Update C# samples for SDK 2.6.1

zivid · Jun 17, 2022 · ec22591 · ec22591
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diff --git a/.gitignore b/.gitignore
diff --git a/README.md b/README.md
@@ -31,13 +31,13 @@ image or other data from the camera. These samples shows how the data
 from the camera can be used.
 
   - **Camera**
-      - **Basic** ([quick tutorial](source/Camera/Basic/QuickCaptureTutorial.md) / [complete tutorial](source/Camera/Basic/CaptureTutorial.md))
+      - **Basic**
           - [Capture](https://github.com/zivid/zivid-csharp-samples/tree/master//source/Camera/Basic/Capture/Capture.cs) - Capture point clouds, with color, from the Zivid camera.
           - [Capture2D](https://github.com/zivid/zivid-csharp-samples/tree/master//source/Camera/Basic/Capture2D/Capture2D.cs) - Capture 2D images from the Zivid camera.
-          - [CaptureFromFileCamera](https://github.com/zivid/zivid-csharp-samples/tree/master//source/Camera/Basic/CaptureFromFileCamera/CaptureFromFileCamera.cs) - Capture point clouds, with color, from the Zivid file
-            camera.
           - [CaptureAssistant](https://github.com/zivid/zivid-csharp-samples/tree/master//source/Camera/Basic/CaptureAssistant/CaptureAssistant.cs) - Use Capture Assistant to capture point clouds, with color,
             from the Zivid camera.
+          - [CaptureFromFileCamera](https://github.com/zivid/zivid-csharp-samples/tree/master//source/Camera/Basic/CaptureFromFileCamera/CaptureFromFileCamera.cs) - Capture point clouds, with color, from the Zivid file
+            camera.
           - [CaptureHDR](https://github.com/zivid/zivid-csharp-samples/tree/master//source/Camera/Basic/CaptureHDR/CaptureHDR.cs) - Capture point clouds, with color, from the Zivid camera.
           - [CaptureHDRCompleteSettings](https://github.com/zivid/zivid-csharp-samples/tree/master//source/Camera/Basic/CaptureHDRCompleteSettings/CaptureHDRCompleteSettings.cs) - Capture point clouds, with color, from the Zivid camera
             with fully configured settings.
@@ -49,13 +49,18 @@ from the camera can be used.
             find a compromise.
           - [CaptureHDRPrintNormals](https://github.com/zivid/zivid-csharp-samples/tree/master//source/Camera/Advanced/CaptureHDRPrintNormals/CaptureHDRPrintNormals.cs) - Capture Zivid point clouds, compute normals and print a
             subset.
+          - [CaptureHalconViaGenICam](https://github.com/zivid/zivid-csharp-samples/tree/master//source/Camera/Advanced/CaptureHalconViaGenICam/CaptureHalconViaGenICam.cs) - Capture and save a point cloud, with colors, using GenICam
+            interface and Halcon C++ SDK.
+          - [CaptureHalconViaZivid](https://github.com/zivid/zivid-csharp-samples/tree/master//source/Camera/Advanced/CaptureHalconViaZivid/CaptureHalconViaZivid.cs) - Capture a point cloud, with colors, using Zivid SDK,
+            transform it to a Halcon point cloud and save it using
+            Halcon C++ SDK.
       - **InfoUtilOther**
-          - [PrintVersionInfo](https://github.com/zivid/zivid-csharp-samples/tree/master//source/Camera/InfoUtilOther/PrintVersionInfo/PrintVersionInfo.cs) - List connected cameras and print version information.
-          - [GetCameraIntrinsics](https://github.com/zivid/zivid-csharp-samples/tree/master//source/Camera/InfoUtilOther/GetCameraIntrinsics/GetCameraIntrinsics.cs) - Read intrinsic parameters from the Zivid camera (OpenCV
-            model).
+          - [CameraUserData](https://github.com/zivid/zivid-csharp-samples/tree/master//source/Camera/InfoUtilOther/CameraUserData/CameraUserData.cs) - Store user data on the Zivid camera.
