static void Main()
{
try
{
var zivid = new Zivid.NET.Application();
Console.WriteLine("Connecting to camera");
var camera = zivid.ConnectCamera();
Console.WriteLine("Configuring settings");
var settings = new Zivid.NET.Settings
{
Acquisitions = { new Zivid.NET.Settings.Acquisition {
Aperture = 5.66,
ExposureTime = Duration.FromMicroseconds(6500)
} },
Processing = { Filters = { Outlier = { Removal = { Enabled = true, Threshold = 5.0 } } } }
};
Console.WriteLine("Capturing frame");
using (var frame = camera.Capture(settings))
{
var dataFile = "Frame.zdf";
Console.WriteLine("Saving frame to file: " + dataFile);
frame.Save(dataFile);
}
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
Environment.ExitCode = 1;
}
}
static void Main()
{
try
{
var zivid = new Zivid.NET.Application();
Console.WriteLine("Connecting to camera");
var camera = zivid.ConnectCamera();
var inputs = ReadInputs(camera);
Console.WriteLine("Performing hand-eye calibration");
var calibrationResult = Calibrator.CalibrateEyeToHand(inputs);
if (calibrationResult)
{
Console.WriteLine("{0}\n{1}\n{2}", "Hand-eye calibration OK", "Result:", calibrationResult);
}
else
{
Console.WriteLine("Hand-eye calibration FAILED");
Environment.ExitCode = 1;
}
}
catch (Exception ex)
{
Console.WriteLine("Error: {0}", ex.Message);
Environment.ExitCode = 1;
}
}
static void Main()
{
try
{
var zivid = new Zivid.NET.Application();
Console.WriteLine("Setting up visualization");
var visualizer = new Zivid.NET.CloudVisualizer();
zivid.DefaultComputeDevice = visualizer.ComputeDevice;
var zdfFile = Zivid.NET.Environment.DataPath + "/MiscObjects.zdf";
Console.WriteLine("Initializing camera emulation using file: " + zdfFile);
var camera = zivid.CreateFileCamera(zdfFile);
Console.WriteLine("Capture a frame");
var frame = camera.Capture();
Console.WriteLine("Display the frame");
visualizer.Show(frame);
visualizer.ShowMaximized();
visualizer.ResetToFit();
Console.WriteLine("Run the visualizer. Block until window closes");
visualizer.Run();
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
Environment.ExitCode = 1;
}
}
static void Main()
{
try
{
var zivid = new Zivid.NET.Application();
var resultFile = "result.zdf";
Console.WriteLine("Connecting to camera");
var camera = zivid.ConnectCamera();
Console.WriteLine("Adjusting the iris");
camera.UpdateSettings(s =>
{
s.Iris = 22;
s.ExposureTime = Duration.FromMicroseconds(8333);
s.Filters.Outlier.Enabled = true;
s.Filters.Outlier.Threshold = 5;
});
Console.WriteLine("Capture a frame");
var frame = camera.Capture();
Console.WriteLine("Saving frame to file: " + resultFile);
frame.Save(resultFile);
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
Environment.ExitCode = 1;
}
}
static void Main()
{
try
{
var zivid = new Zivid.NET.Application();
Console.WriteLine("Connecting to camera");
var camera = zivid.ConnectCamera();
var suggestSettingsParameters = new Zivid.NET.CaptureAssistant.SuggestSettingsParameters(Duration.FromMilliseconds(1200), Zivid.NET.CaptureAssistant.AmbientLightFrequency.none);
Console.WriteLine("Running Capture Assistant with parameters: {0}", suggestSettingsParameters);
var settingsList = Zivid.NET.CaptureAssistant.SuggestSettings(camera, suggestSettingsParameters);
Console.WriteLine("Suggested settings are:");
foreach (var settings in settingsList)
{
Console.WriteLine(settings);
}
Console.WriteLine("Capture (and merge) frames using automatically suggested settings");
var hdrFrame = Zivid.NET.HDR.Capture(camera, settingsList);
