CaptureOptions_X1
Print capture parameters in monocular mode, the four ways of passing parameters are described, and the in-scanner parameters are called for capturing.
using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
#if Halcon_Enable
using HalconDotNet;
#endif
#if OpenCV_Enable
using OpenCvSharp;
#endif
#if VisionPro_Enable
using Cognex.VisionPro;
#endif
using RVC_CSharp;
namespace RVC_CSharp
{
class Program
{
static void Main()
{
#region Step 0 ,Init & Find & Open
if (false == RVC_CSharp.System.Init() )
{
Console.WriteLine("Failed to init system.");
return;
}
Device device = RVC_CSharp.System.FindDeviceByIndex(0);
if (false == device.IsValid() || false == device.CheckCanConnected())
{
Console.WriteLine("Device Can not be Connected.\nPlease Check Connection.");
RVC_CSharp.System.Shutdown();
return;
}
// optional
// Print Device Info
DeviceInfo info = new DeviceInfo();
device.GetDeviceInfo(ref info);
info.Print();
X1 camera = RVC_CSharp.X1.Create(device, CameraID.CameraID_Left);
camera.Open();
if (false == camera.IsValid() || false == camera.IsOpen())
{
Console.WriteLine($"Failed to open camera .Error code = { System.GetLastError() } ");
RVC_CSharp.System.Shutdown();
return;
}
#endregion
#region Step 1 ,[Main Step] Modify Options And Capture
X1.CaptureOptions options = X1.CaptureOptions.Default();
bool ret = false;
// Print Options
{
Console.WriteLine($"打印拍摄参数---");
Console.WriteLine($"拍摄模式--[capture_mode] = {options.capture_mode.Name()}");
Console.WriteLine($"2D 曝光时间--[exposure_time_2d] = {options.exposure_time_2d}");
Console.WriteLine($"2D 增益--[gain_2d] = {options.gain_2d}");
Console.WriteLine($"2D Gamma--[gamma_2d] = {options.gamma_2d}");
Console.WriteLine($"2D 拍摄是否使用光机--[use_projector_capturing_2d_image] = {options.use_projector_capturing_2d_image}");
Console.WriteLine($"3D 曝光时间--[exposure_time_3d] = {options.exposure_time_3d}");
Console.WriteLine($"3D 增益--[gain_3d] = {options.gain_3d}");
Console.WriteLine($"3D Gamma--[gamma_3d] = {options.gamma_3d}");
Console.WriteLine($"光强对比度阈值--[light_contrast_threshold] = {options.light_contrast_threshold}");
Console.WriteLine($"投影亮度--[projector_brightness] = {options.projector_brightness}");
Console.WriteLine($"HDR 次数--[hdr_exposure_times] = {options.hdr_exposure_times}");
Console.WriteLine($"HDR 曝光(0,1,2)--[hdr_exposuretime_content] = {options.hdr_exposuretime_content[0]},{options.hdr_exposuretime_content[1]},{options.hdr_exposuretime_content[2]}");
Console.WriteLine($"HDR 增益(0,1,2)--[hdr_gain_3d] = {options.hdr_gain_3d[0]},{options.hdr_gain_3d[1]},{options.hdr_gain_3d[2]}");
Console.WriteLine($"HDR 扫描次数(0,1,2)--[hdr_exposuretime_content] = {options.hdr_scan_times[0]},{options.hdr_scan_times[1]},{options.hdr_scan_times[2]}");
Console.WriteLine($"HDR 投影亮度(0,1,2)--[hdr_exposuretime_content] = {options.hdr_projector_brightness[0]},{options.hdr_projector_brightness[1]},{options.hdr_projector_brightness[2]}");
Console.WriteLine($"置信度去噪阈值--[confidence_threshold] = {options.confidence_threshold}");
Console.WriteLine($"聚类降噪距离阈值--[noise_removal_distance] = {options.noise_removal_distance}");
Console.WriteLine($"聚类降噪有效点数阈值--[noise_removal_point_number] = {options.noise_removal_point_number}");
