Samples: Automatic updates to public repository

Remember to do the following:
    1. Ensure that modified/deleted/new files are correct
    2. Make this commit message relevant for the changes
    3. Force push
    4. Delete branch after PR is merged

If this commit is an update from one SDK version to another,
make sure to create a release tag for previous version.

.github/workflows/main.yml

@@ -12,32 +12,32 @@ jobs:
         runs-on: ubuntu-latest
         strategy:
             matrix:
-                ubuntu-version: ["ubuntu:18.04", "ubuntu:20.04"]
+                ubuntu-version: ["18.04", "20.04", "22.04"]
         steps:
             - name: Check out code
               uses: actions/checkout@v2
-            - name: Setup on ${{matrix.ubuntu-version}}
+            - name: Setup on Ubuntu ${{matrix.ubuntu-version}}
               run: |
                   docker run \
                       --volume $PWD:/host \
                       --workdir /host/continuous-integration \
                       --env "PYTHONDONTWRITEBYTECODE=1" \
-                      ${{matrix.ubuntu-version}} \
+                      ubuntu:${{matrix.ubuntu-version}} \
                       bash -c "./setup.sh"
     ubuntu-setup-and-lint:
         name: Ubuntu setup and lint
         runs-on: ubuntu-latest
         strategy:
             matrix:
-                ubuntu-version: ["ubuntu:18.04"]
+                ubuntu-version: ["18.04"]
         steps:
             - name: Check out code
               uses: actions/checkout@v2
-            - name: Setup and lint on ${{matrix.ubuntu-version}}
+            - name: Setup and lint on Ubuntu ${{matrix.ubuntu-version}}
               run: |
                   docker run \
                       --volume $PWD:/host \
                       --workdir /host/continuous-integration \
                       --env "PYTHONDONTWRITEBYTECODE=1" \
-                      ${{matrix.ubuntu-version}} \
+                      ubuntu:${{matrix.ubuntu-version}} \
                       bash -c "./setup.sh && ./lint.sh"

README.md

@@ -1,6 +1,6 @@
 # Python samples
 
-This repository contains python code samples for Zivid SDK v2.9.0. For
+This repository contains python code samples for Zivid SDK v2.10.0. For
 tested compatibility with earlier SDK versions, please check out
 [accompanying
 releases](https://github.com/zivid/zivid-python-samples/tree/master/../../releases).
@@ -157,8 +157,8 @@ The recommended Python version for these samples is 3.6 - 3.9.
 4.  Add the directory source to PYTHONPATH. Navigate to the root of the
     repository and run:
 
-      - PowerShell: `$env:PYTHONPATH=$env:PYTHONPATH + ";$PWD\source"`
-      - cmd: `set PYTHONPATH="$PYTHONPATH;$PWD\source"`
+      - PowerShell: `$env:PYTHONPATH=$env:PYTHONPATH + ";$PWD\\source"`
+      - cmd: `set PYTHONPATH="$PYTHONPATH;$PWD\\source"`
       - bash: `export PYTHONPATH="$PYTHONPATH:$PWD/source"`
 
 5.  Open and run one of the samples.

continuous-integration/setup.sh

@@ -3,25 +3,12 @@
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 ROOT_DIR=$(realpath "$SCRIPT_DIR/..")
 
-ZIVID_SDK_EXACT_VERSION=2.9.0+4dbba385-1
-ZIVID_TELICAM_EXACT_VERSION=3.0.1.1-3
-
 export DEBIAN_FRONTEND=noninteractive
-source /etc/os-release || exit $?
 
 function apt-yes {
     apt-get --assume-yes "$@"
 }
 
-function install_www_deb {
-    TMP_DIR=$(mktemp --tmpdir --directory zivid-python-install-www-deb-XXXX) || exit $?
-    pushd $TMP_DIR || exit $?
-    wget -nv "$@" || exit $?
-    apt-yes install --fix-broken ./*deb || exit $?
-    popd || exit $?
-    rm -r $TMP_DIR || exit $?
-}
-
 apt-yes update || exit
 apt-yes dist-upgrade || exit
 
@@ -30,8 +17,19 @@ apt-yes install \
     wget ||
     exit $?
 