           - [CaptureWithDiagnostics](https://github.com/zivid/zivid-csharp-samples/tree/master//source/Camera/InfoUtilOther/CaptureWithDiagnostics/CaptureWithDiagnostics.cs) - Capture point clouds, with color, from the Zivid camera,
             with settings from YML file and diagnostics enabled.
-          - [CameraUserData](https://github.com/zivid/zivid-csharp-samples/tree/master//source/Camera/InfoUtilOther/CameraUserData/CameraUserData.cs) - Store user data on the Zivid camera.
+          - [GetCameraIntrinsics](https://github.com/zivid/zivid-csharp-samples/tree/master//source/Camera/InfoUtilOther/GetCameraIntrinsics/GetCameraIntrinsics.cs) - Read intrinsic parameters from the Zivid camera (OpenCV
+            model).
+          - [PrintVersionInfo](https://github.com/zivid/zivid-csharp-samples/tree/master//source/Camera/InfoUtilOther/PrintVersionInfo/PrintVersionInfo.cs) - List connected cameras and print version information.
           - [Warmup](https://github.com/zivid/zivid-csharp-samples/tree/master//source/Camera/InfoUtilOther/Warmup/Warmup.cs) - A basic warm-up method for a Zivid camera with specified
             time and capture cycle.
   - **Applications**
@@ -68,17 +73,17 @@ from the camera can be used.
           - **FileFormats**
               - [ReadIterateZDF](https://github.com/zivid/zivid-csharp-samples/tree/master//source/Applications/Basic/FileFormats/ReadIterateZDF/ReadIterateZDF.cs) - Read point cloud data from a ZDF file, iterate through
                 it, and extract individual points.
-              - [ZDF2PLY](https://github.com/zivid/zivid-csharp-samples/tree/master//source/Applications/Basic/FileFormats/ZDF2PLY/ZDF2PLY.cs) - Convert point cloud from a ZDF a file to a PLY file.
+              - [ZDF2PLY](https://github.com/zivid/zivid-csharp-samples/tree/master//source/Applications/Basic/FileFormats/ZDF2PLY/ZDF2PLY.cs) - Convert point cloud from a ZDF file to a PLY file.
       - **Advanced**
           - [Downsample](https://github.com/zivid/zivid-csharp-samples/tree/master//source/Applications/Advanced/Downsample/Downsample.cs) - Downsample point cloud from a ZDF file.
+          - [HandEyeCalibration](https://github.com/zivid/zivid-csharp-samples/tree/master//source/Applications/Advanced/HandEyeCalibration/HandEyeCalibration/HandEyeCalibration.cs) - Perform Hand-Eye calibration.
+          - [MultiCameraCalibration](https://github.com/zivid/zivid-csharp-samples/tree/master//source/Applications/Advanced/MultiCameraCalibration/MultiCameraCalibration.cs) - Use captures of a calibration object to generate
+            transformation matrices to a single coordinate frame.
           - [TransformPointCloudFromMillimetersToMeters](https://github.com/zivid/zivid-csharp-samples/tree/master//source/Applications/Advanced/TransformPointCloudFromMillimetersToMeters/TransformPointCloudFromMillimetersToMeters.cs) - Transform point cloud data from millimeters to meters.
           - **HandEyeCalibration**
-              - [HandEyeCalibration](https://github.com/zivid/zivid-csharp-samples/tree/master//source/Applications/Advanced/HandEyeCalibration/HandEyeCalibration/HandEyeCalibration.cs) - Perform Hand-Eye calibration.
               - [UtilizeHandEyeCalibration](https://github.com/zivid/zivid-csharp-samples/tree/master//source/Applications/Advanced/HandEyeCalibration/UtilizeHandEyeCalibration/UtilizeHandEyeCalibration.cs) - Transform single data point or entire point cloud from
                 camera frame to robot base frame using Hand-Eye
                 calibration
-          - [MultiCameraCalibration](https://github.com/zivid/zivid-csharp-samples/tree/master//source/Applications/Advanced/MultiCameraCalibration/MultiCameraCalibration.cs) - Use captures of a calibration object to generate
-            transformation matrices to a single coordinate frame.
 
