Samples: Update C# public samples

This commit: - Adds L100 cmaera model to CaptureHDRCompleteSettings.cs - Improve intrinsic sample to show the difference between fixed and estimated intrinsics. See https://support.zivid.com/en/latest/reference-articles/camera-intrinsics.html for more information.
zivid · Apr 3, 2023 · ad99a08 · ad99a08
1 parent aa712a5
commit ad99a08
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Showing 2 changed files with 60 additions and 15 deletions.
diff --git a/source/Camera/Basic/CaptureHDRCompleteSettings/CaptureHDRCompleteSettings.cs b/source/Camera/Basic/CaptureHDRCompleteSettings/CaptureHDRCompleteSettings.cs
@@ -108,7 +108,8 @@ static Tuple<double[], int[], double[]> GetExposureValues(Zivid.NET.Camera camer
             double[] gain = { 1.0, 1.0, 2.0 };
             return Tuple.Create<double[], int[], double[]>(aperture, exposureTime, gain);
         }
-        if(camera.Info.Model == Zivid.NET.CameraInfo.ModelOption.ZividTwo)
+        if (camera.Info.Model == Zivid.NET.CameraInfo.ModelOption.ZividTwo
+            || camera.Info.Model == Zivid.NET.CameraInfo.ModelOption.ZividTwoL100)
         {
             double[] aperture = { 5.66, 2.38, 1.8 };
             int[] exposureTime = { 1677, 5000, 100000 };

diff --git a/source/Camera/InfoUtilOther/GetCameraIntrinsics/GetCameraIntrinsics.cs b/source/Camera/InfoUtilOther/GetCameraIntrinsics/GetCameraIntrinsics.cs
@@ -1,5 +1,5 @@
 /*
-Read intrinsic parameters from the Zivid camera (OpenCV model).
+Read intrinsic parameters from the Zivid camera (OpenCV model) or estimate them from the point cloud.
 
 Note: This example uses experimental SDK features, which may be modified, moved, or deleted in the future without notice.
 */
@@ -8,6 +8,48 @@ Read intrinsic parameters from the Zivid camera (OpenCV model).
 
 class Program
 {
+    static void PrintParameterDelta(String label, Double fixedValue, Double estimatedValue)
+    {
+        var delta = fixedValue - estimatedValue;
+        if (delta != 0)
+        {
+            var deltaInPercentage = (100 * delta) / fixedValue;
+            Console.WriteLine($"{label,6:s}: {delta,6:f2} ({deltaInPercentage,6:f2}% )");
+        }
+    }
+
+    static void PrintIntrinsicParametersDelta(
+        Zivid.NET.CameraIntrinsics fixedIntrinsics,
+        Zivid.NET.CameraIntrinsics estimatedIntrinsics)
+    {
+        PrintParameterDelta("CX", fixedIntrinsics.CameraMatrix.CX, estimatedIntrinsics.CameraMatrix.CX);
+        PrintParameterDelta("CY", fixedIntrinsics.CameraMatrix.CY, estimatedIntrinsics.CameraMatrix.CY);
+        PrintParameterDelta("FX", fixedIntrinsics.CameraMatrix.FX, estimatedIntrinsics.CameraMatrix.FX);
+        PrintParameterDelta("FY", fixedIntrinsics.CameraMatrix.FY, estimatedIntrinsics.CameraMatrix.FY);
+
+        PrintParameterDelta("K1", fixedIntrinsics.Distortion.K1, estimatedIntrinsics.Distortion.K1);
+        PrintParameterDelta("K2", fixedIntrinsics.Distortion.K2, estimatedIntrinsics.Distortion.K2);
+        PrintParameterDelta("K3", fixedIntrinsics.Distortion.K3, estimatedIntrinsics.Distortion.K3);
+        PrintParameterDelta("P1", fixedIntrinsics.Distortion.P1, estimatedIntrinsics.Distortion.P1);
+        PrintParameterDelta("P2", fixedIntrinsics.Distortion.P2, estimatedIntrinsics.Distortion.P2);
+    }
+
+    static void PrintIntrinsicParameters(Zivid.NET.CameraIntrinsics intrinsics)
+    {
+        Console.WriteLine("Separated camera intrinsic parameters:");
+
+        Console.WriteLine($"    CX = {intrinsics.CameraMatrix.CX,-7:f2}");
+        Console.WriteLine($"    CY = {intrinsics.CameraMatrix.CY,-7:f2}");
+        Console.WriteLine($"    FX = {intrinsics.CameraMatrix.FX,-7:f2}");
+        Console.WriteLine($"    FY = {intrinsics.CameraMatrix.FY,-7:f2}");
+
+        Console.WriteLine($"    K1 = {intrinsics.Distortion.K1,-7:f4}");
+        Console.WriteLine($"    K2 = {intrinsics.Distortion.K2,-7:f4}");
+        Console.WriteLine($"    K3 = {intrinsics.Distortion.K3,-7:f4}");
+        Console.WriteLine($"    P1 = {intrinsics.Distortion.P1,-7:f4}");
+        Console.WriteLine($"    P2 = {intrinsics.Distortion.P2,-7:f4}");
+    }
+
     static int Main()
     {
         try
@@ -22,22 +64,24 @@ static int Main()
 
             Console.WriteLine(intrinsics.ToString());
 
-            Console.WriteLine("Separated camera intrinsic parameters:");
-
-            Console.WriteLine("    CX = " + intrinsics.CameraMatrix.CX.ToString());
-            Console.WriteLine("    CY = " + intrinsics.CameraMatrix.CY.ToString());
-            Console.WriteLine("    FX = " + intrinsics.CameraMatrix.FX.ToString());
-            Console.WriteLine("    FY = " + intrinsics.CameraMatrix.FY.ToString());
-
-            Console.WriteLine("    K1 = " + intrinsics.Distortion.K1.ToString());
-            Console.WriteLine("    K2 = " + intrinsics.Distortion.K2.ToString());
-            Console.WriteLine("    K3 = " + intrinsics.Distortion.K3.ToString());
-            Console.WriteLine("    P1 = " + intrinsics.Distortion.P1.ToString());
-            Console.WriteLine("    P2 = " + intrinsics.Distortion.P2.ToString());
-
             var intrinsicsFile = "Intrinsics.yml";
             Console.WriteLine("Saving camera intrinsics to file: " + intrinsicsFile);
             intrinsics.Save(intrinsicsFile);
+
+            PrintIntrinsicParameters(intrinsics);
+
+            Console.WriteLine("\nDifference between fixed intrinsics and estimated intrinsics for different apertures and temperatures:");
+
+            foreach (var aperture in new double[] { 11.31, 5.66, 2.83 })
+            {
+                var settings = new Zivid.NET.Settings();
+                settings.Acquisitions.Add(new Zivid.NET.Settings.Acquisition { Aperture = aperture });
+                var frame = camera.Capture(settings);
+                var estimatedIntrinsics = Zivid.NET.Experimental.Calibration.Calibrator.EstimateIntrinsics(frame);
+                var temperature = frame.State.Temperature.Lens;
+                Console.WriteLine($"\nAperture: {aperture,5:f2}, Lens Temperature: {temperature,5:f2}°C");
+                PrintIntrinsicParametersDelta(intrinsics, estimatedIntrinsics);
+            }
         }
         catch(Exception ex)
         {