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.

continuous-integration/setup.sh

@@ -28,8 +28,8 @@ function install_www_deb {
     rm -r $TMP_DIR || exit
 }
 
-install_www_deb "https://downloads.zivid.com/sdk/releases/2.10.1+50b274e8-7/u${VERSION_ID:0:2}/zivid-telicam-driver_3.0.1.1-3_amd64.deb" || exit
-install_www_deb "https://downloads.zivid.com/sdk/releases/2.10.1+50b274e8-7/u${VERSION_ID:0:2}/zivid_2.10.1+50b274e8-7_amd64.deb" || exit
+install_www_deb "https://downloads.zivid.com/sdk/releases/2.11.0+95829246-1/u${VERSION_ID:0:2}/zivid-telicam-driver_3.0.1.1-3_amd64.deb" || exit
+install_www_deb "https://downloads.zivid.com/sdk/releases/2.11.0+95829246-1/u${VERSION_ID:0:2}/zivid_2.11.0+95829246-1_amd64.deb" || exit
 
 python3 -m pip install --upgrade pip || exit
 python3 -m pip install --requirement "$ROOT_DIR/requirements.txt" || exit

pyproject.constraints

@@ -0,0 +1,17 @@
+# Generated file, do not edit @ 2023-10-30 22:22:03
+#
+# Command:
+#     python infrastructure/tools/dependency_updater/dependency_updater.py --remote-update --remote-name origin --base-branch master --access-token <ACCESS_TOKEN>
+#
+# To update all Python requirements and constraints manually, you should run:
+#
+#   python infrastructure/tools/dependency_updater/dependency_updater.py
+#
+# This file is autogenerated by pip-compile with Python 3.11
+# by the following command:
+#
+#    pip-compile --all-extras --extra-index-url=http://se-ci-elastic-server-1.localdomain:8081/artifactory/api/pypi/zivid-pypi/simple --output-file=sdk/samples/public/python/pyproject.constraints --strip-extras --trusted-host=se-ci-elastic-server-1.localdomain sdk/samples/public/python/pyproject.toml
+#
+--extra-index-url http://se-ci-elastic-server-1.localdomain:8081/artifactory/api/pypi/zivid-pypi/simple
+--trusted-host se-ci-elastic-server-1.localdomain
+

source/applications/basic/visualization/project_image_start_and_stop.py

@@ -0,0 +1,68 @@
+"""
+Start the Image Projection and Stop it.
+
+How to stop the image projection is demonstrated in three different ways:
+- calling stop() function on the projected image handle
+- projected image handle going out of scope
+- triggering a 3D capture
+
+"""
+
+from typing import Tuple
+
+import numpy as np
+import zivid
+import zivid.experimental.calibration
+import zivid.experimental.projection
+
+
+def create_projector_image(resolution: Tuple, color: Tuple) -> np.ndarray:
+    """Create projector image (numpy array) of given color.
+
+    Args:
+        resolution: projector resolution
+        color: bgra
+
+    Returns:
+        An image (numpy array) of color given by the bgra value
+
+    """
+    projector_image = np.full((resolution[0], resolution[1], len(color)), color, dtype=np.uint8)
+    return projector_image
+
+
+def _main() -> None:
+    with zivid.Application() as app:
+        print("Connecting to camera")
+        with app.connect_camera() as camera:
+            print("Retrieving the projector resolution that the camera supports")
+            projector_resolution = zivid.experimental.projection.projector_resolution(camera)
+
+            red_color = (0, 0, 255, 255)
+
+            projector_image = create_projector_image(projector_resolution, red_color)
+
+            project_image_handle = zivid.experimental.projection.show_image_bgra(camera, projector_image)
+
+            input('Press enter to stop projecting using the ".stop()" function')
+            project_image_handle.stop()
+
+            green_color = (0, 255, 0, 255)
+            projector_image = create_projector_image(projector_resolution, green_color)
+            with zivid.experimental.projection.show_image_bgra(camera, projector_image):
+                input("Press enter to stop projecting with context manager")
+
+            pink_color = (114, 52, 237, 255)
+            projector_image = create_projector_image(projector_resolution, pink_color)
+            project_image_handle = zivid.experimental.projection.show_image_bgra(camera, projector_image)
+
+            input("Press enter to stop projecting by performing a 3D capture")
+            settings = zivid.Settings()
+            settings.acquisitions.append(zivid.Settings.Acquisition())
+            camera.capture(settings)
+
+            input("Press enter to exit")
+
+
+if __name__ == "__main__":
+    _main()

