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6 changes: 6 additions & 0 deletions
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source/Applications/Advanced/TransformPointCloudViaCheckerboard/App.config
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| @@ -0,0 +1,6 @@ | ||
| <?xml version="1.0" encoding="utf-8" ?> | ||
| <configuration> | ||
| <startup> | ||
| <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.5.2" /> | ||
| </startup> | ||
| </configuration> |
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source/Applications/Advanced/TransformPointCloudViaCheckerboard/Properties/AssemblyInfo.cs
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| using System.Reflection; | ||
| using System.Runtime.CompilerServices; | ||
| using System.Runtime.InteropServices; | ||
|
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| // General Information about an assembly is controlled through the following | ||
| // set of attributes. Change these attribute values to modify the information | ||
| // associated with an assembly. | ||
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| [assembly: AssemblyTitle("TransformPointCloudViaCheckerboard")] | ||
| [assembly: AssemblyDescription("")] | ||
| [assembly: AssemblyConfiguration("")] | ||
| [assembly: AssemblyCompany("")] | ||
| [assembly: AssemblyProduct("TransformPointCloudViaCheckerboard")] | ||
| [assembly: AssemblyCopyright("Copyright 2015-2022 (C) Zivid AS")] | ||
| [assembly: AssemblyTrademark("")] | ||
| [assembly: AssemblyCulture("")] | ||
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| // Setting ComVisible to false makes the types in this assembly not visible | ||
| // to COM components. If you need to access a type in this assembly from | ||
| // COM, set the ComVisible attribute to true on that type. | ||
| [assembly: ComVisible(false)] | ||
|
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| // The following GUID is for the ID of the typelib if this project is exposed to COM | ||
| [assembly: Guid("05DAC246-781C-45B9-8E57-AC58D013522A")] | ||
|
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| // Version information for an assembly consists of the following four values: | ||
| // | ||
| // Major Version | ||
| // Minor Version | ||
| // Build Number | ||
| // Revision | ||
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| [assembly: AssemblyVersion("1.0.0.0")] | ||
| [assembly: AssemblyFileVersion("1.0.0.0")] | ||
| [assembly: AssemblyInformationalVersion("1.0.0.0")] |
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...cations/Advanced/TransformPointCloudViaCheckerboard/TransformPointCloudViaCheckerboard.cs
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,47 @@ | ||
| /* | ||
| Transform a point cloud from camera to checkerboard (Zivid Calibration Board) coordinate frame by getting checkerboard pose from the API. | ||
| The ZDF file for this sample can be found under the main instructions for Zivid samples. | ||
| */ | ||
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| using System; | ||
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| using Zivid.NET.Calibration; | ||
|
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| class Program | ||
| { | ||
| static int Main() | ||
| { | ||
| try | ||
| { | ||
| var zivid = new Zivid.NET.Application(); | ||
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| var calibrationBoardFile = Environment.GetFolderPath(Environment.SpecialFolder.CommonApplicationData) | ||
| + "/Zivid/CalibrationBoardInCameraOrigin.zdf"; | ||
| Console.WriteLine("Reading ZDF frame from file: " + calibrationBoardFile); | ||
| var frame = new Zivid.NET.Frame(calibrationBoardFile); | ||
| var pointCloud = frame.PointCloud; | ||
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| Console.WriteLine("Detecting and estimating pose of the Zivid checkerboard in the camera frame"); | ||
| var detectionResult = Detector.DetectFeaturePoints(pointCloud); | ||
| var transformCameraToCheckerboard = new Zivid.NET.Matrix4x4(detectionResult.Pose().ToMatrix()); | ||
| Console.WriteLine(transformCameraToCheckerboard); | ||
| Console.WriteLine("Camera pose in checkerboard frame:"); | ||
| var transformCheckerboardToCamera = transformCameraToCheckerboard.Inverse(); | ||
| Console.WriteLine(transformCheckerboardToCamera); | ||
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| Console.WriteLine("Transforming point cloud from camera frame to Checkerboard frame"); | ||
| pointCloud.Transform(transformCheckerboardToCamera); | ||