string resultFile = "result.zdf";
Console.WriteLine("Saving frame to file: " + resultFile);
hdrFrame.Save(resultFile);
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
Environment.ExitCode = 1;
}
}
static void Main()
{
try
{
var zivid = new Zivid.NET.Application();
Console.WriteLine("Setting up visualization");
var visualizer = new Zivid.NET.CloudVisualizer();
zivid.DefaultComputeDevice = visualizer.ComputeDevice;
var Filename = "Zivid3D.zdf";
Console.WriteLine("Reading " + Filename + " point cloud");
var frame = new Zivid.NET.Frame(Filename);
Console.WriteLine("Displaying the frame");
visualizer.Show(frame);
visualizer.ShowMaximized();
visualizer.ResetToFit();
Console.WriteLine("Running the visualizer. Blocking until the window closes");
visualizer.Run();
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
Environment.ExitCode = 1;
}
}
static void Main()
{
try
{
Console.WriteLine("Finding cameras");
var zivid = new Zivid.NET.Application();
var cameras = zivid.Cameras;
Console.WriteLine("Number of cameras found: {0}", cameras.Count);
foreach (var camera in cameras)
{
Console.WriteLine("Connecting to camera: {0}", camera.Info.SerialNumber);
camera.Connect();
}
var detectionResults = new List <DetectionResult>();
foreach (var camera in cameras)
{
Console.WriteLine("Capturing frame with camera: {0}", camera.Info.SerialNumber);
using (var frame = AssistedCapture(camera))
{
Console.WriteLine("Detecting checkerboard in point cloud");
var detectionResult = Detector.DetectFeaturePoints(frame.PointCloud);
if (detectionResult)
{
detectionResults.Add(detectionResult);
}
else
{
throw new System.InvalidOperationException(
"Could not detect checkerboard. Please ensure it is visible from all cameras.");
}
}
}
Console.WriteLine("Performing Multi-camera calibration");
var result = Calibrator.CalibrateMultiCamera(detectionResults);
if (result)
{
Console.WriteLine("Multi-camera calibration OK.");
var transforms = result.Transforms();
var residuals = result.Residuals();
for (int i = 0; i < transforms.Length; i++)
{
PrintMatrix(transforms[i]);
Console.WriteLine(residuals[i]
.ToString());
}
}
else
{
Console.WriteLine("Multi-camera calibration FAILED.");
}
}
catch (Exception ex)
{
Console.WriteLine("Error: {0}", ex.Message);
Environment.ExitCode = 1;
}
}
static void Main()
{
try
{
var zivid = new Zivid.NET.Application();
Console.WriteLine("Connecting to camera");
var camera = zivid.ConnectCamera();
Console.WriteLine("Setting the capture settings");
var settings = new Zivid.NET.Settings2D()
{
Iris = 22,
ExposureTime = Duration.FromMicroseconds(10000),
Gain = 1.0
};
Console.WriteLine("Capture a 2D frame");
var frame2D = camera.Capture2D(settings);
Console.WriteLine("Get RGBA8 image from Frame2D");
var image = frame2D.Image <Zivid.NET.RGBA8>();
Console.WriteLine("Image Width: {0}, Height: {1}", image.Width, image.Height);
Console.WriteLine("Pixel (0, 0): R={0}, G={1}, B={2}, A={3}",
image[0, 0].r,
image[0, 0].g,
image[0, 0].b,
image[0, 0].a);
byte[] byteArray = image.ToArray();
Console.WriteLine("First four bytes: [0]: {0}, [1]: {1}, [2]: {2}, [3]: {3}",
byteArray[0],
byteArray[1],
byteArray[2],
byteArray[3]);
var resultFile = "image.png";
Console.WriteLine("Saving the image to {0}", resultFile);
image.Save(resultFile);
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
Environment.ExitCode = 1;
}
}
static void Main()
{
try
{
var zivid = new Zivid.NET.Application();
// This FileCamera file is in Zivid Sample Data. See instructions in README.md.
