    )
     if(USE_ARUCO)
-        find_package(OpenCV 4.1.0 COMPONENTS ${OPENCV_COMMON_MODULES} aruco)
+        find_package(
+            OpenCV
+            4.1.0
+            COMPONENTS
+                ${OPENCV_COMMON_MODULES}
+                aruco
+        )
         if(NOT OpenCV_FOUND)
             message(
                 FATAL_ERROR
-                    "OpenCV not found. Please point OpenCV_DIR to the directory of your OpenCV installation (containing the file OpenCVConfig.cmake). If you don't have OpenCV with extra modules (OpenCV_Contrib), disable the ArUco samples with -DUSE_ARUCO=OFF."
+                "OpenCV not found. Please point OpenCV_DIR to the directory of your OpenCV installation (containing the file OpenCVConfig.cmake). If you don't have OpenCV with extra modules (OpenCV_Contrib), disable the ArUco samples with -DUSE_ARUCO=OFF."
             )
         endif()
     else()
@@ -185,7 +217,7 @@ if(USE_OPENCV)
         if(NOT OpenCV_FOUND)
             message(
                 FATAL_ERROR
-                    "OpenCV not found. Please point OpenCV_DIR to the directory of your OpenCV installation (containing the file OpenCVConfig.cmake), or disable the OpenCV samples  with -DUSE_OPENCV=OFF."
+                "OpenCV not found. Please point OpenCV_DIR to the directory of your OpenCV installation (containing the file OpenCVConfig.cmake), or disable the OpenCV samples  with -DUSE_OPENCV=OFF."
             )
         endif()
     endif()
@@ -195,7 +227,10 @@ endif()
 
 if(USE_HALCON)
     if(DEFINED ENV{HALCONROOT} AND NOT $ENV{HALCONROOT} STREQUAL "")
-        message("Using HALCONROOT " $ENV{HALCONROOT})
+        message(
+            "Using HALCONROOT "
+            $ENV{HALCONROOT}
+        )
         string(REGEX REPLACE "\\\\" "/" HALCONROOT $ENV{HALCONROOT})
     endif()
     find_package(Halcon REQUIRED)
@@ -226,46 +261,47 @@ foreach(SAMPLE ${SAMPLES})
 
     target_link_libraries(${SAMPLE_NAME} Zivid::Core)
 
-    target_compile_definitions(
-        ${SAMPLE_NAME} PRIVATE ZIVID_SAMPLE_DATA_DIR="${ZIVID_SAMPLE_DATA_DIR}")
+    target_compile_definitions(${SAMPLE_NAME} PRIVATE ZIVID_SAMPLE_DATA_DIR="${ZIVID_SAMPLE_DATA_DIR}")
 
     if(${SAMPLE_NAME} IN_LIST Visualization_DEPENDING)
         target_link_libraries(${SAMPLE_NAME} Zivid::Visualization)
     endif()
 
     if(${SAMPLE_NAME} IN_LIST Eigen3_DEPENDING)
-        target_include_directories(${SAMPLE_NAME} SYSTEM
-                                   PRIVATE ${EIGEN3_INCLUDE_DIR})
+        target_include_directories(${SAMPLE_NAME} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIR})
     endif()
 
     if(${SAMPLE_NAME} IN_LIST PCL_DEPENDING)
         target_link_libraries(${SAMPLE_NAME} ${PCL_LIBRARIES})
-        target_include_directories(${SAMPLE_NAME} SYSTEM
-                                   PRIVATE ${PCL_INCLUDE_DIRS})
+        target_include_directories(${SAMPLE_NAME} SYSTEM PRIVATE ${PCL_INCLUDE_DIRS})
     endif()
 
     if(${SAMPLE_NAME} IN_LIST OpenCV_DEPENDING)
         target_link_libraries(${SAMPLE_NAME} ${OpenCV_LIBS})
     endif()
 
     if(${SAMPLE_NAME} IN_LIST Clipp_DEPENDING)
-        target_include_directories(
-            ${SAMPLE_NAME} SYSTEM
-            PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/3rd-party/clipp/include)
+        target_include_directories(${SAMPLE_NAME} SYSTEM PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/3rd-party/clipp/include)
     endif()
 
     if(${SAMPLE_NAME} IN_LIST Thread_DEPENDING)
         target_link_libraries(${SAMPLE_NAME} Threads::Threads)
     endif()
 
     if(${SAMPLE_NAME} IN_LIST Halcon_DEPENDING)
-        target_link_libraries(${SAMPLE_NAME} ${HALCON_LIBS} ${HDEVENGINE_LIBS})
+        target_link_libraries(
+            ${SAMPLE_NAME}
+            ${HALCON_LIBS}
+            ${HDEVENGINE_LIBS}
+        )
         target_include_directories(
-            ${SAMPLE_NAME} PUBLIC ${HALCON_INC_DIRS} ${HDEVENGINE_INC_DIRS}
-                                  include)
+            ${SAMPLE_NAME}
+            PUBLIC
+                ${HALCON_INC_DIRS}
+                ${HDEVENGINE_INC_DIRS}
+                include
+        )
     endif()
-
 endforeach()
 
