static void CheckUserDataSupport(Zivid.NET.Camera camera)
{
if (camera.UserDataMaxSizeBytes == 0)
{
throw new System.InvalidOperationException("This camera does not support user data");
}
}
static Zivid.NET.Frame AssistedCapture(Zivid.NET.Camera camera)
{
var suggestSettingsParameters = new Zivid.NET.CaptureAssistant.SuggestSettingsParameters
{
AmbientLightFrequency =
Zivid.NET.CaptureAssistant.SuggestSettingsParameters.AmbientLightFrequencyOption.none,
MaxCaptureTime = Duration.FromMilliseconds(800)
};
var settings = Zivid.NET.CaptureAssistant.Assistant.SuggestSettings(camera, suggestSettingsParameters);
return(camera.Capture(settings));
}
static List <HandEyeInput> ReadInputs(Zivid.NET.Camera camera)
{
var input = new List <HandEyeInput>();
var currentPoseId = 0U;
var beingInput = true;
Interaction.ExtendInputBuffer(2048);
do
{
switch (Interaction.EnterCommand())
{
case CommandType.AddPose:
try
{
var robotPose = Interaction.EnterRobotPose(currentPoseId);
using (var frame = Interaction.AssistedCapture(camera))
{
Console.Write("Detecting checkerboard in point cloud");
var result = Detector.DetectFeaturePoints(frame.PointCloud);
if (result)
{
Console.WriteLine("OK");
input.Add(new HandEyeInput(robotPose, result));
++currentPoseId;
}
else
{
Console.WriteLine("FAILED");
}
}
}
catch (Exception ex)
{
Console.WriteLine("Error: {0}", ex.Message);
continue;
}
break;
case CommandType.Calibrate: beingInput = false; break;
case CommandType.Unknown: Console.WriteLine("Error: Unknown command"); break;
}
} while (beingInput);
return(input);
}
static Tuple <double[], int[], double[]> GetExposureValues(Zivid.NET.Camera camera)
{
if (camera.Info.ModelName.Substring(0, 9) == "Zivid One")
{
double[] aperture = { 8.0, 4.0, 4.0 };
int[] exposureTime = { 10000, 10000, 40000 };
double[] gain = { 1.0, 1.0, 2.0 };
return(Tuple.Create <double[], int[], double[]>(aperture, exposureTime, gain));
}
if (camera.Info.ModelName.Substring(0, 9) == "Zivid Two")
{
double[] aperture = { 5.66, 2.38, 1.8 };
int[] exposureTime = { 1677, 5000, 100000 };
double[] gain = { 1.0, 1.0, 1.0 };
return(Tuple.Create <double[], int[], double[]>(aperture, exposureTime, gain));
}
throw new Exception("Unknown camera model, " + camera.Info.ModelName.Substring(0, 9));
}
static void Clear(Zivid.NET.Camera camera)
{
Write(camera, "");
}
static void Write(Zivid.NET.Camera camera, string dataString)
{
camera.WriteUserData(System.Text.Encoding.ASCII.GetBytes(dataString));
}
static string Read(Zivid.NET.Camera camera)
{
return(System.Text.Encoding.ASCII.GetString(camera.UserData.ToArray()));
}