var fileCamera = Environment.GetFolderPath(Environment.SpecialFolder.CommonApplicationData)
+ "/Zivid/FileCameraZividOne.zfc";
Console.WriteLine("Creating virtual camera using file: " + fileCamera);
var camera = zivid.CreateFileCamera(fileCamera);
Console.WriteLine("Configuring settings");
var settings = new Zivid.NET.Settings
{
Acquisitions = { new Zivid.NET.Settings.Acquisition {
} },
Processing = { Filters = { Smoothing = { Gaussian = { Enabled = true, Sigma = 1.5 } },
Reflection = { Removal = { Enabled = true } } },
Color = { Balance = { Red = 1.0, Green = 1.0, Blue = 1.0 } } }
};
Console.WriteLine("Capturing frame");
using (var frame = camera.Capture(settings))
{
Console.WriteLine("Setting up visualization");
var visualizer = new Zivid.NET.Visualization.Visualizer();
Console.WriteLine("Visualizing point cloud");
visualizer.Show(frame);
visualizer.ShowMaximized();
visualizer.ResetToFit();
Console.WriteLine("Running visualizer. Blocking until window closes");
visualizer.Run();
}
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
Environment.ExitCode = 1;
}
}
static void Main()
{
try
{
var zivid = new Zivid.NET.Application();
Console.WriteLine("Setting up visualization");
var visualizer = new Zivid.NET.CloudVisualizer();
zivid.DefaultComputeDevice = visualizer.ComputeDevice;
Console.WriteLine("Connecting to camera");
var camera = zivid.ConnectCamera();
Console.WriteLine("Recording HDR source images");
var frames = new List <Zivid.NET.Frame>();
foreach (var iris in new ulong[] { 10, 25, 35 })
{
Console.WriteLine("Measure with iris = " + iris);
camera.UpdateSettings(s =>
{
s.Iris = iris;
});
frames.Add(camera.Capture());
}
Console.WriteLine("Creating HDR frame");
var hdrFrame = Zivid.NET.HDR.CombineFrames(frames);
Console.WriteLine("Display the frame");
visualizer.ShowMaximized();
visualizer.Show(hdrFrame);
visualizer.ResetToFit();
Console.WriteLine("Run the visualizer. Block until window closes");
visualizer.Run();
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
Environment.ExitCode = 1;
}
}
static void Main()
{
try
{
var zivid = new Zivid.NET.Application();
Console.WriteLine("Setting up visualization");
var visualizer = new Zivid.NET.CloudVisualizer();
zivid.DefaultComputeDevice = visualizer.ComputeDevice;
Console.WriteLine("Connecting to camera");
var camera = zivid.ConnectCamera();
visualizer.ShowMaximized();
Console.WriteLine("Starting live capturing of frames");
var resetToFit = true;
camera.SetFrameCallback(frame => {
visualizer.Show(frame);
if (resetToFit)
{
visualizer.ResetToFit();
resetToFit = false;
}
frame.Dispose();
});
camera.StartLive();
Console.WriteLine("Run the visualizer. Block until window closes");
visualizer.Run();
Console.WriteLine("Stopping live capturing");
camera.StopLive();
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
Environment.ExitCode = 1;
}
}
static void Main()
{
try
{
var zivid = new Zivid.NET.Application();
Console.WriteLine("Connecting to camera");
var camera = zivid.ConnectCamera();
var suggestSettingsParameters = new Zivid.NET.CaptureAssistant.SuggestSettingsParameters
{
AmbientLightFrequency =
Zivid.NET.CaptureAssistant.SuggestSettingsParameters.AmbientLightFrequencyOption.none,
MaxCaptureTime = Duration.FromMilliseconds(1200)
};
Console.WriteLine("Running Capture Assistant with parameters:\n{0}", suggestSettingsParameters);
var settings = Zivid.NET.CaptureAssistant.Assistant.SuggestSettings(camera, suggestSettingsParameters);
Console.WriteLine("Settings suggested by Capture Assistant:");
