Samples: Update to SDK 2.14.0

This commit adds the following changes: * Adds CaptureViaGenICam C++ sample * Updates samples for compatibility with 2+R cameras * Adds sRGB to capture2D samples * Adds loading YAML to Warmup.cpp * Various other improvements * Fixes unsafe buffer usage warnings * Sets camera viewpoint in PCL visualizer * Ensures samples throw in default cases * Qualifies call to isnan
zivid · Dec 9, 2024 · a2ce54b · a2ce54b
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diff --git a/.clang-tidy b/.clang-tidy
@@ -28,10 +28,10 @@ Checks: >
   -altera-*,
   -bugprone-easily-swappable-parameters,
   -concurrency-mt-unsafe,
-  -abseil-*
+  -abseil-*,
+  -google-build-using-namespace
 WarningsAsErrors: '*'
 HeaderFilterRegex: '.*'
-AnalyzeTemporaryDtors: false
 CheckOptions:
   - key:             cert-dcl59-cpp.HeaderFileExtensions
     value:           h,hh,hpp,hxx

diff --git a/README.md b/README.md
@@ -1,6 +1,6 @@
 # C++ samples
 
-This repository contains cpp code samples for Zivid SDK v2.13.1. For
+This repository contains cpp code samples for Zivid SDK v2.14.0. For
 tested compatibility with earlier SDK versions, please check out
 [accompanying
 releases](https://github.com/zivid/zivid-cpp-samples/tree/master/../../releases).
@@ -66,6 +66,7 @@ from the camera can be used.
             find a compromise.
           - [CaptureHDRPrintNormals](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/Advanced/CaptureHDRPrintNormals/CaptureHDRPrintNormals.cpp) - Capture Zivid point clouds, compute normals and print a
             subset.
+          - [CaptureViaGenICam](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/Advanced/CaptureViaGenICam/CaptureViaGenICam.cpp) - Capture using the GenICam interface.
           - [MultiCameraCaptureInParallel](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/Advanced/MultiCameraCaptureInParallel/MultiCameraCaptureInParallel.cpp) - Capture point clouds with multiple cameras in parallel.
           - [MultiCameraCaptureSequentially](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/Advanced/MultiCameraCaptureSequentially/MultiCameraCaptureSequentially.cpp) - Capture point clouds with multiple cameras sequentially.
           - [MultiCameraCaptureSequentiallyWithInterleavedProcessing](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/Advanced/MultiCameraCaptureSequentiallyWithInterleavedProcessing/MultiCameraCaptureSequentiallyWithInterleavedProcessing.cpp) - Capture point clouds with multiple cameras sequentially
@@ -244,8 +245,8 @@ Note:
 
 -----
 
-To setup and use Zivid in one of these operating systems, please follow
-their respective instructions in the following pages:
+To set up and use Zivid in one of these operating systems, please follow
+their respective instructions on the following pages:
 
   - [Install Zivid + HALCON for
     Windows](https://support.zivid.com/latest/api-reference/samples/halcon/install-zivid-halcon-for-windows.html)
@@ -255,6 +256,8 @@ their respective instructions in the following pages:
     Program](https://support.zivid.com/latest/api-reference/samples/halcon/create-a-halcon-hello-world.html)
   - [How to Run a HALCON
     Sample](https://support.zivid.com/latest/api-reference/samples/halcon/how-to-run-a-halcon-sample.html)
+  - [Debug in
+    HALCON](https://support.zivid.com/latest/api-reference/samples/halcon/halcon-debug.html)
   - [HALCON Sample
     Videos](https://support.zivid.com/latest/api-reference/samples/halcon/halcon-sample-videos.html)
 
@@ -263,7 +266,7 @@ with Zivid cameras:
 
   - 19.05 Progress, 20.05 Progress, 21.11 Progress
 
-We recommend to use one of the HALCON versions we have tested.
+We recommend using one of the HALCON versions we have tested.
 