source/applications/basic/visualization/read_and_project_image.py

@@ -0,0 +1,83 @@
+"""
+Read a 2D image from file and project it using the camera projector.
+
+The image for this sample can be found under the main instructions for Zivid samples.
+
+"""
+
+from datetime import timedelta
+from typing import Tuple
+
+import cv2
+import numpy as np
+import zivid
+import zivid.experimental.calibration
+import zivid.experimental.projection
+from sample_utils.paths import get_sample_data_path
+
+
+def _resize_and_create_projector_image(image_to_resize: np.ndarray, final_resolution: Tuple) -> np.ndarray:
+    """Resizes an image to a given resolution.
+
+    Args:
+        image_to_resize: openCV image that needs to be resized
+        final_resolution: resolution after resizing
+
+    Returns:
+        An image with a resolution that matches the projector resolution
+
+    """
+    resized_image = cv2.resize(
+        image_to_resize, (final_resolution[1], final_resolution[0]), interpolation=cv2.INTER_LINEAR
+    )
+    projector_image = cv2.cvtColor(resized_image, cv2.COLOR_BGR2BGRA)
+
+    return projector_image
+
+
+def _main() -> None:
+    with zivid.Application() as app:
+        print("Connecting to camera")
+        with app.connect_camera() as camera:
+            image_file = get_sample_data_path() / "ZividLogo.png"
+            print("Reading 2D image from file: ")
+            input_image = cv2.imread(str(image_file))
+            if input_image is None:
+                raise RuntimeError(f"File {image_file} not found or couldn't be read.")
+
+            print(f"Input image size: {input_image.shape[:2]}")
+
+            print("Retrieving the projector resolution that the camera supports")
+            projector_resolution = zivid.experimental.projection.projector_resolution(camera)
+
+            print(f"Resizing input image to fit projector resolution:{projector_resolution}")
+            projector_image = _resize_and_create_projector_image(
+                image_to_resize=input_image, final_resolution=projector_resolution
+            )
+
+            projector_image_file = "ProjectorImage.png"
+            print(f"Saving the projector image to file: {projector_image_file}")
+            cv2.imwrite(projector_image_file, projector_image)
+
+            print("Displaying the projector image")
+
+            with zivid.experimental.projection.show_image_bgra(camera, projector_image) as projected_image:
+                settings_2d = zivid.Settings2D()
+                settings_2d.acquisitions.append(
+                    zivid.Settings2D.Acquisition(
+                        brightness=0.0, exposure_time=timedelta(microseconds=20000), aperture=2.83
+                    )
+                )
+
+                print("Capturing a 2D image with the projected image")
+                frame_2d = projected_image.capture(settings_2d)
+
+                captured_image_file = "CapturedImage.png"
+                print(f"Saving the captured image: {captured_image_file}")
+                frame_2d.image_bgra().save(captured_image_file)
+
+                input("Press enter to stop projecting ...")
+
+
+if __name__ == "__main__":
+    _main()

