zerowaste

the main_zerowaste.py was used in ZeroWaste, but is probably superceded by the main_IMDO, which was used for Isabel's research. A lot of code was changed when working on Isabel's project.

This only works on windows, since Zivid only works on windows.

PROCESSING PCDs DOES NOT WORK ON MAC, currently if any other packages are installed with open3d we get a seg fault on Mac.

Basically, just use this one Windows machine...

Making clean environment.yml file

export only explictly downloaded packages:

conda env export --from-history --name ziv281_cfab270 > environment.yml

create new from environment.yml file: conda env create

Linting and Pre-commit

make sure .pre-commit-config.yaml file is up to date

language_version: python (use system version of python)

run this: pre-commit install

in .vscode/settings.json make sure formatonsave = TRUE

Zivid Code

zivid-python-samples version:

• working with old branch 7090186 (which is from around December 2022)
• link to github
• Major changes to sample_utils after, deleted TransformationMatrix object
  • old transformation_matrix.py
• Probably an easy fix using zivid.Matrix4x4 object in save_load_matrix, but that changed too...
  • old save_load_matrix.py
• annoying since new save_load_matrix.py needs a running instance of Zivid :: Application
• don't have time to fix it, so keep old code for now...

version: Working for SDK V2.6.1, as of April, 2022

About version 2.7 (need to update still): https://blog.zivid.com/sdk-2.7-preserve-the-details-in-your-point-clouds?utm_campaign=software&utm_medium=email&_hsmi=217086722&_hsenc=p2ANqtz-_ICS7K6EMNJlBN-M5Ul41QWuTe80zmZiisC4dljNtvQbqMnPRfgvocFtiyan01y9MzoD19lY1DPjNzsUy1KsLA2aOfig&utm_content=217087514&utm_source=hs_email

note: when upgrading to SDK V2.7 need to update the capture settings .yml from Settings::Processing::Color::Experimental::ToneMapping::Enabled to Settings::Processing::Color::Experimental::Mode as per https://support.zivid.com/latest/reference-articles/settings/processing-settings/tone-mapping.html?hsLang=en

note: when upgrading 50 SKD V2.8.1, the zivid2 no longer works through USB. Works fine through ethernet, but then have to change the network settings from the robot control setup. Works if just using the camera, but how will it work with robot control?

Zivid provides example code from the following repos:

Repo	Folder
https://github.com/zivid/zivid-python	Samples
https://github.com/zivid/zivid-python-samples	Source

Note that at the time of writing, the code in zivid-python-samples repo is just a more comprehensive set of code than what is provided in the samples folder in zivid-python repo. So can probably ignore the samples folder provided in the zivid-python repo, but check this to make sure...

WARNING: DO NOT MAKE CHANGES TO ZIVID BASE CODE SAMPLES

The code in this repo extends the functionality of the sample code provided by Zivid. Some functions we use will rely on their code base, which we will keep updated as new versions are released. The idea is to keep their code as a "template" for our own implementation. If we need to make any changes to their provided code, make a copy, reference where it came from (so can update easier), and save our own version in this repo.

WARNING: DO NOT MAKE CHANGES TO ZIVID BASE CODE SAMPLES

To use the provided Zivid code modules as imports to new code, ensure the source code location is added to the PYTHONPATH environment variable. This will ensure that python module imports work.

Suggest the following steps:

1. Clone the https://github.com/zivid/zivid-python-samples repo
2. Add the source code folder to the PYTHONPATH
   • Read section 3.6 in the following link: https://docs.python.org/3/using/windows.html
   • in command line: echo %PYTHONPATH% (will be empty if the variable is not set)
   • to add temporarily to current shell: set PYTHONPATH=%PYTHONPATH%;C:\new\path\to\source\code
   • to add permanently: go through System Properties, Environment Variables, Edit or Add New (need to restart shell to see changes)
   • downside of permanent method is that all versions on python will refer to this folder, so make sure this won't cause any issues
3. Test that this works, should now be able to import any of the modules in the source folder. Reference from source as top folder.
   • For example: from sample_utils.paths import get_sample_data_path
   • for example: import applications.basic.file_formats.convert_zdf

Description of Code (John, LOL)

Zivid Classes

https://github.com/zivid/zivid-python/tree/master/modules/zivid

Class/Name	Description	Members	Summary	Use in Code
Application	manager class for Zivid	create_file_camera, connect_camera, cameras, release
Calibration	calibration features, such as HandEye and MultiCamera	HandEyeInput, HandEyeResidual, HandEyeOutput
Camera	interface to one Zivid camera, but only to access	capture, info, state, connect, disconnect, write_user_data, user_data, release
Camera_Info	contains information about camera hardware and firmware	firmware_version, model_name, serial_number, revision, user_data, firmware_version,
:Revision		major, minor
:UserData
Camera_State	extract information from internal function of Zivid camera, such as temperature or lens info	available, connected
:Temperature		dmd, general, led, lens, pcb
Capture_Assistant		ambient_light_frequency, max_capture_time, _convert_to_internal, suggest_settings
Frame	contains the point cloud, stored on compute device memory	point_cloud, save, load, release
Frame_2D	contains a 2D image as well as metadata	image_rgba, settings, state, info, release
Frame_Info		core, time_stamp, software_version
Image	A two-dimensional image stored on the host	height, width, save, copy_data, release
PointCloud	Point cloud with x, y, z, RGB and color laid out on a 2D grid	height, width, release
SDK_Version	get the version of the loaded library
Settings		Acquisition, Processing, Color, Balance, Color, Filters, Noise, Smoothing, Gaussian, Experimental, ContrastDistortion, Correction, Removal, Reflection, Settings, Outlier, Brightness, Aperture, ExposureTime, Gain, ContrastDistortion, Enabled, Strength, Threshold,
:Acquisition
Settings2D		Acquisition, Processing, Color, Balance

Zivid Modules

Class/Name	Description	Members	Summary	Source Code
init.py	imports all non protected classes, modules and packages from the current level			https://github.com/zivid/zivid-python/blob/master/modules/zivid/init.py
_setting2_d_converter.py	implementation of 2D evaluation process			https://github.com/zivid/zivid-python/blob/master/modules/zivid/_settings2_d_converter.py
application.py	class can be used as a context manager			https://github.com/zivid/zivid-python/blob/master/modules/zivid/application.py
calibration.py	module for calibration features			https://github.com/zivid/zivid-python/blob/master/modules/zivid/calibration.py
camera.py	contains camera class			https://github.com/zivid/zivid-python/blob/master/modules/zivid/camera.py
capture_assistant.py	class representing parameters to capture assistant			https://github.com/zivid/zivid-python/blob/master/modules/zivid/capture_assistant.py
frame.py	contains the frame class			https://github.com/zivid/zivid-python/blob/master/modules/zivid/frame.py
frame_2d.py	contains a 2D image as well as metadata at the time of capture			https://github.com/zivid/zivid-python/blob/master/modules/zivid/frame_2d.py
image.py	contains the image class			https://github.com/zivid/zivid-python/blob/master/modules/zivid/image.py

Calibration Modules

Class/Name	Description	Members	Summary	Source Code
hand_eye.py	implementation of hand-eye calibration functionality			https://github.com/zivid/zivid-python/blob/master/modules/zivid/_calibration/hand_eye.py
detector.py	implementation of feature point detection functionality			https://github.com/zivid/zivid-python/blob/master/modules/zivid/_calibration/detector.py