Console.WriteLine(settings.Acquisitions);
Console.WriteLine("Manually configuring processing settings (Capture Assistant only suggests acquisition settings)");
settings.Processing.Filters.Reflection.Removal.Enabled = true;
settings.Processing.Filters.Smoothing.Gaussian.Enabled = true;
settings.Processing.Filters.Smoothing.Gaussian.Sigma = 1.5;
Console.WriteLine("Capturing frame");
using (var frame = camera.Capture(settings))
{
string dataFile = "Frame.zdf";
Console.WriteLine("Saving frame to file: " + dataFile);
frame.Save(dataFile);
}
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
Environment.ExitCode = 1;
}
}
static void Main()
{
try
{
var zivid = new Zivid.NET.Application();
var dataFile =
Environment.GetFolderPath(Environment.SpecialFolder.CommonApplicationData) + "/Zivid/Zivid3D.zdf";
var pointCloudFile = "Zivid3D.ply";
var frame = new Zivid.NET.Frame(dataFile);
Console.WriteLine("Saving point cloud to file: " + pointCloudFile);
frame.Save(pointCloudFile);
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
Environment.ExitCode = 1;
}
}
static void Main()
{
try
{
var zivid = new Zivid.NET.Application();
var dataFile =
Environment.GetFolderPath(Environment.SpecialFolder.CommonApplicationData) + "/Zivid/Zivid3D.zdf";
Console.WriteLine("Reading ZDF frame from file: " + dataFile);
var frame = new Zivid.NET.Frame(dataFile);
Console.WriteLine("Getting point cloud from frame");
var pointCloud = frame.PointCloud;
Console.WriteLine("Size of point cloud before downsampling: " + pointCloud.Size + " data point");
Console.WriteLine("Downsampling point cloud");
pointCloud.Downsample(Zivid.NET.PointCloud.Downsampling.By2x2);
Console.WriteLine("Size of point cloud after downsampling: " + pointCloud.Size + " data point");
Console.WriteLine("Setting up visualization");
var visualizer = new Zivid.NET.Visualization.Visualizer();
Console.WriteLine("Visualizing downsampled point cloud");
visualizer.Show(pointCloud);
visualizer.ShowMaximized();
visualizer.ResetToFit();
Console.WriteLine("Running visualizer. Blocking until window closes");
visualizer.Run();
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
Environment.ExitCode = 1;
}
}
static void Main()
{
try
{
var zivid = new Zivid.NET.Application();
// This FileCamera file is in Zivid Sample Data. See instructions in README.md.
var fileCamera = Environment.GetFolderPath(Environment.SpecialFolder.CommonApplicationData)
+ "/Zivid/FileCameraZividOne.zfc";
Console.WriteLine("Creating virtual camera using file: " + fileCamera);
var camera = zivid.CreateFileCamera(fileCamera);
Console.WriteLine("Configuring settings");
var settings = new Zivid.NET.Settings
{
Acquisitions = { new Zivid.NET.Settings.Acquisition {
} },
Processing = { Filters = { Smoothing = { Gaussian = { Enabled = true, Sigma = 1.5 } },
Reflection = { Removal = { Enabled = true } } },
Color = { Balance = { Red = 1.0, Green = 1.0, Blue = 1.0 } } }
};
Console.WriteLine("Capturing frame");
using (var frame = camera.Capture(settings))
{
var dataFile = "Result.zdf";
Console.WriteLine("Saving frame to file: " + dataFile);
frame.Save(dataFile);
}
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
Environment.ExitCode = 1;
}
}
static void Main()
{
try
{
var zivid = new Zivid.NET.Application();
Console.WriteLine("Connecting to camera");
var camera = zivid.ConnectCamera();
Console.WriteLine("Getting camera intrinsics");
var intrinsics = Zivid.NET.Experimental.Calibration.Calibrator.Intrinsics(camera);
Console.WriteLine(intrinsics.ToString());
