Merge pull request #63 from zivid/2023-09-12-update-halcon-samples

Samples: Fix PLY loading and using M60 and L110
zivid · Oct 21, 2023 · a67b479 · a67b479
2 parents 0e74dfe + 67e150e
commit a67b479
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Showing 5 changed files with 62 additions and 5 deletions.
diff --git a/source/Applications/Advanced/ObjectMatching/SurfaceMatchingCreateModelFromFile.hdev b/source/Applications/Advanced/ObjectMatching/SurfaceMatchingCreateModelFromFile.hdev
@@ -33,7 +33,12 @@
             <l>import './../../../Procedures'</l>
             <l>get_zivid_sample_data_dir(ZividDataDir)</l>
             <l>ScenePath := ZividDataDir + '/ObjectMatching/' + SurfaceModelFile + '/Im1.ply'</l>
-            <l>read_object_model_3d (ScenePath, 'm', ['xyz_map_width'], [1920], ObjectModel3D_Scene, Status)</l>
+            <c>* Specify the camera that point cloud was taken with; options are: 'Zivid One+', 'Zivid 2', and 'Zivid 2+'.</c>
+            <l>Camera := 'Zivid One+'</l>
+            <c>* Specify SamplingPixel that point cloud was taken with; options are: 'all', 'blueSubsample2x2', and 'redSubsample2x2'</c>
+            <l>SamplingPixel := 'all'</l>
+            <l>get_zivid_camera_width (Camera, SamplingPixel, MapWidth)</l>
+            <l>read_object_model_3d (ScenePath, 'm', ['xyz_map_width'], MapWidth, ObjectModel3D_Scene, Status)</l>
             <c/>
             <c>* Fixing to make the point cloud appear with colors</c>
             <l>get_object_model_3d_params (ObjectModel3D_Scene, 'red', red)</l>

diff --git a/source/Applications/Advanced/ObjectMatching/SurfaceMatchingFindModel.hdev b/source/Applications/Advanced/ObjectMatching/SurfaceMatchingFindModel.hdev
@@ -68,7 +68,7 @@
             <l>    set_framegrabber_param (AcqHandle, 'ExposureTime', 10000)</l>
             <l>    set_framegrabber_param (AcqHandle, 'Aperture', 4.36)</l>
             <l>    set_framegrabber_param (AcqHandle, 'AddAcquisition', 1)</l>
-            <l>    set_framegrabber_param (AcqHandle, 'Aperture', 2.10)</l>
+            <l>    set_framegrabber_param (AcqHandle, 'Aperture', 2.37)</l>
             <l>    set_framegrabber_param (AcqHandle, 'AddAcquisition', 1)</l>
             <l>endif</l>
             <c>* Coca-Cola bottle</c>

diff --git a/source/Applications/Advanced/ObjectMatching/SurfaceMatchingFindModelFromFile.hdev b/source/Applications/Advanced/ObjectMatching/SurfaceMatchingFindModelFromFile.hdev
@@ -33,6 +33,11 @@
             <l>import './../../../Procedures'</l>
             <l>get_zivid_sample_data_dir(ZividDataDir)</l>
             <l>ScenePath := ZividDataDir + '/ObjectMatching/' + SurfaceModelFile</l>
+            <c>* Specify the camera that point cloud was taken with; options are: 'Zivid One+', 'Zivid 2', and 'Zivid 2+'.</c>
+            <l>Camera := 'Zivid One+'</l>
+            <c>* Specify SamplingPixel that point cloud was taken with; options are: 'all', 'blueSubsample2x2', and 'redSubsample2x2'</c>
+            <l>SamplingPixel := 'all'</l>
+            <l>get_zivid_camera_width (Camera, SamplingPixel, MapWidth)</l>
             <c/>
             <c>* Specify whether you want to use your own model created with the SurfaceMatchingCreateModelFromFile.hdev</c>
             <l>MySurfaceModelFile := false</l>
@@ -59,7 +64,7 @@
             <l>    tuple_add (ScenePath, '/Im', SceneFilename)</l>
             <l>    tuple_add (SceneFilename, Index, SceneFilename)</l>
             <l>    tuple_add (SceneFilename, '.ply', SceneFilename)    </l>
-            <l>    read_object_model_3d (SceneFilename, 'm', ['xyz_map_width'], [1920], ObjectModel3DScene, Status)</l>
+            <l>    read_object_model_3d (SceneFilename, 'm', ['xyz_map_width'], MapWidth, ObjectModel3DScene, Status)</l>
             <c/>
             <c>    * Fixing to make the point cloud appear with colors</c>
             <l>    get_object_model_3d_params (ObjectModel3DScene, 'red', red)</l>

