CaptureOptions_X2

Print capture parameters in binocular mode, the four ways to 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);
            //Device device = RVC_CSharp.System.FindDeviceBySN("P2GM353W002");
            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();

            if (false == info.support_x2)
            {
                Console.WriteLine("Device Can not Support X2 .\nPlease Check Your Device.");
                RVC_CSharp.System.Shutdown();
                return;
            }

            X2 camera = RVC_CSharp.X2.Create(device);
            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

            X2.CaptureOptions options = X2.CaptureOptions.Default();
            bool ret = false;

            // Print Options
            {
                Console.WriteLine($"拍摄参数---");
                Console.WriteLine($"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($"3D Gamma--[gamma_3d] = {options.gamma_3d}");
                Console.WriteLine($"HDR 次数--[hdr_exposuretime_content] = {options.hdr_exposure_times}");
                Console.WriteLine($"HDR 曝光(0,1,2)--[hdr_exposuretime_content] = {options.hdr_exposuretime_content[0]},{options.hdr_exposuretime_content[1]},{options.hdr_exposuretime_content[2]}");
                Console.WriteLine($"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($"置信度去噪阈值--[confidence_threshold] = {options.confidence_threshold}");
                Console.WriteLine($"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($"下采样距离(m)--[downsample_distance] = {options.downsample_distance}");
                Console.WriteLine($"边缘去噪--[edge_noise_reduction_threshold] = {options.edge_noise_reduction_threshold}");
                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}");
            }

            // Method 1 , Use Default Options and Modify.
            // X2.CaptureOptions options = X2.CaptureOptions.Default();
            // TODO:modify options
            // ret = camera.Capture(options);

            // Method 2 , Load Options From Camera and Modify.
            // X2.CaptureOptions options = new X2.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(CameraID.CameraID_Left);
            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;
        }

    }
}