 ## Support
 

diff --git a/continuous-integration/linux/build.sh b/continuous-integration/linux/build.sh
@@ -7,7 +7,7 @@ BUILD_ROOT_DIR="$ROOT_DIR/build/ci"
 
 source /etc/os-release || exit
 if [[ $VERSION_ID == "20.04" ]]; then
-    OS_SPECIFIC_OPTIONS="-DUSE_PCL=ON -DUSE_EIGEN3=ON -DUSE_OPENCV=ON -DUSE_ARUCO=ON"
+    OS_SPECIFIC_OPTIONS="-DUSE_PCL=ON -DUSE_EIGEN3=ON -DUSE_OPENCV=ON -DUSE_ARUCO=ON -DUSE_GENTL=ON"
     EIGEN3_INCLUDE_DIR="/usr/include/eigen3"
 else
     echo "ERROR: found $VERSION_ID. Expected 20.04"

diff --git a/continuous-integration/linux/lint.sh b/continuous-integration/linux/lint.sh
@@ -26,6 +26,7 @@ cmake -GNinja \
     -DUSE_EIGEN3=ON \
     -DUSE_OPENCV=ON \
     -DUSE_ARUCO=ON \
+    -DUSE_GENTL=ON \
     -DEIGEN3_INCLUDE_DIR="/usr/include/eigen3" \
     "$SOURCE_DIR" || exit
 cmake --build . || exit

diff --git a/continuous-integration/linux/platform-dependent/ubuntu-20.04/setup.sh b/continuous-integration/linux/platform-dependent/ubuntu-20.04/setup.sh
@@ -32,4 +32,5 @@ function install_www_deb {
     rm -r $TMP_DIR || exit
 }
 
-install_www_deb "https://downloads.zivid.com/sdk/releases/2.13.1+18e79e79-1/u${VERSION_ID:0:2}/zivid_2.13.1+18e79e79-1_amd64.deb" || exit
+install_www_deb "https://downloads.zivid.com/sdk/releases/2.14.0+e4a0c4a9-1/u${VERSION_ID:0:2}/zivid_2.14.0+e4a0c4a9-1_amd64.deb" || exit
+install_www_deb "https://downloads.zivid.com/sdk/releases/2.14.0+e4a0c4a9-1/u${VERSION_ID:0:2}/zivid-genicam_2.14.0+e4a0c4a9-1_amd64.deb" || exit
diff --git a/source/3rd-party/GenTL/include/GenTL.h b/source/3rd-party/GenTL/include/GenTL.h
diff --git a/source/Applications/Advanced/CreateDepthMap/CreateDepthMap.cpp b/source/Applications/Advanced/CreateDepthMap/CreateDepthMap.cpp
@@ -73,8 +73,8 @@ namespace
         const auto points = pointCloud.copyPointsZ();
 
         // Getting min and max values for X, Y, Z images
-        const auto *maxZ = std::max_element(points.data(), points.data() + pointCloud.size(), isLesserOrNan);
-        const auto *minZ = std::max_element(points.data(), points.data() + pointCloud.size(), isGreaterOrNaN);
+        const auto *maxZ = std::max_element(points.begin(), points.end(), isLesserOrNan);
+        const auto *minZ = std::max_element(points.begin(), points.end(), isGreaterOrNaN);
 
         // Filling in OpenCV matrix with the cloud data
         for(size_t i = 0; i < pointCloud.height(); i++)

diff --git a/source/Applications/Advanced/GammaCorrection/GammaCorrection.cpp b/source/Applications/Advanced/GammaCorrection/GammaCorrection.cpp
@@ -8,18 +8,27 @@ Capture 2D image with gamma correction.
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
+#include <clipp.h>
+
 #include <iostream>
 
 namespace
 {
     double readGamma(int argc, char **argv)
     {
-        if(argc < 2)
+        double gamma{};
+        auto cli = clipp::group(clipp::value("gamma", gamma).doc("Gamma correction value"));
+        if(!parse(argc, argv, cli))
         {
-            throw std::runtime_error("Gamma is not provided");
+            auto fmt = clipp::doc_formatting{};
+            std::cout << "SYNOPSIS:" << std::endl;
+            std::cout << clipp::usage_lines(cli, "GammaCorrection", fmt) << std::endl;
+            std::cout << "OPTIONS:" << std::endl;
+            std::cout << clipp::documentation(cli) << std::endl;
+            throw std::runtime_error{ "Gamma is not provided" };
         }
 
