Update Python samples to SDK 2.6.1

zivid · Jun 17, 2022 · 3b3142e · 3b3142e
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diff --git a/.flake8 b/.flake8
@@ -2,9 +2,15 @@
 ignore =
 	### Disabled because of conflicts with black
 	E203, # whitespace before ':'
+	E231, # missing whitespace after ','
 	### Disabled because it makes the samples look worse
 	F841, # local variable is assigned but not never used
 	W503, # line break before binary operator
 
 # Covered better by pylint
 max-line-length = 9999
+exclude =
+    # No need to traverse our git directory
+    .git,
+	    # No need to traverse 3rd party libraries
+    source/applications/advanced/hand_eye_calibration/ur_hand_eye_calibration/3rdParty/*
diff --git a/README.md b/README.md
@@ -18,6 +18,9 @@ releases](https://github.com/zivid/zivid-python-samples/tree/master/../../releas
 [**License**](#License)
 
 ---
+
+
+
 ## Samples list
 
 There are two main categories of samples: **Camera** and
@@ -28,13 +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/quick_capture_tutorial.md) / [complete tutorial](source/camera/basic/capture_tutorial.md))
+      - **basic**
           - [capture](https://github.com/zivid/zivid-python-samples/tree/master//source/camera/basic/capture.py) - Capture point clouds, with color, from the Zivid camera.
           - [capture\_2d](https://github.com/zivid/zivid-python-samples/tree/master//source/camera/basic/capture_2d.py) - Capture 2D images from the Zivid camera.
-          - [capture\_from\_file\_camera](https://github.com/zivid/zivid-python-samples/tree/master//source/camera/basic/capture_from_file_camera.py) - Capture point clouds, with color, from the Zivid file
-            camera.
           - [capture\_assistant](https://github.com/zivid/zivid-python-samples/tree/master//source/camera/basic/capture_assistant.py) - Use Capture Assistant to capture point clouds, with color,
             from the Zivid camera.
+          - [capture\_from\_file\_camera](https://github.com/zivid/zivid-python-samples/tree/master//source/camera/basic/capture_from_file_camera.py) - Capture point clouds, with color, from the Zivid file
+            camera.
           - [capture\_hdr](https://github.com/zivid/zivid-python-samples/tree/master//source/camera/basic/capture_hdr.py) - Capture point clouds, with color, from the Zivid camera.
           - [capture\_hdr\_complete\_settings](https://github.com/zivid/zivid-python-samples/tree/master//source/camera/basic/capture_hdr_complete_settings.py) - Capture point clouds, with color, from the Zivid camera
             with fully configured settings.
@@ -47,49 +50,52 @@ from the camera can be used.
           - [capture\_hdr\_print\_normals](https://github.com/zivid/zivid-python-samples/tree/master//source/camera/advanced/capture_hdr_print_normals.py) - Capture Zivid point clouds, compute normals and print a
             subset.
       - **info\_util\_other**
+          - [camera\_user\_data](https://github.com/zivid/zivid-python-samples/tree/master//source/camera/info_util_other/camera_user_data.py) - Store user data on the Zivid camera.
+          - [capture\_with\_diagnostics](https://github.com/zivid/zivid-python-samples/tree/master//source/camera/info_util_other/capture_with_diagnostics.py) - Capture point clouds, with color, from the Zivid camera,
+            with settings from YML file and diagnostics enabled.
+          - [get\_camera\_intrinsics](https://github.com/zivid/zivid-python-samples/tree/master//source/camera/info_util_other/get_camera_intrinsics.py) - Read intrinsic parameters from the Zivid camera (OpenCV
+            model).
           - [print\_version\_info](https://github.com/zivid/zivid-python-samples/tree/master//source/camera/info_util_other/print_version_info.py) - Print version information for Python, zivid-python and
             Zivid SDK, then list cameras and print camera info for each
             connected camera.
-          - [capture\_with\_diagnostics](https://github.com/zivid/zivid-python-samples/tree/master//source/camera/info_util_other/capture_with_diagnostics.py) - Capture point clouds, with color, from the Zivid camera,
-            with settings from YML file and diagnostics enabled.
           - [warmup](https://github.com/zivid/zivid-python-samples/tree/master//source/camera/info_util_other/warmup.py) - A basic warm-up method for a Zivid camera with specified
             time and capture cycle.
   - **applications**
       - **basic**
           - **visualization**
-              - [capture\_vis\_3d](https://github.com/zivid/zivid-python-samples/tree/master//source/applications/basic/visualization/capture_vis_3d.py) - Capture point clouds, with color, from the Zivid
-                camera, and visualize it.
               - [capture\_hdr\_vis\_normals](https://github.com/zivid/zivid-python-samples/tree/master//source/applications/basic/visualization/capture_hdr_vis_normals.py) - Capture Zivid point clouds, compute normals and
                 convert to color map and display.