-install_www_deb "https://downloads.zivid.com/sdk/releases/${ZIVID_SDK_EXACT_VERSION}/u${VERSION_ID:0:2}/zivid-telicam-driver_${ZIVID_TELICAM_EXACT_VERSION}_amd64.deb" || exit $?
-install_www_deb "https://downloads.zivid.com/sdk/releases/${ZIVID_SDK_EXACT_VERSION}/u${VERSION_ID:0:2}/zivid_${ZIVID_SDK_EXACT_VERSION}_amd64.deb" || exit $?
+source /etc/os-release || exit
+
+function install_www_deb {
+    TMP_DIR=$(mktemp --tmpdir --directory zivid-sdk-install-www-deb-XXXX) || exit
+    pushd $TMP_DIR || exit
+    wget -nv "$@" || exit
+    apt-yes install --fix-broken ./*deb || exit
+    popd || exit
+    rm -r $TMP_DIR || exit
+}
+
+install_www_deb "https://downloads.zivid.com/sdk/releases/2.10.0-preview-4+4476b90a-1/u${VERSION_ID:0:2}/zivid-telicam-driver_3.0.1.1-3_amd64.deb" || exit
+install_www_deb "https://downloads.zivid.com/sdk/releases/2.10.0-preview-4+4476b90a-1/u${VERSION_ID:0:2}/zivid_2.10.0-preview-4+4476b90a-1_amd64.deb" || exit
 
 python3 -m pip install --upgrade pip || exit
 python3 -m pip install --requirement "$ROOT_DIR/requirements.txt" || exit

requirements.txt

@@ -1,8 +1,8 @@
-numpy
 matplotlib
-opencv-python
+numpy
 open3d
+opencv-python
 pyyaml
-scipy
 robodk
-zivid
+scipy
+zivid

source/applications/advanced/auto_2d_settings.py

@@ -176,6 +176,8 @@ def _find_lowest_acceptable_fnum(camera: zivid.Camera, image_distance_near: floa
     if camera.info.model == zivid.CameraInfo.Model.zividOnePlusSmall:
         focus_distance = 500
         focal_length = 16
+        circle_of_confusion = 0.015
+        fnum_min = 1.4
         if image_distance_near < 300 or image_distance_far > 1000:
             print(
                 f"WARNING: Closest imaging distance ({image_distance_near:.2f}) or farthest imaging distance"
@@ -184,6 +186,8 @@ def _find_lowest_acceptable_fnum(camera: zivid.Camera, image_distance_near: floa
     elif camera.info.model == zivid.CameraInfo.Model.zividOnePlusMedium:
         focus_distance = 1000
         focal_length = 16
+        circle_of_confusion = 0.015
+        fnum_min = 1.4
         if image_distance_near < 500 or image_distance_far > 2000:
             print(
                 f"WARNING: Closest imaging distance ({image_distance_near:.2f}) or farthest imaging distance"
@@ -192,6 +196,8 @@ def _find_lowest_acceptable_fnum(camera: zivid.Camera, image_distance_near: floa
     elif camera.info.model == zivid.CameraInfo.Model.zividOnePlusLarge:
         focus_distance = 1800
         focal_length = 16
+        circle_of_confusion = 0.015
+        fnum_min = 1.4
         if image_distance_near < 1200 or image_distance_far > 3000:
             print(
                 f"WARNING: Closest imaging distance ({image_distance_near:.2f}) or farthest imaging distance"
@@ -200,6 +206,8 @@ def _find_lowest_acceptable_fnum(camera: zivid.Camera, image_distance_near: floa
     elif camera.info.model == zivid.CameraInfo.Model.zividTwo:
         focus_distance = 700
         focal_length = 8
+        circle_of_confusion = 0.015
+        fnum_min = 1.8
         if image_distance_near < 300 or image_distance_far > 1300:
             print(
                 f"WARNING: Closest imaging distance ({image_distance_near:.2f}) or farthest imaging distance"
@@ -208,16 +216,26 @@ def _find_lowest_acceptable_fnum(camera: zivid.Camera, image_distance_near: floa
     elif camera.info.model == zivid.CameraInfo.Model.zividTwoL100:
         focus_distance = 1000
         focal_length = 8
+        circle_of_confusion = 0.015
+        fnum_min = 1.8
         if image_distance_near < 600 or image_distance_far > 1600:
             print(
                 f"WARNING: Closest imaging distance ({image_distance_near:.2f}) or farthest imaging distance"
                 f"({image_distance_far:.2f}) is outside recommended working distance for camera [600, 1600]"
             )
+    elif camera.info.model == zivid.CameraInfo.Model.zividTwoPlusM130:
+        focus_distance = 1300
+        focal_length = 11
+        circle_of_confusion = 0.008
+        fnum_min = 2.1
+        if image_distance_near < 800 or image_distance_far > 2000:
+            print(
+                f"WARNING: Closest imaging distance ({image_distance_near:.2f}) or farthest imaging distance"
+                f"({image_distance_far:.2f}) is outside recommended working distance for camera [800, 2000]"
+            )
     else:
         raise RuntimeError("Unsupported camera model in this sample.")
 