 ## Installation
 

diff --git a/source/Applications/Advanced/Downsample/App.config b/source/Applications/Advanced/Downsample/App.config
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8" ?>
 <configuration>
     <startup>
-        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.1" />
+        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.5.2" />
     </startup>
 </configuration>
diff --git a/source/Applications/Advanced/HandEyeCalibration/HandEyeCalibration/App.config b/source/Applications/Advanced/HandEyeCalibration/HandEyeCalibration/App.config
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8" ?>
 <configuration>
     <startup>
-        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.1" />
+        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.5.2" />
     </startup>
 </configuration>
diff --git a/source/Applications/Advanced/HandEyeCalibration/HandEyeCalibration/HandEyeCalibration.cs b/source/Applications/Advanced/HandEyeCalibration/HandEyeCalibration/HandEyeCalibration.cs
@@ -21,17 +21,17 @@ static void Main()
             Console.WriteLine("Connecting to camera");
             var camera = zivid.ConnectCamera();
 
-            var inputs = readHandEyeInputs(camera);
+            var handEyeInput = readHandEyeInputs(camera);
 
-            var calibrationResult = performCalibration(inputs);
+            var calibrationResult = performCalibration(handEyeInput);
 
             if(calibrationResult.Valid())
             {
-                Console.WriteLine("{0}\n{1}\n{2}", "Hand-eye calibration OK", "Result:", calibrationResult);
+                Console.WriteLine("{0}\n{1}\n{2}", "Hand-Eye calibration OK", "Result:", calibrationResult);
             }
             else
             {
-                Console.WriteLine("Hand-eye calibration FAILED");
+                Console.WriteLine("Hand-Eye calibration FAILED");
                 Environment.ExitCode = 1;
             }
         }
@@ -61,12 +61,12 @@ static List<HandEyeInput> readHandEyeInputs(Zivid.NET.Camera camera)
                         using(var frame = Interaction.AssistedCapture(camera))
                         {
                             Console.Write("Detecting checkerboard in point cloud: ");
-                            var result = Detector.DetectFeaturePoints(frame.PointCloud);
+                            var detectionResult = Detector.DetectFeaturePoints(frame.PointCloud);
 
-                            if(result)
+                            if(detectionResult)
                             {
                                 Console.WriteLine("OK");
-                                handEyeInput.Add(new HandEyeInput(robotPose, result));
+                                handEyeInput.Add(new HandEyeInput(robotPose, detectionResult));
                                 ++currentPoseId;
                             }
                             else
@@ -129,7 +129,7 @@ public static void ExtendInputBuffer(int size)
 
     public static CommandType EnterCommand()
     {
-        Console.Write("Enter command, p (to add robot pose) or c (to perform calibration): ");
+        Console.Write("Enter command, p (to add robot pose) or c (to perform calibration):");
         var command = Console.ReadLine().ToLower();
 
         switch(command)

diff --git a/source/Applications/Advanced/HandEyeCalibration/README.md b/source/Applications/Advanced/HandEyeCalibration/README.md
@@ -16,7 +16,7 @@ The following applications creates a **Transformation Matrix** from data provide
 
 [ZividHandEyeCalibration][ZividHandEyeCalibration-url]
 
-* CLI application which takes a collection of pose pairs (e.g. output of steps i.-iii. in [HandEyeCalibration][HandEyeCalibration-url]) and returns a **Transformation Matrix**. This application comes with the Windows installer and is part of tool deb for Ubuntu.
+* [CLI application][CLI application-url] which takes a collection of pose pairs (e.g. output of steps i.-iii. in [HandEyeCalibration][HandEyeCalibration-url]) and returns a **Transformation Matrix**. This application comes with the Windows installer and is part of the tools deb for Ubuntu.
 