-target_compile_definitions(ZividBenchmark
-                           PRIVATE OS_NAME=\"${CMAKE_SYSTEM_NAME}\")
+target_compile_definitions(ZividBenchmark PRIVATE OS_NAME=\"${CMAKE_SYSTEM_NAME}\")
diff --git a/source/Camera/Advanced/Capture2DAnd3D/Capture2DAnd3D.cpp b/source/Camera/Advanced/Capture2DAnd3D/Capture2DAnd3D.cpp
@@ -2,6 +2,7 @@
 Capture 2D and then 3D using various capture strategies, optimizing for both 2D quality and 2D acquisition speed.
 */
 
+#include <Zivid/Experimental/Calibration.h>
 #include <Zivid/Zivid.h>
 
 #include <clipp.h>
@@ -17,21 +18,22 @@ Capture 2D and then 3D using various capture strategies, optimizing for both 2D
 
 namespace
 {
-    cv::Mat mapBGR(const Zivid::Settings::Sampling::Pixel &pixelsToSample, const cv::Mat &fullResolutionBGR)
+    cv::Mat mapBGR(const Zivid::Experimental::PixelMapping &pixelMapping, const cv::Mat &fullResolutionBGR)
     {
-        std::cout << "Pixels to sample: " << pixelsToSample << std::endl;
-        const int subsampleDivider =
-            (pixelsToSample.value() == Zivid::Settings::Sampling::Pixel::ValueType::all) ? 1 : 2;
-        int offset = (pixelsToSample.value() == Zivid::Settings::Sampling::Pixel::ValueType::blueSubsample2x2) ? 0 : 1;
-        cv::Mat
-            mappedBGR(fullResolutionBGR.rows / subsampleDivider, fullResolutionBGR.cols / subsampleDivider, CV_8UC3);
+        std::cout << "Pixel mapping: " << pixelMapping << std::endl;
+        cv::Mat mappedBGR(
+            fullResolutionBGR.rows / pixelMapping.rowStride(),
+            fullResolutionBGR.cols / pixelMapping.colStride(),
+            CV_8UC3);
         std::cout << "Mapped width: " << mappedBGR.cols << ", height: " << mappedBGR.rows << std::endl;
-        for(size_t row = 0; row < static_cast<size_t>(fullResolutionBGR.rows - offset); row += subsampleDivider)
+        for(size_t row = 0; row < static_cast<size_t>(fullResolutionBGR.rows - pixelMapping.rowOffset());
+            row += pixelMapping.rowStride())
         {
-            for(size_t col = 0; col < static_cast<size_t>(fullResolutionBGR.cols - offset); col += subsampleDivider)
+            for(size_t col = 0; col < static_cast<size_t>(fullResolutionBGR.cols - pixelMapping.colOffset());
+                col += pixelMapping.colStride())
             {
-                mappedBGR.at<cv::Vec3b>(row / subsampleDivider, col / subsampleDivider) =
-                    fullResolutionBGR.at<cv::Vec3b>(row + offset, col + offset);
+                mappedBGR.at<cv::Vec3b>(row / pixelMapping.rowStride(), col / pixelMapping.colStride()) =
+                    fullResolutionBGR.at<cv::Vec3b>(row + pixelMapping.rowOffset(), col + pixelMapping.colOffset());
             }
         }
         return mappedBGR;
@@ -214,9 +216,10 @@ int main(int argc, char **argv)
             const_cast<void *>(static_cast<const void *>(image.data())));
         cv::Mat fullResolutionBGR;
         cv::cvtColor(fullResolutionBGRA, fullResolutionBGR, cv::COLOR_BGRA2BGR);
+        const auto pixelMapping = Zivid::Experimental::Calibration::pixelMapping(camera, settings);
         const auto mappedBGR = (pixelsToSample.value() == Zivid::Settings::Sampling::Pixel::ValueType::all)
                                    ? fullResolutionBGR
-                                   : mapBGR(pixelsToSample, fullResolutionBGR);
+                                   : mapBGR(pixelMapping, fullResolutionBGR);
         if(pixelsToSample.value() == Zivid::Settings::Sampling::Pixel::ValueType::all)
         {
             displayBGR({ fullResolutionBGR }, { "Full resolution 2D" });
-Original file line number
+Diff line change
@@ Expand Up / @@ -38,6 +38,7 @@ namespace @@
             return projectorImage;
         }
     } // namespace
     int main()
@@ Expand Down @@