source/applications/point_cloud_tutorial.md

@@ -121,6 +121,8 @@ complete list of output data formats and how to copy them from the GPU.
 | `numpy.ndarray([height,width,3], dtype=float32)`                                                                                      | `PointCloud.copy_data("xyzw")`    | 16 bytes       | 37 MB      |
 | `numpy.ndarray([height,width], dtype=float32)`                                                                                        | `PointCloud.copy_data("z")`       | 4 bytes        | 9 MB       |
 | `numpy.ndarray([height,width,4], dtype=uint8)`                                                                                        | `PointCloud.copy_data("rgba")`    | 4 bytes        | 9 MB       |
+| `numpy.ndarray([height,width,4], dtype=uint8)`                                                                                        | `PointCloud.copy_data("bgra")`    | 4 bytes        | 9 MB       |
+| `numpy.ndarray([height,width,4], dtype=uint8)`                                                                                        | `PointCloud.copy_data("srgb")`    | 4 bytes        | 9 MB       |
 | `numpy.ndarray([height,width], dtype=float32)`                                                                                        | `PointCloud.copy_data("snr")`     | 4 bytes        | 9 MB       |
 | `numpy.ndarray([height,width], dtype=[('x', '<f4'), ('y', '<f4'), ('z', '<f4'), ('r', 'u1'), ('g', 'u1'), ('b', 'u1'), ('a', 'u1')])` | `PointCloud.copy_data("xyzrgba")` | 16 bytes       | 37 MB      |
 

source/camera/advanced/capture_2d_and_3d.py

@@ -12,6 +12,7 @@
 import numpy as np
 import zivid
 from sample_utils.display import display_pointcloud, display_rgbs
+from zivid.experimental import calibration
 
 
 def _options() -> argparse.Namespace:
@@ -36,27 +37,20 @@ def _options() -> argparse.Namespace:
     return parser.parse_args()
 
 
-def _map_rgb(pixels_to_sample: zivid.Settings.Sampling.Pixel, rgba: np.ndarray) -> np.ndarray:
+def _map_rgb(pixel_mapping: zivid.PixelMapping, rgba: np.ndarray) -> np.ndarray:
     """Function to map the full RGB image to a subsampled one.
 
     Args:
-        pixels_to_sample: zivid.Settings.Sampling.Pixel option to use for subsampling
+        pixel_mapping: zivid.PixelMapping to use for pixel mapping
         rgba: RGBA image (HxWx4)
 
-    Raises:
-        RuntimeError: If chosen zivid.Settings.Sampling.Pixel is unsupported
-
     Returns:
         Subsampled RGB image
 
     """
-    if pixels_to_sample == zivid.Settings.Sampling.Pixel.blueSubsample2x2:
-        return rgba[::2, ::2, 0:3]
-    if pixels_to_sample == zivid.Settings.Sampling.Pixel.redSubsample2x2:
-        return rgba[1::2, 1::2, 0:3]
-    if pixels_to_sample == zivid.Settings.Sampling.Pixel.all:
-        return rgba[:, :, 0:3]
-    raise RuntimeError(f"Invalid pixels to sample: {pixels_to_sample}")
+    return rgba[
+        pixel_mapping.row_offset :: pixel_mapping.row_stride, pixel_mapping.col_offset :: pixel_mapping.col_stride, 0:3
+    ]
 
 
 def _main() -> None:
@@ -89,13 +83,15 @@ def _main() -> None:
         for acquisition in settings.acquisitions:
             acquisition.brightness = 2.2
 
+    pixel_mapping = calibration.pixel_mapping(camera, settings)
+
     print("Capturing 2D frame")
     with camera.capture(settings_2d) as frame_2d:
         print("Getting RGBA image")
         image = frame_2d.image_rgba()
         rgba = image.copy_data()
 
-        rgb_mapped = _map_rgb(user_input.pixels_to_sample, rgba)
+        rgb_mapped = _map_rgb(pixel_mapping, rgba)
         display_rgbs(
             rgbs=[rgba[:, :, :3], rgb_mapped],
             titles=["Full resolution RGB from 2D capture", f"{user_input.pixels_to_sample} RGB from 2D capture"],

source/camera/advanced/capture_hdr_loop.py

@@ -16,6 +16,9 @@ def _settings_folder(camera: zivid.Camera) -> str:
     Args:
         camera: Zivid camera
 