-        return std::stod(argv[1]);
+        return gamma;
     }
 
     cv::Mat captureBGRAImage(Zivid::Camera &camera, const double gamma)

diff --git a/source/Applications/Advanced/HandEyeCalibration/HandEyeCalibration/HandEyeCalibration.cpp b/source/Applications/Advanced/HandEyeCalibration/HandEyeCalibration/HandEyeCalibration.cpp
@@ -10,6 +10,7 @@ Perform Hand-Eye calibration.
 #include <Zivid/Zivid.h>
 
 #include <iostream>
+#include <stdexcept>
 
 namespace
 {
@@ -184,6 +185,7 @@ namespace
                     std::cout << "Error: Unknown command" << std::endl;
                     break;
                 }
+                default: throw std::runtime_error{ "Unhandled command type" };
             }
         } while(!calibrate);
         return handEyeInput;

diff --git a/source/Applications/Advanced/HandEyeCalibration/PoseConversions/PoseConversions.cpp b/source/Applications/Advanced/HandEyeCalibration/PoseConversions/PoseConversions.cpp
@@ -16,6 +16,7 @@ be found under the main instructions for Zivid samples.
 
 #include <iomanip>
 #include <iostream>
+#include <stdexcept>
 
 namespace
 {
@@ -44,6 +45,7 @@ namespace
             case RotationConvention::zyxIntrinsic: return "zyxIntrinsic";
             case RotationConvention::zyxExtrinsic: return "zyxExtrinsic";
             case RotationConvention::nofROT: break;
+            default: throw std::runtime_error{ "Unhandled rotation convention " };
         }
 
         throw std::invalid_argument("Invalid RotationConvention");
@@ -80,6 +82,7 @@ namespace
                         * Eigen::AngleAxisf(rollPitchYaw[0], Eigen::Vector3f::UnitX()))
                     .matrix();
             case RotationConvention::nofROT: break;
+            default: throw std::runtime_error{ "Unhandled rotation convention" };
         }
 
         throw std::invalid_argument("Invalid orientation");
@@ -117,6 +120,7 @@ namespace
             case RotationConvention::xyzExtrinsic: return rotationMatrix.eulerAngles(2, 1, 0).reverse();
             case RotationConvention::zyxIntrinsic: return rotationMatrix.eulerAngles(2, 1, 0);
             case RotationConvention::nofROT: break;
+            default: throw std::runtime_error{ "Unhandled rotation convention" };
         }
 
         throw std::invalid_argument("Invalid rotation");

diff --git a/...tions/Advanced/HandEyeCalibration/UtilizeHandEyeCalibration/UtilizeHandEyeCalibration.cpp b/...tions/Advanced/HandEyeCalibration/UtilizeHandEyeCalibration/UtilizeHandEyeCalibration.cpp
@@ -34,6 +34,7 @@ The YAML files for this sample can be found under the main instructions for Zivi
 
 #include <cmath>
 #include <iostream>
+#include <stdexcept>
 
 namespace
 {
@@ -187,6 +188,7 @@ int main()
                     std::cout << "Entered unknown Hand-Eye calibration type" << std::endl;
                     break;
                 }
+                default: throw std::runtime_error{ "Unhandled robot camera configuration. " };
             }
         }
 
@@ -245,6 +247,7 @@ int main()
                     std::cout << "Entered unknown command" << std::endl;
                     break;
                 }
+                default: throw std::runtime_error{ "Unhandled command. " };
             }
         }
     }

diff --git a/source/Applications/Advanced/MaskPointCloud/MaskPointCloud.cpp b/source/Applications/Advanced/MaskPointCloud/MaskPointCloud.cpp
@@ -24,7 +24,7 @@ namespace
 
         viewer.addPointCloud<pcl::PointXYZRGB>(pointCloud);
 