Console.WriteLine($"平滑等级--[smoothness] = {options.smoothness.Name()}");
Console.WriteLine($"下采样距离(m)--[downsample_distance] = {options.downsample_distance}");
Console.WriteLine($"是否计算法向量--[calc_normal] = {options.calc_normal}");
Console.WriteLine($"计算法向量距离--[calc_normal_radius] = {options.calc_normal_radius}");
Console.WriteLine($"ROI(x,y,w,h)--[roi] = {options.roi.x},{options.roi.y},{options.roi.width},{options.roi.height}");
//G系列相机，扫描次数
Console.WriteLine($"扫描次数[G系列相机]--[scan_times] = {options.scan_times}");
//新增算法参数，双边滤波
Console.WriteLine($"z向截断最小值--[truncate_z_min] = {options.truncate_z_min}");
Console.WriteLine($"z向截断最大值--[truncate_z_max] = {options.truncate_z_max}");
Console.WriteLine($"双边滤波窗口大小--[bilateral_filter_kernal_size] = {options.bilateral_filter_kernal_size}");
Console.WriteLine($"双边滤波深度分布--[bilateral_filter_depth_sigma] = {options.bilateral_filter_depth_sigma}");
Console.WriteLine($"双边滤波空间分布--[bilateral_filter_space_sigma] = {options.bilateral_filter_space_sigma}");
}
// Method 1 , Use Default Options and Modify.
// X1.CaptureOptions options = X1.CaptureOptions.Default();
// TODO:modify options
// ret = camera.Capture(options);
// Method 2 , Load Options From Camera and Modify.
// X1.CaptureOptions options = new X1.CaptureOptions();
// camera.LoadCaptureOptionParameters(ref options);
// TODO:modify options
// ret = camera.Capture(options);
// *****
// Method 3 , Using the internal parameters of the camera.
// We suggest adjusting the camera parameters By RVC Manager.
// Then, when we use SDK, we directly use the parameters inside the camera.
ret = camera.Capture();
// Method 4 , Load Options From File and Capture.
// If you need to capture multiple scenes, their parameters are different.
// You can save these parameters as different configuration files By RVC Manager and then import the files before capture.
// ret = camera.LoadSettingFromFile("file.json");
// ret = camera.Capture();
if (false == ret)
{
Console.WriteLine($"Failed to Capture .Error code = { System.GetLastError() } ");
camera.Close();
camera.Destroy();
RVC_CSharp.System.Shutdown();
return;
}
Image image = camera.GetImage();
DepthMap depth = camera.GetDepthMap();
PointMap pointMap = camera.GetPointMap();
#endregion
#region Step 2 , Data Process And Close
Directory.CreateDirectory($"./{info.name}-{info.sn}");
// 2D Image
string imageFile = $"./{info.name}-{info.sn}/Image.bmp";
Console.WriteLine($"Save Image,path = {imageFile}");
image.SaveImage(imageFile);
// Depth
string depthFile = $"./{info.name}-{info.sn}/Depth.tiff";
Console.WriteLine($"Save Depth,path = {depthFile}");
depth.SaveDepthMap(depthFile);
// Point Cloud
string pointCloudFile = $"./{info.name}-{info.sn}/PointCloud.ply";
Console.WriteLine($"Save PointMap,path = {pointCloudFile}");
pointMap.SavePlyBinary(pointCloudFile);
// Color Point Cloud
string colorPointCloudFile = $"./{info.name}-{info.sn}/ColorPointCloud.ply";
Console.WriteLine($"Save Color-PointMap,path = {colorPointCloudFile}");
pointMap.SaveColorPointCloud(image, colorPointCloudFile);
camera.Close();
camera.Destroy();
RVC_CSharp.System.Shutdown();
Console.WriteLine("System close.");
#endregion
return;
}
}
}