+    Raises:
+        RuntimeError: If camera is not supported
+
     Returns:
         Folder name
 

source/camera/basic/capture_tutorial.md

@@ -98,12 +98,13 @@ You may also list all cameras connected to the computer, and view their
 serial numbers through
 
 ([go to
-source](https://github.com/zivid/zivid-python-samples/tree/master//source/camera/info_util_other/print_version_info.py#L16-L18))
+source](https://github.com/zivid/zivid-python-samples/tree/master//source/camera/info_util_other/camera_info.py#L16-L19))
 
 ``` sourceCode python
 cameras = app.cameras()
 for camera in cameras:
-	print(f"Camera Info:  {camera}")
+	print(f"Camera Info:  {camera.info}")
+	print(f"Camera State: {camera.state}")
 ```
 
 ### File Camera

source/camera/basic/capture_with_settings_from_yml.py

@@ -18,6 +18,9 @@ def _settings_folder(camera: zivid.Camera) -> str:
     Args:
         camera: Zivid camera
 
+    Raises:
+        RuntimeError: If camera is not supported
+
     Returns:
         Folder name
 

source/camera/info_util_other/print_version_info.py → source/camera/info_util_other/camera_info.py

@@ -1,5 +1,5 @@
 """
-Print version information for Python, zivid-python and Zivid SDK, then list cameras and print camera info for each connected camera.
+Print version information for Python, zivid-python and Zivid SDK, then list cameras and print camera info and state for each connected camera.
 
 """
 
@@ -15,7 +15,8 @@ def _main() -> None:
     print(f"Zivid SDK:    {zivid.SDKVersion.full}")
     cameras = app.cameras()
     for camera in cameras:
-        print(f"Camera Info:  {camera}")
+        print(f"Camera Info:  {camera.info}")
+        print(f"Camera State: {camera.state}")
 
 
 if __name__ == "__main__":

source/camera/info_util_other/capture_with_diagnostics.py

@@ -20,6 +20,9 @@ def _settings_folder(camera: zivid.Camera) -> str:
     Args:
         camera: Zivid camera
 
+    Raises:
+        RuntimeError: If camera is not supported
+
     Returns:
         Folder name
 

source/camera/maintenance/correct_camera_in_field.py

@@ -92,7 +92,7 @@ def _main() -> None:
         accuracy_estimate = correction.accuracy_estimate()
 
         print(
-            "If written to the camera, this correction can be expected to yield a dimension accuracy of ",
+            "If written to the camera, this correction can be expected to yield a dimension accuracy error of ",
             f"{accuracy_estimate.dimension_accuracy()*100:.3f} or better in the range of z=[{accuracy_estimate.z_min():.3f}, {accuracy_estimate.z_max():.3f}] across the full FOV.",
             "Accuracy close to where the correction data was collected is likely better.",
         )

source/camera/maintenance/verify_camera_in_field.py

@@ -3,9 +3,10 @@
 
 This example shows how to verify the local dimension trueness of a camera.
 If the trueness is much worse than expected, the camera may have been damaged by
-shock in shipping in handling. If so, look at the correct_camera_in_field sample sample.
+shock in shipping or handling. If so, look at the correct_camera_in_field sample sample.
 
-Note: This example uses experimental SDK features, which may be modified, moved, or deleted in the future without notice.
+Note: This example uses experimental SDK features, which may be modified, moved, or deleted
+in the future without notice.
 
 """
 
@@ -41,7 +42,7 @@ def _main() -> None:
     print(f"Successful measurement at {detection_result.centroid()}")
     camera_verification = calibration.verify_camera(infield_input)
     print(
-        f"Estimated dimension trueness at measured position: {camera_verification.local_dimension_trueness()*100:.3f}%"
+        f"Estimated dimension trueness error at measured position: {camera_verification.local_dimension_trueness()*100:.3f}%"
     )