-        viewer.setCameraPosition(0, 0, 100, 0, -1, 0);
+        viewer.setCameraPosition(0, 0, -100, 0, 0, 1000, 0, -1, 0);
 
         std::cout << "Press r to centre and zoom the viewer so that the entire cloud is visible" << std::endl;
         std::cout << "Press q to exit the viewer application" << std::endl;

diff --git a/source/Applications/Advanced/MultiCamera/StitchByTransformation/StitchByTransformation.cpp b/source/Applications/Advanced/MultiCamera/StitchByTransformation/StitchByTransformation.cpp
@@ -4,14 +4,15 @@ Use transformation matrices from Multi-Camera calibration to transform point clo
 Note: This example uses experimental SDK features, which may be modified, moved, or deleted in the future without notice.
 */
 
+#include <Zivid/Experimental/SettingsInfo.h>
+#include <Zivid/Zivid.h>
+
 #include <pcl/io/pcd_io.h>
 #include <pcl/io/ply_io.h>
 #include <pcl/visualization/cloud_viewer.h>
 
 #include <clipp.h>
 
-#include <Zivid/Experimental/SettingsInfo.h>
-#include <Zivid/Zivid.h>
 #include <cmath>
 #include <iostream>
 #include <vector>
@@ -175,7 +176,7 @@ int main(int argc, char **argv)
             const auto xyz = pointCloud.copyPointsXYZ();
             for(size_t j = 0; j < pointCloud.size(); j++)
             {
-                if(!isnan(xyz(j).x))
+                if(!std::isnan(xyz(j).x))
                 {
                     stitchedPointCloud.points[validPoints].x =
                         xyz(j).x; // NOLINT(cppcoreguidelines-pro-type-union-access)

diff --git a/...ions/Advanced/MultiCamera/StitchByTransformationFromZDF/StitchByTransformationFromZDF.cpp b/...ions/Advanced/MultiCamera/StitchByTransformationFromZDF/StitchByTransformationFromZDF.cpp
@@ -2,14 +2,14 @@
 Use transformation matrices from Multi-Camera calibration to transform point clouds into single coordinate frame, from a ZDF files.
 */
 
+#include <Zivid/Zivid.h>
+
 #include <clipp.h>
 
 #include <pcl/io/pcd_io.h>
 #include <pcl/io/ply_io.h>
 #include <pcl/visualization/cloud_viewer.h>
 
-#include <Zivid/Zivid.h>
-
 #include <cmath>
 #include <iostream>
 #include <vector>
@@ -149,7 +149,7 @@ int main(int argc, char **argv)
             const auto xyz = pointCloud.copyPointsXYZ();
             for(size_t j = 0; j < pointCloud.size(); j++)
             {
-                if(!isnan(xyz(j).x))
+                if(!std::isnan(xyz(j).x))
                 {
                     stitchedPointCloud.points[validPoints].x =
                         xyz(j).x; // NOLINT(cppcoreguidelines-pro-type-union-access)

diff --git a/source/Applications/Advanced/ProjectAndFindMarker/ProjectAndFindMarker.cpp b/source/Applications/Advanced/ProjectAndFindMarker/ProjectAndFindMarker.cpp
@@ -113,11 +113,28 @@ namespace
 
             case Zivid::CameraInfo::Model::ValueType::zivid2PlusM130:
             case Zivid::CameraInfo::Model::ValueType::zivid2PlusM60:
-            case Zivid::CameraInfo::Model::ValueType::zivid2PlusL110: return 2.47;
+            case Zivid::CameraInfo::Model::ValueType::zivid2PlusL110:
+            case Zivid::CameraInfo::Model::ValueType::zivid2PlusMR130:
+            case Zivid::CameraInfo::Model::ValueType::zivid2PlusMR60:
+            case Zivid::CameraInfo::Model::ValueType::zivid2PlusLR110: return 2.47;
+
+            default: throw std::runtime_error("Unhandled enum value '" + cameraInfo.model().toString() + "'");
         }
         throw std::invalid_argument("Invalid camera model");
     }
 
