QuickCapture_X2

Basic flow of binocular mode image acquisition. Connect to the first scanner searched, print the capture parameters, capture, and save the point cloud, 2D image and depth map.

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 , Start init system.

            if (false == RVC_CSharp.System.Init() )
            {
                Console.WriteLine("Failed to init system.");
                return;
            }
            else
            {
                Console.WriteLine("Successfully init system.");
            }

            #endregion

            #region Step 1 , Find Device

            // Method 1 , find Device By Sn . You can get device SN by RVC Manager.
            // * Most Recommended Method .
            //Device device = RVC_CSharp.System.FindDeviceBySN("12345678");

            // Method 2 , find Device By Index . 
            // If you only have one camera, you can use this method.
            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();

            #endregion

            #region Step 2 , Open Camera

            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 3 , Capture

            // Capture using the internal parameters of the camera.
            // We suggest that you adjust the parameters in RVC Manager first.
            bool 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 4 , Data Process

            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);

#if OpenCV_Enable
            // OpencvExtension
            Mat matImage = image.ToMat();
            Mat matDepth = depth.ToMat();
            Mat matPointCloud = pointMap.ToMat();
            matImage.SaveImage($"./{info.name}-{info.sn}/OpencvImage.bmp");
            Console.WriteLine($"Save Opencv Image,path = ./{info.name}-{info.sn}/OpencvImage.bmp");
#endif  


#if Halcon_Enable
            // HalconExtension,需要Lincese才能运行  
            try
            {
                HObject halconImage = image.ToHalcon();
                HObject halconDepth = depth.ToHalcon();
                HTuple halconPointCloud = pointMap.ToHalcon();

                halconImage.SaveImage("bmp", $"./{info.name}-{info.sn}/HalconImage.bmp");
                Console.WriteLine($"Save Halcon Image,path = ./{info.name}-{info.sn}/HalconImage.bmp");

                halconDepth.SaveDepth("tiff", $"./{info.name}-{info.sn}/HalconDepth.tiff");
                Console.WriteLine($"Save Halcon Depth,path = ./{info.name}-{info.sn}/HalconDepth.tiff");

                halconPointCloud.SavePointCloud("om3", $"./{info.name}-{info.sn}/HalconPointCloud.om3");
                Console.WriteLine($"Save Halcon PointMap,path = ./{info.name}-{info.sn}/HalconPointCloud.om3");

            }
            catch (Exception e)
            {
                Console.WriteLine(e);
            }
#endif

#if VisionPro_Enable

            // VisionProExtension,需要Lincese才能运行   

            try
            {
                CogImage16Range range = pointMap.ToVisionPro();
                range.Save($"./{info.name}-{info.sn}/VisionProPointMap.idb");
                Console.WriteLine($"Save VisionPro PointMap,path = ./{info.name}-{info.sn}/VisionProPointMap.idb");

            }
            catch (Exception e)
            {
                Console.WriteLine(e);
            }
#endif

            Console.WriteLine("Successfully Process Data .");

            #endregion

            #region Step 5 , Close And Release Device

            camera.Close();
            camera.Destroy();

            RVC_CSharp.System.Shutdown();
            Console.WriteLine("System close.");

            #endregion

            return;
        }

    }
}