Console.WriteLine("Separated camera intrinsic parameters:");
Console.WriteLine(" CX = " + intrinsics.CameraMatrix.CX.ToString());
Console.WriteLine(" CY = " + intrinsics.CameraMatrix.CY.ToString());
Console.WriteLine(" FX = " + intrinsics.CameraMatrix.FX.ToString());
Console.WriteLine(" FY = " + intrinsics.CameraMatrix.FY.ToString());
Console.WriteLine(" K1 = " + intrinsics.Distortion.K1.ToString());
Console.WriteLine(" K2 = " + intrinsics.Distortion.K2.ToString());
Console.WriteLine(" K3 = " + intrinsics.Distortion.K3.ToString());
Console.WriteLine(" P1 = " + intrinsics.Distortion.K1.ToString());
Console.WriteLine(" P2 = " + intrinsics.Distortion.K2.ToString());
var intrinsicsFile = "Intrinsics.yml";
Console.WriteLine("Saving camera intrinsics to file: " + intrinsicsFile);
intrinsics.Save(intrinsicsFile);
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
Environment.ExitCode = 1;
}
}
static void Main()
{
try
{
var zivid = new Zivid.NET.Application();
var zdfFile = Zivid.NET.Environment.DataPath + "/MiscObjects.zdf";
var resultFile = "result.zdf";
Console.WriteLine("Initializing camera emulation using file: " + zdfFile);
var camera = zivid.CreateFileCamera(zdfFile);
Console.WriteLine("Capture a frame");
var frame = camera.Capture();
Console.WriteLine("Saving frame to file: " + resultFile);
frame.Save(resultFile);
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
Environment.ExitCode = 1;
}
}
static void Main()
{
try
{
var zivid = new Zivid.NET.Application();
Console.WriteLine("Connecting to camera");
var camera = zivid.ConnectCamera();
Console.WriteLine("Configuring settings");
var settings = new Zivid.NET.Settings
{
Acquisitions = { new Zivid.NET.Settings.Acquisition {
Aperture = 5.66,
ExposureTime = Duration.FromMicroseconds(8333)
} },
Processing = { Filters = { Outlier = { Removal = { Enabled = true, Threshold = 5.0 } } } }
};
Console.WriteLine("Capturing frame");
var frame = camera.Capture(settings);
var pointCloud = frame.PointCloud;
Console.WriteLine("Converting to Halcon point cloud");
HalconDotNet.HObjectModel3D objectModel3D = ZividToHalconPointCloud(pointCloud);
string pointCloudFile = "Zivid3D.ply";
Console.WriteLine("Saving point cloud to: " + pointCloudFile);
SaveHalconPointCloud(objectModel3D, pointCloudFile);
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
Environment.ExitCode = 1;
}
}
static void Main()
{
try
{
var zivid = new Zivid.NET.Application();
Console.WriteLine("Setting up visualization");
var visualizer = new Zivid.NET.CloudVisualizer();
zivid.DefaultComputeDevice = visualizer.ComputeDevice;
Console.WriteLine("Connecting to camera");
var camera = zivid.ConnectCamera();
Console.WriteLine("Adjusting the iris");
camera.UpdateSettings(s =>
{
s.Iris = 22;
});
Console.WriteLine("Capture a frame");
var frame = camera.Capture();
Console.WriteLine("Display the frame");
visualizer.Show(frame);
visualizer.ShowMaximized();
visualizer.ResetToFit();
Console.WriteLine("Run the visualizer. Block until window closes");
visualizer.Run();
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
Environment.ExitCode = 1;
}
}
static void Main()
{
try
{
var zivid = new Zivid.NET.Application();
Console.WriteLine("Connecting to camera");
var camera = zivid.ConnectCamera();
Console.WriteLine("Configuring global processing settings:");
var settings = new Zivid.NET.Settings()
{
Experimental = { Engine = Zivid.NET.Settings.ExperimentalGroup.EngineOption.Phase },
Processing = { Filters = { Smoothing = { Gaussian = { Enabled = true, Sigma = 1.5 } },