+              - [capture\_vis\_3d](https://github.com/zivid/zivid-python-samples/tree/master//source/applications/basic/visualization/capture_vis_3d.py) - Capture point clouds, with color, from the Zivid
+                camera, and visualize it.
               - [read\_zdf\_vis\_3d](https://github.com/zivid/zivid-python-samples/tree/master//source/applications/basic/visualization/read_zdf_vis_3d.py) - Read point cloud data from a ZDF file and visualize
                 it.
           - **file\_formats**
-              - [read\_iterate\_zdf](https://github.com/zivid/zivid-python-samples/tree/master//source/applications/basic/file_formats/read_iterate_zdf.py) - Read point cloud data from a ZDF file, iterate through
-                it, and extract individual points.
               - [convert\_zdf](https://github.com/zivid/zivid-python-samples/tree/master//source/applications/basic/file_formats/convert_zdf.py) - Convert point cloud data from a ZDF file to your
                 preferred format (.ply, .csv, .txt, .png, .jpg, .bmp,
                 .tiff).
+              - [read\_iterate\_zdf](https://github.com/zivid/zivid-python-samples/tree/master//source/applications/basic/file_formats/read_iterate_zdf.py) - Read point cloud data from a ZDF file, iterate through
+                it, and extract individual points.
       - **advanced**
-          - [downsample](https://github.com/zivid/zivid-python-samples/tree/master//source/applications/advanced/downsample.py) - Downsample point cloud from a ZDF file.
+          - [color\_balance](https://github.com/zivid/zivid-python-samples/tree/master//source/applications/advanced/color_balance.py) - Balance color of 2D image.
           - [create\_depth\_map](https://github.com/zivid/zivid-python-samples/tree/master//source/applications/advanced/create_depth_map.py) - Read point cloud data from a ZDF file, convert it to
             OpenCV format, then extract and visualize depth map.
+          - [downsample](https://github.com/zivid/zivid-python-samples/tree/master//source/applications/advanced/downsample.py) - Downsample point cloud from a ZDF file.
+          - [gamma\_correction](https://github.com/zivid/zivid-python-samples/tree/master//source/applications/advanced/gamma_correction.py) - Capture 2D image with gamma correction.
+          - [hand\_eye\_calibration](https://github.com/zivid/zivid-python-samples/tree/master//source/applications/advanced/hand_eye_calibration/hand_eye_calibration.py) - Perform Hand-Eye calibration.
           - [mask\_point\_cloud](https://github.com/zivid/zivid-python-samples/tree/master//source/applications/advanced/mask_point_cloud.py) - Read point cloud data from a ZDF file, apply a binary
             mask, and visualize it.
-          - [color\_balance](https://github.com/zivid/zivid-python-samples/tree/master//source/applications/advanced/color_balance.py) - Balance color of 2D image.
-          - [gamma\_correction](https://github.com/zivid/zivid-python-samples/tree/master//source/applications/advanced/gamma_correction.py) - Capture 2D image with gamma correction.
           - **hand\_eye\_calibration**
-              - [hand\_eye\_calibration](https://github.com/zivid/zivid-python-samples/tree/master//source/applications/advanced/hand_eye_calibration/hand_eye_calibration.py) - Perform Hand-Eye calibration.
+              - [pose\_conversions](https://github.com/zivid/zivid-python-samples/tree/master//source/applications/advanced/hand_eye_calibration/pose_conversions.py) - Convert to/from Transformation Matrix (Rotation Matrix
+                + Translation Vector).
               - [utilize\_hand\_eye\_calibration](https://github.com/zivid/zivid-python-samples/tree/master//source/applications/advanced/hand_eye_calibration/utilize_hand_eye_calibration.py) - Transform single data point or entire point cloud from
                 camera frame to robot base frame using Hand-Eye
                 calibration
-              - [pose\_conversions](https://github.com/zivid/zivid-python-samples/tree/master//source/applications/advanced/hand_eye_calibration/pose_conversions.py) - Convert to/from Transformation Matrix (Rotation Matrix
-                + Translation Vector).
               - **ur\_hand\_eye\_calibration**
                   - [universal\_robots\_perform\_hand\_eye\_calibration](https://github.com/zivid/zivid-python-samples/tree/master//source/applications/advanced/hand_eye_calibration/ur_hand_eye_calibration/universal_robots_perform_hand_eye_calibration.py) - Script to generate a dataset and perform hand-eye
                     calibration using a Universal Robot UR5e robot.
   - **sample\_utils**
-      - [paths](https://github.com/zivid/zivid-python-samples/tree/master//source/sample_utils/paths.py) - Get relevant paths for Zivid Samples.
       - [display](https://github.com/zivid/zivid-python-samples/tree/master//source/sample_utils/display.py) - Display relevant data for Zivid Samples.
+      - [paths](https://github.com/zivid/zivid-python-samples/tree/master//source/sample_utils/paths.py) - Get relevant paths for Zivid Samples.
 