diff --git a/source/Applications/Basic/FileFormats/ReadPLY.hdev b/source/Applications/Basic/FileFormats/ReadPLY.hdev
@@ -16,11 +16,16 @@
             <l>dev_open_window (0, 0, WinWidth, WinHeight, 'black', Window2D)</l>
             <l>dev_open_window (0, WinWidth, WinWidth, WinHeight, 'blue', Window3D)</l>
             <c/>
-            <c>* Reading PCD point cloud from file</c>
+            <c>* Reading PLY point cloud from file</c>
             <l>import './../../../Procedures'</l>
             <l>get_zivid_sample_data_dir(ZividDataDir)</l>
             <l>PointCloudFile := ZividDataDir + '/Zivid3D.ply'</l>
-            <l>read_object_model_3d (PointCloudFile, 'mm', ['xyz_map_width'], [1920], ObjectModel3D, Status)</l>
+            <c>* Specify the camera that point cloud was taken with; options are: 'Zivid One+', 'Zivid 2', and 'Zivid 2+'.</c>
+            <l>Camera := 'Zivid One+'</l>
+            <c>* Specify SamplingPixel that point cloud was taken with; options are: 'all', 'blueSubsample2x2', and 'redSubsample2x2'</c>
+            <l>SamplingPixel := 'all'</l>
+            <l>get_zivid_camera_width (Camera, SamplingPixel, MapWidth)</l>
+            <l>read_object_model_3d (PointCloudFile, 'mm', ['xyz_map_width'], MapWidth, ObjectModel3D, Status)</l>
             <c/>
             <c>* Fixing to make the point cloud appear with colors</c>
             <l>get_object_model_3d_params (ObjectModel3D, 'red', red)</l>

diff --git a/source/Procedures/get_zivid_camera_width.hdvp b/source/Procedures/get_zivid_camera_width.hdvp
@@ -0,0 +1,42 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<hdevelop file_version="1.2" halcon_version="21.11.0.0">
+    <procedure name="get_zivid_camera_width">
+        <interface>
+            <ic>
+                <par name="Camera" base_type="ctrl" dimension="0"/>
+                <par name="SamplingPixel" base_type="ctrl" dimension="0"/>
+            </ic>
+            <oc>
+                <par name="Width" base_type="ctrl" dimension="0"/>
+            </oc>
+        </interface>
+        <body>
+            <l>if (Camera == 'Zivid One+')</l>
+            <l>    Width := 1920</l>
+            <l>elseif (Camera == 'Zivid 2')</l>
+            <l>    Width := 1944</l>
+            <l>elseif (Camera == 'Zivid 2+')</l>
+            <l>    Width := 2448</l>
+            <l>else</l>
+            <l>    throw('Unsupported camera: ' + Camera)</l>
+            <l>endif</l>
+            <c/>
+            <l>if (SamplingPixel == 'blueSubsample2x2')</l>
+            <l>    Width := Width/2</l>
+            <l>elseif (SamplingPixel == 'redSubsample2x2')</l>
+            <l>    Width := Width/2</l>
+            <l>elseif (SamplingPixel != 'all')</l>
+            <l>    throw('Unsupported SamplingPixel: ' + SamplingPixel)    </l>
+            <l>endif</l>
+            <c/>
+            <l>return ()</l>
+        </body>
+        <docu id="get_zivid_camera_width">
+            <parameters>
+                <parameter id="Camera"/>
+                <parameter id="SamplingPixel"/>
+                <parameter id="Width"/>
+            </parameters>
+        </docu>
+    </procedure>
+</hdevelop>