Noise = { Removal = { Enabled = true, Threshold = 7.0 } },
Outlier = { Removal = { Enabled = true, Threshold = 5.0 } },
Reflection = { Removal = { Enabled = true } },
Experimental = { ContrastDistortion = { Correction = { Enabled = true,
Strength = 0.4 },
Removal = { Enabled = true,
Threshold = 0.5 } } } },
Color = { Balance = { Red = 1.0, Green = 1.0, Blue = 1.0 }, Gamma = 1.0 } }
};
Console.WriteLine(settings);
Console.WriteLine("Configuring base acquisition with settings same for all HDR acquisitions:");
var baseAcquisition = new Zivid.NET.Settings.Acquisition {
Brightness = 1.8
};
Console.WriteLine(baseAcquisition);
Console.WriteLine("Configuring acquisition settings different for all HDR acquisitions:");
Tuple <double[], int[], double[]> exposureValues = GetExposureValues(camera);
double[] aperture = exposureValues.Item1;
int[] exposureTime = exposureValues.Item2;
double[] gain = exposureValues.Item3;
for (int i = 0; i < aperture.Length; i++)
{
Console.WriteLine("Acquisition {0}:", i + 1);
Console.WriteLine(" Exposure Time: {0}", exposureTime[i]);
Console.WriteLine(" Aperture: {0}", aperture[i]);
Console.WriteLine(" Gain: {0}", gain[i]);
var acquisitionSettings = baseAcquisition.CopyWith(s =>
{
s.Aperture = aperture[i];
s.ExposureTime = Duration.FromMicroseconds(exposureTime[i]);
s.Gain = gain[i];
});
settings.Acquisitions.Add(acquisitionSettings);
}
Console.WriteLine("Capturing frame (HDR)");
using (var frame = camera.Capture(settings))
{
Console.WriteLine("Complete settings used:");
Console.WriteLine(frame.Settings);
var dataFile = "Frame.zdf";
Console.WriteLine("Saving frame to file: " + dataFile);
frame.Save(dataFile);
}
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
Environment.ExitCode = 1;
}
}
static void Main()
{
try
{
var zivid = new Zivid.NET.Application();
Console.WriteLine("Setting up visualization");
var visualizer = new Zivid.NET.CloudVisualizer();
zivid.DefaultComputeDevice = visualizer.ComputeDevice;
Console.WriteLine("Connecting to the camera");
var camera = zivid.ConnectCamera();
Console.WriteLine("Recording HDR source images");
var frames = new List <Zivid.NET.Frame>();
camera.UpdateSettings(s =>
{
s.Iris = 10;
s.ExposureTime = Duration.FromMicroseconds(10000);
s.Brightness = 1;
s.Gain = 1;
s.Bidirectional = false;
s.Filters.Contrast.Enabled = true;
s.Filters.Contrast.Threshold = 5;
s.Filters.Gaussian.Enabled = true;
s.Filters.Gaussian.Sigma = 1.5;
s.Filters.Outlier.Enabled = true;
s.Filters.Outlier.Threshold = 5;
s.Filters.Reflection.Enabled = true;
s.Filters.Saturated.Enabled = true;
s.BlueBalance = 1.081;
s.RedBalance = 1.709;
});
ulong[] iris = { 10, 20, 30 };
long[] exposure = { 10000, 20000, 30000 };
for (int i = 0; i < 3; ++i)
{
camera.UpdateSettings(s =>
{
s.Iris = iris[i];
s.ExposureTime = Duration.FromMicroseconds(exposure[i]);
});
frames.Add(camera.Capture());
Console.WriteLine("Frame " + (i + 1) + " " + camera.Settings.ToString());
}
Console.WriteLine("Creating the HDR frame");
var hdrFrame = Zivid.NET.HDR.CombineFrames(frames);
Console.WriteLine("Saving the frames");
frames[0].Save("10.zdf");
frames[1].Save("20.zdf");
frames[2].Save("30.zdf");
hdrFrame.Save("HDR.zdf");
Console.WriteLine("Displaying the HDR frame");
visualizer.ShowMaximized();
visualizer.Show(hdrFrame);
visualizer.ResetToFit();
Console.WriteLine("Running the visualizer. Blocking until the window closes");
visualizer.Run();
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
Environment.ExitCode = 1;
}
}
static void Main()
{
try
{
var zivid = new Zivid.NET.Application();