-    circle_of_confusion = 0.015
-
     fnum_near = (
         np.abs(image_distance_near - focus_distance)
         / image_distance_near
@@ -232,7 +250,7 @@ def _find_lowest_acceptable_fnum(camera: zivid.Camera, image_distance_near: floa
     fnum_near = min(max(fnum_near, 1), 32)
     fnum_far = min(max(fnum_far, 1), 32)
 
-    return max(fnum_near, fnum_far, 1.8)
+    return max(fnum_near, fnum_far, fnum_min)
 
 
 def _find_lowest_exposure_time(camera: zivid.Camera) -> float:
@@ -258,12 +276,45 @@ def _find_lowest_exposure_time(camera: zivid.Camera) -> float:
         exposure_time = 1677
     elif camera.info.model == zivid.CameraInfo.Model.zividTwoL100:
         exposure_time = 1677
+    elif camera.info.model == zivid.CameraInfo.Model.zividTwoPlusM130:
+        exposure_time = 1677
     else:
         raise RuntimeError("Unsupported camera model in this sample.")
 
     return exposure_time
 
 
+def _find_max_brightness(camera: zivid.Camera) -> float:
+    """Find the max projector brightness that a given camera can provide.
+
+    Args:
+        camera: Zivid camera
+
+    Raises:
+        RuntimeError: If camera model is not supported
+
+    Returns:
+        Highest projector brightness value for given camera
+
+    """
+    if camera.info.model == zivid.CameraInfo.Model.zividOnePlusSmall:
+        brightness = 1.8
+    elif camera.info.model == zivid.CameraInfo.Model.zividOnePlusMedium:
+        brightness = 1.8
+    elif camera.info.model == zivid.CameraInfo.Model.zividOnePlusLarge:
+        brightness = 1.8
+    elif camera.info.model == zivid.CameraInfo.Model.zividTwo:
+        brightness = 1.8
+    elif camera.info.model == zivid.CameraInfo.Model.zividTwoL100:
+        brightness = 1.8
+    elif camera.info.model == zivid.CameraInfo.Model.zividTwoPlusM130:
+        brightness = 2.5
+    else:
+        raise RuntimeError("Unsupported camera model in this sample.")
+
+    return brightness
+
+
 def _initialize_settings_2d(aperture: float, exposure_time: float, brightness: float, gain: float) -> zivid.Settings2D:
     """Initialize 2D capture settings.
 
@@ -421,7 +472,7 @@ def _find_2d_settings_from_mask(
 
     """
     min_exposure_time = _find_lowest_exposure_time(camera)
-    brightness = 1.8 if use_projector else 0
+    brightness = _find_max_brightness(camera) if use_projector else 0
     settings_2d = _initialize_settings_2d(aperture=8, exposure_time=min_exposure_time, brightness=brightness, gain=1)
 
     lower_white_range = 210
@@ -523,7 +574,6 @@ def _plot_image_with_histogram(rgb: np.ndarray, settings_2d: zivid.Settings2D) -
 
 
 def _main() -> None:
-
     app = zivid.Application()
 
     user_options = _options()

source/applications/advanced/color_balance.py

@@ -46,7 +46,6 @@ def _options() -> argparse.Namespace:
 