+    Zivid::Settings2D::Sampling::Color getColorSettingsForCamera(const Zivid::Camera &camera)
+    {
+        auto model = camera.info().model();
+        if(model.value() == Zivid::CameraInfo::Model::ValueType::zivid2PlusMR130
+           || model.value() == Zivid::CameraInfo::Model::ValueType::zivid2PlusLR110
+           || model.value() == Zivid::CameraInfo::Model::ValueType::zivid2PlusMR60)
+        {
+            return Zivid::Settings2D::Sampling::Color::grayscale;
+        }
+        return Zivid::Settings2D::Sampling::Color::rgb;
+    }
+
     cv::Point findMarker(
         const Zivid::Frame2D &projectedMarkerFrame2D,
         const Zivid::Frame2D &illuminatedSceneFrame2D,
@@ -179,13 +196,18 @@ namespace
                                          Zivid::Settings::Processing::Filters::Smoothing::Gaussian::Sigma{ 1.5 } };
         settings.set(processing);
         settings.set(Zivid::Settings::Sampling::Pixel::all);
+        settings.color().value().set(Zivid::Settings2D::Sampling::Pixel::all);
 
         // We must limit Brightness to a *maximum* of 2.2, when using `all` mode.
         // This code can be removed by changing the Config.yml option 'Camera/Power/Limit'.
         for(auto &a : settings.acquisitions())
         {
             a.set(Zivid::Settings::Acquisition::Brightness(std::min(a.brightness().value(), 2.2)));
         }
+        for(auto &a : settings.color().value().acquisitions())
+        {
+            a.set(Zivid::Settings2D::Acquisition::Brightness(std::min(a.brightness().value(), 2.2)));
+        }
 
         return camera.capture(settings);
     }
@@ -234,15 +256,17 @@ int main()
 
         const auto settings2DZeroBrightness =
             Zivid::Settings2D{ Zivid::Settings2D::Acquisitions{ Zivid::Settings2D::Acquisition{
-                Zivid::Settings2D::Acquisition::Brightness{ 0.0 },
-                Zivid::Settings2D::Acquisition::ExposureTime{ std::chrono::microseconds{ 40000 } },
-                Zivid::Settings2D::Acquisition::Aperture{ 2.83 } } } };
+                                   Zivid::Settings2D::Acquisition::Brightness{ 0.0 },
+                                   Zivid::Settings2D::Acquisition::ExposureTime{ std::chrono::microseconds{ 20000 } },
+                                   Zivid::Settings2D::Acquisition::Aperture{ 2.38 } } },
+                               Zivid::Settings2D::Sampling::Color{ getColorSettingsForCamera(camera) } };
 
         const auto settings2DMaxBrightness =
             Zivid::Settings2D{ Zivid::Settings2D::Acquisitions{ Zivid::Settings2D::Acquisition{
-                Zivid::Settings2D::Acquisition::Brightness{ 1.8 },
-                Zivid::Settings2D::Acquisition::ExposureTime{ std::chrono::microseconds{ 40000 } },
-                Zivid::Settings2D::Acquisition::Aperture{ 2.83 } } } };
+                                   Zivid::Settings2D::Acquisition::Brightness{ 1.8 },
+                                   Zivid::Settings2D::Acquisition::ExposureTime{ std::chrono::microseconds{ 20000 } },
+                                   Zivid::Settings2D::Acquisition::Aperture{ 2.38 } } },
+                               Zivid::Settings2D::Sampling::Color{ getColorSettingsForCamera(camera) } };
 
         std::cout << "Capture a 2D frame with the marker" << std::endl;
         const auto projectedMarkerFrame2D = projectedImageHandle.capture(settings2DZeroBrightness);

diff --git a/source/Applications/Advanced/ReprojectPoints/ReprojectPoints.cpp b/source/Applications/Advanced/ReprojectPoints/ReprojectPoints.cpp
@@ -68,6 +68,44 @@ namespace
         }
     }
 