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| var checkerboardTransformedFile = "CalibrationBoardInCheckerboardOrigin.zdf"; | ||
| Console.WriteLine("Saving transformed point cloud to file: " + checkerboardTransformedFile); | ||
| frame.Save(checkerboardTransformedFile); | ||
| } | ||
| catch (Exception ex) | ||
| { | ||
| Console.WriteLine("Error: " + ex.Message); | ||
| return 1; | ||
| } | ||
| return 0; | ||
| } | ||
| } |
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81
...ons/Advanced/TransformPointCloudViaCheckerboard/TransformPointCloudViaCheckerboard.csproj
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,81 @@ | ||
| <?xml version="1.0" encoding="utf-8"?> | ||
| <Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003"> | ||
| <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" /> | ||
| <PropertyGroup> | ||
| <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration> | ||
| <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform> | ||
| <ProjectGuid>{05DAC246-781C-45B9-8E57-AC58D013522A}</ProjectGuid> | ||
| <OutputType>Exe</OutputType> | ||
| <RootNamespace>TransformPointCloudViaCheckerboard</RootNamespace> | ||
| <AssemblyName>TransformPointCloudViaCheckerboard</AssemblyName> | ||
| <TargetFrameworkVersion>v4.5.2</TargetFrameworkVersion> | ||
| <FileAlignment>512</FileAlignment> | ||
| <AutoGenerateBindingRedirects>true</AutoGenerateBindingRedirects> | ||
| </PropertyGroup> | ||
| <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|x64' "> | ||
| <PlatformTarget>x64</PlatformTarget> | ||
| <DebugSymbols>true</DebugSymbols> | ||
| <DebugType>full</DebugType> | ||
| <Optimize>false</Optimize> | ||
| <OutputPath>..\..\..\..\build\$(Configuration)\$(Platform)</OutputPath> | ||
| <DefineConstants>DEBUG;TRACE</DefineConstants> | ||
| <ErrorReport>prompt</ErrorReport> | ||
| <WarningLevel>4</WarningLevel> | ||
| </PropertyGroup> | ||
| <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|x64' "> | ||
| <PlatformTarget>x64</PlatformTarget> | ||
| <DebugType>pdbonly</DebugType> | ||
| <Optimize>true</Optimize> | ||
| <OutputPath>..\..\..\..\build\$(Configuration)\$(Platform)</OutputPath> | ||
| <DefineConstants>TRACE</DefineConstants> | ||
| <ErrorReport>prompt</ErrorReport> | ||
| <WarningLevel>4</WarningLevel> | ||
| </PropertyGroup> | ||
| <ItemGroup> | ||
| <Reference Include="System" /> | ||
| <Reference Include="System.Core" /> | ||
| <Reference Include="System.Xml.Linq" /> | ||
| <Reference Include="System.Data.DataSetExtensions" /> | ||
| <Reference Include="Microsoft.CSharp" /> | ||
| <Reference Include="System.Data" /> | ||
| <Reference Include="System.Net.Http" /> | ||
| <Reference Include="System.Xml" /> | ||
| <Reference Include="ZividCoreNET" Condition="'$(Configuration)|$(Platform)' == 'Release|x64'"> | ||
| <HintPath>$(ZIVID_INSTALL_FOLDER)\bin\ZividCoreNET.dll</HintPath> | ||
| </Reference> | ||
| <Reference Include="ZividCoreNET" Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'"> | ||
| <HintPath>$(ZIVID_INSTALL_FOLDER)\bin_debug\ZividCoreNET.dll</HintPath> | ||
| </Reference> | ||
| <Reference Include="ZividVisualizationNET" Condition="'$(Configuration)|$(Platform)' == 'Release|x64'"> | ||
| <HintPath>$(ZIVID_INSTALL_FOLDER)\bin\ZividVisualizationNET.dll</HintPath> | ||
| </Reference> | ||
| <Reference Include="ZividVisualizationNET" Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'"> | ||
| <HintPath>$(ZIVID_INSTALL_FOLDER)\bin_debug\ZividVisualizationNET.dll</HintPath> | ||
| </Reference> | ||
| </ItemGroup> | ||
| <ItemGroup> | ||
| <Compile Include="TransformPointCloudViaCheckerboard.cs" /> | ||
| <Compile Include="Properties\AssemblyInfo.cs" /> | ||
| </ItemGroup> | ||
| <ItemGroup> | ||
| <None Include="App.config" /> | ||
| </ItemGroup> | ||
| <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" /> | ||
| <PropertyGroup> | ||
| <PostBuildEvent>if $(ConfigurationName) == Debug GOTO Debug | ||
| if $(ConfigurationName) == Release GOTO Release | ||
| goto Error | ||
|
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| :Debug | ||
| xcopy "$(ZIVID_INSTALL_FOLDER)\bin_debug\*.dll" "$(TargetDir)" /Y | ||
| exit /B 0 | ||
|
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| :Release | ||
| xcopy "$(ZIVID_INSTALL_FOLDER)\bin\*.dll" "$(TargetDir)" /Y | ||
| exit /B 0 | ||
|
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| :Error | ||
| echo Unsupported config | ||
| exit /B 1</PostBuildEvent> | ||
| </PropertyGroup> | ||
| </Project> |
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