Console.WriteLine("Connecting to camera");
var camera = zivid.ConnectCamera();
Console.WriteLine("Configuring 2D settings");
// Note: The Zivid SDK supports 2D captures with a single acquisition only
var settings2D = new Zivid.NET.Settings2D
{
Acquisitions = { new Zivid.NET.Settings2D.Acquisition {
Aperture = 11.31, ExposureTime = Duration.FromMicroseconds(30000), Gain = 2.0, Brightness = 1.80
} },
Processing = { Color = { Balance = { Red = 1.0, Blue = 1.0, Green = 1.0 }, Gamma = 1.0 } }
};
Console.WriteLine("Capturing 2D frame");
using (var frame2D = camera.Capture(settings2D))
{
Console.WriteLine("Getting RGBA image");
var image = frame2D.ImageRGBA();
var pixelRow = 100;
var pixelCol = 50;
Console.WriteLine("Extracting 2D pixel array");
var pixelArray = image.ToArray();
Console.WriteLine("Height: {0}, Width: {1}", pixelArray.GetLength(0), pixelArray.GetLength(1));
Console.WriteLine("Color at pixel ({0},{1}): R:{2} G:{3} B:{4} A:{5}",
pixelRow,
pixelCol,
pixelArray[pixelRow, pixelCol].r,
pixelArray[pixelRow, pixelCol].g,
pixelArray[pixelRow, pixelCol].b,
pixelArray[pixelRow, pixelCol].a);
Console.WriteLine("Extracting 3D array of bytes");
var nativeArray = image.ToByteArray();
Console.WriteLine("Height: {0}, Width: {1}, Channels: {2}",
nativeArray.GetLength(0),
nativeArray.GetLength(1),
nativeArray.GetLength(2));
Console.WriteLine("Color at pixel ({0},{1}): R:{2} G:{3} B:{4} A:{5}",
pixelRow,
pixelCol,
nativeArray[pixelRow, pixelCol, 0],
nativeArray[pixelRow, pixelCol, 1],
nativeArray[pixelRow, pixelCol, 2],
nativeArray[pixelRow, pixelCol, 3]);
var imageFile = "Image.png";
Console.WriteLine("Saving image to file: {0}", imageFile);
image.Save(imageFile);
}
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
Environment.ExitCode = 1;
}
}
static void Main()
{
try
{
var zivid = new Zivid.NET.Application();
var dataFile =
Environment.GetFolderPath(Environment.SpecialFolder.CommonApplicationData) + "/Zivid/Zivid3D.zdf";
Console.WriteLine("Reading ZDF frame from file: " + dataFile);
var frame = new Zivid.NET.Frame(dataFile);
Console.WriteLine("Getting point cloud from frame");
var pointCloud = frame.PointCloud;
var pointCloudData = pointCloud.CopyPointsXYZColorsRGBA();
var pointCloudSNR = pointCloud.CopySNRs();
var height = pointCloud.Height;
var width = pointCloud.Width;
Console.WriteLine("Point cloud information:");
Console.WriteLine("Number of points: " + pointCloud.Size + "\n" + "Height: " + height
+ ", Width: " + width);
const ulong pixelsToDisplay = 10;
Console.WriteLine(
"Iterating over point cloud and extracting X, Y, Z, R, G, B, and SNR for central {0} x {1} pixels",
pixelsToDisplay,
pixelsToDisplay);
ulong iStart = (height - pixelsToDisplay) / 2;
ulong iStop = (height + pixelsToDisplay) / 2;
ulong jStart = (width - pixelsToDisplay) / 2;
ulong jStop = (width + pixelsToDisplay) / 2;
for (ulong i = iStart; i < iStop; i++)
{
for (ulong j = jStart; j < jStop; j++)
{
Console.WriteLine(string.Format(
"{0} {1} {2,-7} {3} {4,-7} {5} {6,-7} {7} {8,-7} {9} {10,-7} {11} {12,-7} {13} {14,-7}",
"Values at pixel (" + i + "," + j + "): ",
"X:",
pointCloudData[i, j].point.x.ToString("F1"),
"Y:",
pointCloudData[i, j].point.y.ToString("F1"),
"Z:",
pointCloudData[i, j].point.z.ToString("F1"),
"R:",
pointCloudData[i, j].color.r.ToString(),
"G:",
pointCloudData[i, j].color.g.ToString(),
"B:",
pointCloudData[i, j].color.b.ToString(),
"SNR:",
pointCloudSNR[i, j]
.ToString("F1")));
}
}
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
Environment.ExitCode = 1;
}
}