 -----------------
 The following applications assume that a **Transformation Matrix** has been found
@@ -31,5 +31,6 @@ The following applications assume that a **Transformation Matrix** has been foun
 
 [HandEyeCalibration-url]: HandEyeCalibration/HandEyeCalibration.cs
 [UtilizeHandEyeCalibration-url]: UtilizeHandEyeCalibration/UtilizeHandEyeCalibration.cs
-[ZividHandEyeCalibration-url]: https://support.zivid.com/academy/applications/hand-eye/zivid_CLI_tool_for_hand_eye_calibration.html
-[Tutorial-url]: https://support.zivid.com/academy/applications/hand-eye.html
+[ZividHandEyeCalibration-url]: https://support.zivid.com/latest/academy/applications/hand-eye/hand-eye-calibration-process.html
+[Tutorial-url]: https://support.zivid.com/academy/applications/hand-eye.html
+[CLI application-url]: https://support.zivid.com/latest/academy/applications/hand-eye/zivid_CLI_tool_for_hand_eye_calibration.html
diff --git a/source/Applications/Advanced/HandEyeCalibration/UtilizeHandEyeCalibration/App.config b/source/Applications/Advanced/HandEyeCalibration/UtilizeHandEyeCalibration/App.config
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <configuration>
     <startup>
-        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.1"/>
+        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.5.2"/>
     </startup>
 </configuration>
diff --git a/source/Applications/Advanced/MultiCameraCalibration/App.config b/source/Applications/Advanced/MultiCameraCalibration/App.config
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8" ?>
 <configuration>
     <startup>
-        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.1" />
+        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.5.2" />
     </startup>
 </configuration>
diff --git a/source/Applications/Advanced/TransformPointCloudFromMillimetersToMeters/App.config b/source/Applications/Advanced/TransformPointCloudFromMillimetersToMeters/App.config
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8" ?>
 <configuration>
     <startup>
-        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.1" />
+        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.5.2" />
     </startup>
 </configuration>
diff --git a/source/Applications/Basic/FileFormats/ReadIterateZDF/App.config b/source/Applications/Basic/FileFormats/ReadIterateZDF/App.config
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8" ?>
 <configuration>
     <startup>
-        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.1" />
+        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.5.2" />
     </startup>
 </configuration>
diff --git a/source/Applications/Basic/FileFormats/ZDF2PLY/App.config b/source/Applications/Basic/FileFormats/ZDF2PLY/App.config
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8" ?>
 <configuration>
     <startup>
-        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.1" />
+        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.5.2" />
     </startup>
 </configuration>
diff --git a/source/Applications/Basic/Visualization/CaptureFromFileVis3D/CaptureFromFileVis3D.csproj b/source/Applications/Basic/Visualization/CaptureFromFileVis3D/CaptureFromFileVis3D.csproj
@@ -85,11 +85,4 @@ echo Unsupported config
 exit /B 1
 </PostBuildEvent>
   </PropertyGroup>
-  <!-- To modify your build process, add your task inside one of the targets below and uncomment it. 
-       Other similar extension points exist, see Microsoft.Common.targets.
-  <Target Name="BeforeBuild">
-  </Target>
-  <Target Name="AfterBuild">
-  </Target>
-  -->
 </Project>
diff --git a/source/Applications/Basic/Visualization/CaptureVis3D/CaptureVis3D.csproj b/source/Applications/Basic/Visualization/CaptureVis3D/CaptureVis3D.csproj
@@ -85,11 +85,4 @@ echo Unsupported config
 exit /B 1
 </PostBuildEvent>
   </PropertyGroup>
-  <!-- To modify your build process, add your task inside one of the targets below and uncomment it. 
-       Other similar extension points exist, see Microsoft.Common.targets.
-  <Target Name="BeforeBuild">
-  </Target>
-  <Target Name="AfterBuild">
-  </Target>
-  -->
 </Project>