+    Zivid::Settings2D get2DCaptureSettings(const Zivid::Camera &camera)
+    {
+        Zivid::Settings2D settings2D{ Zivid::Settings2D::Acquisitions{ Zivid::Settings2D::Acquisition{
+            Zivid::Settings2D::Acquisition::Brightness{ 0.0 },
+            Zivid::Settings2D::Acquisition::ExposureTime{ std::chrono::microseconds{ 20000 } },
+            Zivid::Settings2D::Acquisition::Aperture{ 2.83 } } } };
+
+        auto model = camera.info().model();
+        switch(model.value())
+        {
+            case Zivid::CameraInfo::Model::ValueType::zividTwo:
+            case Zivid::CameraInfo::Model::ValueType::zividTwoL100:
+            case Zivid::CameraInfo::Model::ValueType::zivid2PlusM130:
+            case Zivid::CameraInfo::Model::ValueType::zivid2PlusM60:
+            case Zivid::CameraInfo::Model::ValueType::zivid2PlusL110:
+            {
+                settings2D.set(Zivid::Settings2D::Sampling::Color::rgb);
+                break;
+            }
+            case Zivid::CameraInfo::Model::ValueType::zivid2PlusMR130:
+            case Zivid::CameraInfo::Model::ValueType::zivid2PlusMR60:
+            case Zivid::CameraInfo::Model::ValueType::zivid2PlusLR110:
+            {
+                settings2D.set(Zivid::Settings2D::Sampling::Color::grayscale);
+                break;
+            }
+            case Zivid::CameraInfo::Model::ValueType::zividOnePlusSmall:
+            case Zivid::CameraInfo::Model::ValueType::zividOnePlusMedium:
+            case Zivid::CameraInfo::Model::ValueType::zividOnePlusLarge:
+            {
+                throw std::runtime_error("Unsupported camera model '" + model.toString() + "'");
+            }
+            default: throw std::runtime_error("Unhandled enum value '" + model.toString() + "'");
+        }
+
+        return settings2D;
+    }
+
 } // namespace
 
 int main()
@@ -132,10 +170,7 @@ int main()
 
             auto projectedImageHandle = Zivid::Projection::showImage(camera, projectorImage);
 
-            const Zivid::Settings2D settings2D{ Zivid::Settings2D::Acquisitions{ Zivid::Settings2D::Acquisition{
-                Zivid::Settings2D::Acquisition::Brightness{ 0.0 },
-                Zivid::Settings2D::Acquisition::ExposureTime{ std::chrono::microseconds{ 20000 } },
-                Zivid::Settings2D::Acquisition::Aperture{ 2.83 } } } };
+            const auto settings2D = get2DCaptureSettings(camera);
 
             std::cout << "Capturing a 2D image with the projected image" << std::endl;
             const auto frame2D = projectedImageHandle.capture(settings2D);

diff --git a/source/Applications/Basic/Visualization/CaptureHDRVisNormals/CaptureHDRVisNormals.cpp b/source/Applications/Basic/Visualization/CaptureHDRVisNormals/CaptureHDRVisNormals.cpp
@@ -36,7 +36,7 @@ namespace
         viewer.addPointCloudNormals<pcl::PointXYZRGBNormal>(
             pointCloudWithNormals, normalsSkipped, 1, "normals", viewNormals);
 
-        viewer.setCameraPosition(0, 0, -100, 0, -1, 0);
+        viewer.setCameraPosition(0, 0, -100, 0, 0, 1000, 0, -1, 0);
 
         std::cout << "Press r to centre and zoom the viewer so that the entire cloud is visible" << std::endl;
         std::cout << "Press q to exit the viewer application" << std::endl;