Merge pull request #199 from zivid/2025-04-07-update-python-samples

Samples: Update to SDK 2.15.0

Author: Jorgen-ha

README.md

@@ -1,6 +1,6 @@
 # Python samples
 
-This repository contains python code samples for Zivid SDK v2.14.2. For
+This repository contains python code samples for Zivid SDK v2.15.0. For
 tested compatibility with earlier SDK versions, please check out
 [accompanying
 releases](https://github.com/zivid/zivid-python-samples/tree/master/../../releases).

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/2.14.2+1a322f18-1/u${VERSION_ID:0:2}/zivid_2.14.2+1a322f18-1_amd64.deb" || exit
-install_www_deb "https://downloads.zivid.com/sdk/releases/2.14.2+1a322f18-1/u${VERSION_ID:0:2}/zivid-genicam_2.14.2+1a322f18-1_amd64.deb" || exit
+install_www_deb "https://downloads.zivid.com/sdk/releases/2.15.0+5fcc365b-1/u${VERSION_ID:0:2}/zivid_2.15.0+5fcc365b-1_amd64.deb" || exit
+install_www_deb "https://downloads.zivid.com/sdk/releases/2.15.0+5fcc365b-1/u${VERSION_ID:0:2}/zivid-genicam_2.15.0+5fcc365b-1_amd64.deb" || exit
 
 python3 -m pip install --upgrade pip || exit
 pushd "$ROOT_DIR" || exit

modules/zividsamples/display.py

@@ -126,7 +126,7 @@ def display_pointcloud_with_downsampled_normals(
         downsampling: A valid Zivid downsampling factor to apply to normals
 
     """
-    rgb = point_cloud.copy_data("rgba")[:, :, :3]
+    rgb = point_cloud.copy_data("rgba_srgb")[:, :, :3]
     xyz = point_cloud.copy_data("xyz")
     point_cloud.downsample(downsampling)
     normals = point_cloud.copy_data("normals")

modules/zividsamples/gui/hand_eye_calibration_gui.py

@@ -244,12 +244,9 @@ def process_capture(self, frame: zivid.Frame, rgba: NDArray[Shape["N, M, 4"], UI
                 )
             )
             if not detection_result.valid():
-                calibration_object_text = (
-                    "checkerboard"
-                    if self.hand_eye_configuration.calibration_object == CalibrationObject.Checkerboard
-                    else "markers"
-                )
-                raise RuntimeError(f"Failed to detect {calibration_object_text}")
+                if self.hand_eye_configuration.calibration_object == CalibrationObject.Checkerboard:
+                    raise RuntimeError(f"Failed to detect Checkerboard. {detection_result.status_description()}")
+                raise RuntimeError("Failed to detect Markers.")
             rgb = rgba[:, :, :3].copy().astype(np.uint8)
             camera_pose = None
             if self.hand_eye_configuration.calibration_object == CalibrationObject.Checkerboard:

modules/zividsamples/gui/hand_eye_settings_tester.py

@@ -238,12 +238,9 @@ def on_capture_button_clicked(self):
                 )
             )
             if not detection_result.valid():
-                calibration_object_text = (
-                    "checkerboard"
-                    if self.hand_eye_configuration.calibration_object == CalibrationObject.Checkerboard
-                    else "markers"
-                )
-                raise RuntimeError(f"Failed to detect {calibration_object_text}")
+                if self.hand_eye_configuration.calibration_object == CalibrationObject.Checkerboard:
+                    raise RuntimeError(f"Failed to detect Checkerboard. {detection_result.status_description()}")
+                raise RuntimeError("Failed to detect Markers.")
             self.log_detection_result(detection_result)
             if self.hand_eye_configuration.calibration_object == CalibrationObject.Checkerboard:
                 self.calibration_object_widget.set_checkerboard_image(rgba)
@@ -335,22 +332,23 @@ def log_detection_result(
     ):
         assert self.settings is not None
         log_message = ""
-        if self.hand_eye_configuration.calibration_object == CalibrationObject.Checkerboard:
-            pose = detection_result.pose()
-            checkerboard_pose_in_camera_frame = TransformationMatrix.from_matrix(np.asarray(pose.to_matrix()))
-            translation = checkerboard_pose_in_camera_frame.translation
-            log_message += (
-                f"Calibration board: [{translation[0]:>8.2f}, {translation[1]:>8.2f}, {translation[2]:>8.2f}]"
-            )
-        else:
-            detected_markers = detection_result.detected_markers()
-            log_message += "Marker - " if len(detected_markers) < 2 else "Markers - "
-            for marker in detected_markers:
-                marker_pose_in_camera_frame = TransformationMatrix.from_matrix(np.asarray(marker.pose.to_matrix()))
-                translation = marker_pose_in_camera_frame.translation
+        if detection_result.valid():
+            if self.hand_eye_configuration.calibration_object == CalibrationObject.Checkerboard:
+                pose = detection_result.pose()
+                checkerboard_pose_in_camera_frame = TransformationMatrix.from_matrix(np.asarray(pose.to_matrix()))
+                translation = checkerboard_pose_in_camera_frame.translation
                 log_message += (
-                    f"{marker.identifier:>3}: [{translation[0]:>8.2f}, {translation[1]:>8.2f}, {translation[2]:>8.2f}]"
+                    f"Calibration board: [{translation[0]:>8.2f}, {translation[1]:>8.2f}, {translation[2]:>8.2f}]"
                 )
+            else:
+                detected_markers = detection_result.detected_markers()
+                log_message += "Marker - " if len(detected_markers) < 2 else "Markers - "
+                for marker in detected_markers:
+                    marker_pose_in_camera_frame = TransformationMatrix.from_matrix(np.asarray(marker.pose.to_matrix()))
+                    translation = marker_pose_in_camera_frame.translation
+                    log_message += f"{marker.identifier:>3}: [{translation[0]:>8.2f}, {translation[1]:>8.2f}, {translation[2]:>8.2f}]"
+        else:
+            log_message += f"Detection failed: {detection_result.status_description()}"
         log_message += f" (Engine: {self.settings.production.settings_2d3d.engine:>8}, Sampling: {self.settings.production.settings_2d3d.sampling.pixel:>20})"
         print(log_message)
 

modules/zividsamples/gui/hand_eye_verification_gui.py

@@ -45,7 +45,7 @@ def create_board_in_camera_frame(
 
 
 def extract_marker_points_in_camera_frame(
-    markers: Dict[str, MarkerShape]
+    markers: Dict[str, MarkerShape],
 ) -> NDArray[Shape["N, 3"], Float32]:  # type: ignore
     marker_points = np.zeros((len(markers) * 4, 3), dtype=np.float32)
     for index, marker in enumerate(markers.values()):
@@ -327,12 +327,9 @@ def process_capture(self, frame: zivid.Frame, rgba: NDArray[Shape["N, M, 4"], UI
             )
         )
         if not detection_result.valid():
-            calibration_object_text = (
-                "checkerboard"
-                if self.hand_eye_configuration.calibration_object == CalibrationObject.Checkerboard
-                else "markers"
-            )
-            raise RuntimeError(f"Failed to detect {calibration_object_text}")
+            if self.hand_eye_configuration.calibration_object == CalibrationObject.Checkerboard:
+                raise RuntimeError(f"Failed to detect Checkerboard. {detection_result.status_description()}")
+            raise RuntimeError("Failed to detect Markers.")
 