 
 def _main() -> None:
-
     app = zivid.Application()
 
     user_options = _options()

source/applications/advanced/create_depth_map.py

@@ -64,9 +64,7 @@ def _visualize_and_save_image(image: np.ndarray, image_file: str, title: str) ->
 
 
 def _main() -> None:
-
     with zivid.Application():
-
         data_file = get_sample_data_path() / "Zivid3D.zdf"
         print(f"Reading ZDF frame from file: {data_file}")
         frame = zivid.Frame(data_file)

source/applications/advanced/downsample.py

@@ -34,9 +34,7 @@ def _options() -> argparse.Namespace:
 
 
 def _main() -> None:
-
     with zivid.Application():
-
         user_options = _options()
         data_file = user_options.zdf_path
 

source/applications/advanced/get_checkerboard_pose_from_zdf.py

@@ -65,9 +65,7 @@ def _visualize_checkerboard_point_cloud_with_coordinate_system(
 
 
 def _main() -> None:
-
     with zivid.Application():
-
         data_file = get_sample_data_path() / "CalibrationBoardInCameraOrigin.zdf"
         print(f"Reading ZDF frame from file: {data_file}")
         frame = zivid.Frame(data_file)

source/applications/advanced/hand_eye_calibration/pose_conversions.py

@@ -216,9 +216,7 @@ def print_header(txt: str) -> None:
 
 
 def _main() -> None:
-
     with zivid.Application():
-
         np.set_printoptions(precision=4, suppress=True)
         print_header("This example shows conversions to/from Transformation Matrix")
 

source/applications/advanced/hand_eye_calibration/robodk_hand_eye_calibration/robodk_hand_eye_calibration.py

@@ -294,7 +294,6 @@ def options() -> argparse.Namespace:
 
 
 def _main() -> None:
-
     app = zivid.Application()
 
     user_options = options()

source/applications/advanced/hand_eye_calibration/ur_hand_eye_calibration/universal_robots_perform_hand_eye_calibration.py

@@ -319,7 +319,6 @@ def _generate_dataset(app: zivid.Application, con: rtde.RTDE, input_data: rtde.s
 
     """
     with app.connect_camera() as camera:
-
         settings = _camera_settings(camera)
         save_dir = _generate_folder()
 
@@ -390,7 +389,6 @@ def perform_hand_eye_calibration(
         pose_file_path = data_dir / f"pos{idata:02d}.yaml"
 
         if frame_file_path.is_file() and pose_file_path.is_file():
-
             print(f"Detect feature points from img{idata:02d}.zdf")
             point_cloud = zivid.Frame(frame_file_path).point_cloud()
             detection_result = zivid.calibration.detect_feature_points(point_cloud)
@@ -433,7 +431,6 @@ def perform_hand_eye_calibration(
 
 
 def _main() -> None:
-
     app = zivid.Application()
     user_options = _options()
 

source/applications/advanced/hand_eye_calibration/utilize_hand_eye_calibration.py

@@ -34,9 +34,7 @@
 
 
 def _main() -> None:
-
     with zivid.Application():
-
         np.set_printoptions(precision=2)
 
         while True:
@@ -45,7 +43,6 @@ def _main() -> None:
             ).strip()
 
             if robot_camera_configuration.lower() == "eth":
-
                 file_name = "ZividGemEyeToHand.zdf"
 
                 # The (picking) point is defined as image coordinates in camera frame. It is hard-coded for the
@@ -61,7 +58,6 @@ def _main() -> None:
                 break
 
             if robot_camera_configuration.lower() == "eih":
-
                 file_name = "ZividGemEyeInHand.zdf"
 
                 # The (picking) point is defined as image coordinates in camera frame. It is hard-coded for the
@@ -94,7 +90,6 @@ def _main() -> None:
             command = input("Enter command, s (to transform single point) or p (to transform point cloud): ").strip()
 
             if command.lower() == "s":
-
                 print("Transforming single point")
 
                 xyz = point_cloud.copy_data("xyz")
@@ -117,7 +112,6 @@ def _main() -> None:
                 break
 
             if command.lower() == "p":
-
                 print("Transforming point cloud")
 
                 point_cloud.transform(transform_base_to_camera)