 ## Installation
 

diff --git a/source/applications/advanced/hand_eye_calibration/README.md b/source/applications/advanced/hand_eye_calibration/README.md
@@ -0,0 +1,42 @@
+# Hand Eye Calibration
+
+To fully understand Hand-Eye Calibration, please see the [tutorial][Tutorial-url] in our Knowledge Base.
+
+-----------------
+The following applications creates a **Transformation Matrix** from data provided by a user
+
+[HandEyeCalibration][HandEyeCalibration-url]:
+
+* Application which walks through the collection of calibration poses
+   1. Provide robot pose to application (manual entry)
+   2. Application takes an image of the calibration object, and calculates pose
+   3. Move robot to new position, enter command to Add Pose
+   4. Repeat i.-iii. until 10-20 pose pairs are collected
+   5. Enter command to perform calibration and return a **Transformation Matrix**
+
+[ZividHandEyeCalibration][ZividHandEyeCalibration-url]
+
+* [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
+
+[**UtilizeHandEyeCalibration**][UtilizeHandEyeCalibration-url]:
+
+* Shows how to transform position and rotation (pose) in Camera co-ordinate system to Robot co-ordinate system.
+* Example use case - "Bin Picking":
+   1. Acquire point cloud of objects to pick with Zivid camera
+   2. Find optimal picking pose for object and **transform to robot co-ordinate system**
+   3. Use transformed pose to calculate robot path and execute pick
+
+[**PoseConversions**][PoseConversions-url]:
+
+* Zivid primarily operate with a (4x4) Transformation Matrix (Rotation Matrix + Translation Vector). This example shows how to use Eigen to convert to and from:
+  * AxisAngle, Rotation Vector, Roll-Pitch-Yaw, Quaternion
+
+[HandEyeCalibration-url]: hand_eye_calibration.py
+[UtilizeHandEyeCalibration-url]: utilize_hand_eye_calibration.py
+[ZividHandEyeCalibration-url]: https://support.zivid.com/latest/academy/applications/hand-eye/hand-eye-calibration-process.html
+[Tutorial-url]: https://support.zivid.com/latest/academy/applications/hand-eye.html
+[PoseConversions-url]: pose_conversions.py
+[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/hand_eye_calibration/hand_eye_calibration.py b/source/applications/advanced/hand_eye_calibration/hand_eye_calibration.py
@@ -8,26 +8,6 @@
 import zivid
 
 
-def _acquire_checkerboard_frame(camera):
-    """Acquire checkerboard frame.
-
-    Args:
-        camera: Zivid camera
-
-    Returns:
-        frame: Zivid frame
-
-    """
-    print("Configuring settings")
-    settings = zivid.Settings()
-    settings.acquisitions.append(zivid.Settings.Acquisition())
-    settings.acquisitions[0].aperture = 8.0
-    settings.acquisitions[0].exposure_time = datetime.timedelta(microseconds=20000)
-    settings.processing.filters.smoothing.gaussian.enabled = True
-    print("Capturing checkerboard image")
-    return camera.capture(settings)
-
-
 def _enter_robot_pose(index):
     """Robot pose user input.
 
@@ -71,6 +51,25 @@ def _perform_calibration(hand_eye_input):
         print(f"Unknown calibration type: '{calibration_type}'")
 
 
+def _assisted_capture(camera):
+    """Acquire frame with capture assistant.
+
+    Args:
+        camera: Zivid camera
+
+    Returns:
+        frame: Zivid frame
+
+    """
+
+    suggest_settings_parameters = zivid.capture_assistant.SuggestSettingsParameters(
+        max_capture_time=datetime.timedelta(milliseconds=800),
+        ambient_light_frequency=zivid.capture_assistant.SuggestSettingsParameters.AmbientLightFrequency.none,
+    )
+    settings = zivid.capture_assistant.suggest_settings(camera, suggest_settings_parameters)
+    return camera.capture(settings)
+
+
 def _main():
     app = zivid.Application()
 
@@ -87,7 +86,7 @@ def _main():
             try:
                 robot_pose = _enter_robot_pose(current_pose_id)
 
-                frame = _acquire_checkerboard_frame(camera)
+                frame = _assisted_capture(camera)
 
                 print("Detecting checkerboard in point cloud")
                 detection_result = zivid.calibration.detect_feature_points(frame.point_cloud())