         if self.hand_eye_configuration.calibration_object == CalibrationObject.Checkerboard:
             self.calibration_board_in_camera_frame_pose_widget.set_transformation_matrix(

modules/zividsamples/gui/pose_pair_selection_widget.py

@@ -240,7 +240,7 @@ def load_pose_pairs(self, calibration_object: CalibrationObject, marker_configur
                     if camera_image_path.exists() and detection_result.valid():
                         qimage_rgba = QImage(str(camera_image_path))
                     else:
-                        rgba = camera_frame.point_cloud().copy_data("rgba")
+                        rgba = camera_frame.point_cloud().copy_data("rgba_srgb")
                         rgb = rgba[:, :, :3].copy().astype(np.uint8)
                         if calibration_object == CalibrationObject.Markers and detection_result.valid():
                             rgba[:, :, :3] = self.cv2_handler.draw_detected_markers(

modules/zividsamples/gui/settings_selector.py

@@ -344,18 +344,6 @@ def select_settings(camera: zivid.Camera) -> Optional[zivid.Settings]:
     return get_settings_from_file(camera) if settings is None else settings
 
 
-def _correct_pixel_mapping(camera: zivid.Camera, settings: zivid.Settings) -> PixelMapping:
-    pixel_mapping = calibration.pixel_mapping(camera, settings)
-    factor = 1
-    if settings.color:
-        if settings.color.sampling.pixel:
-            sampling_pixel = settings.color.sampling.pixel
-            factor = {"all": 1, "by2x2": 2, "by4x4": 4}.get(sampling_pixel, 1)
-    col_stride = int(pixel_mapping.col_stride / factor)
-    row_stride = int(pixel_mapping.row_stride / factor)
-    return PixelMapping(row_stride, col_stride, pixel_mapping.row_offset, pixel_mapping.col_offset)
-
-
 def select_settings_for_hand_eye(camera: zivid.Camera) -> SettingsForHandEyeGUI:
     settings = select_settings(camera)
     engine, sampling_pixel = (
@@ -367,12 +355,12 @@ def select_settings_for_hand_eye(camera: zivid.Camera) -> SettingsForHandEyeGUI:
     return SettingsForHandEyeGUI(
         production=SettingsPixelMappingIntrinsics(
             settings_2d3d=settings_2d3d,
-            pixel_mapping=_correct_pixel_mapping(camera, settings_2d3d),
+            pixel_mapping=calibration.pixel_mapping(camera, settings_2d3d),
             intrinsics=calibration.intrinsics(camera, settings_2d3d),
         ),
         hand_eye=SettingsPixelMappingIntrinsics(
             settings_2d3d=hand_eye_settings,
-            pixel_mapping=_correct_pixel_mapping(camera, hand_eye_settings),
+            pixel_mapping=calibration.pixel_mapping(camera, hand_eye_settings),
             intrinsics=calibration.intrinsics(camera, hand_eye_settings),
         ),
     )

modules/zividsamples/gui/stitch_gui.py

@@ -187,7 +187,7 @@ def update_stitched_view(self):
             point_cloud = capture_at_pose.camera_frame.point_cloud()
             capture_at_pose.save_as_ply()
             xyz = point_cloud.copy_data("xyz").reshape(-1, 3)
-            rgb = point_cloud.copy_data("rgba")[:, :, :3].reshape(-1, 3)
+            rgb = point_cloud.copy_data("rgba_srgb")[:, :, :3].reshape(-1, 3)
             valid_indices = np.logical_not(np.isnan(xyz).any(axis=1))
             xyz_total.append(xyz[valid_indices])
             rgb_total.append(rgb[valid_indices])

modules/zividsamples/white_balance_calibration.py

@@ -103,7 +103,7 @@ def white_balance_calibration(
         settings_2d.processing.color.balance.green = corrected_green_balance
         settings_2d.processing.color.balance.blue = corrected_blue_balance
 
-        rgba = camera.capture_2d(settings_2d).image_rgba().copy_data()
+        rgba = camera.capture_2d(settings_2d).image_rgba_srgb().copy_data()
         mean_color = compute_mean_rgb_from_mask(rgba[:, :, 0:3], mask)
 
         mean_red, mean_green, mean_blue = mean_color[0], mean_color[1], mean_color[2]