Samples: Update bgra() method

This commit updates all relevant samples to use hte Zivid API for
extracting `bgr` color information, instead of using third-part library.

Author: csu-bot-zivid

README.md

@@ -134,30 +134,34 @@ from the camera can be used.
 
 ## Installation
 
+-----
+
+Note:
+
+The recommended Python version for these samples is 3.6 - 3.9.
+
+-----
+
 1.  [Install Zivid
     Software](https://support.zivid.com/latest//getting-started/software-installation.html).
 
-2.  [Install Zivid
-    Python](https://github.com/zivid/zivid-python#installation). Note:
-    The recommended Python version for these samples is 3.6 - 3.9.
-
-3.  [Download Zivid Sample
+2.  [Download Zivid Sample
     Data](https://support.zivid.com/latest//api-reference/samples/sample-data.html).
 
-4.  Install the runtime requirements using IDE or command line:
+3.  Install the runtime requirements using IDE or command line:
 
-    ``` sourceCode 
+    ``` sourceCode bash
     pip install -r requirements.txt
     ```
 
-5.  Add the directory source to PYTHONPATH. Navigate to the root of the
+4.  Add the directory source to PYTHONPATH. Navigate to the root of the
     repository and run:
+    
+      - PowerShell: `$env:PYTHONPATH=$env:PYTHONPATH + ";$PWD\source"`
+      - cmd: `set PYTHONPATH="$PYTHONPATH;$PWD\source"`
+      - bash: `export PYTHONPATH="$PYTHONPATH:$PWD/source"`
 
->   - PowerShell: `$env:PYTHONPATH=$env:PYTHONPATH + ";$PWD\source"`
->   - cmd: `set PYTHONPATH="$PYTHONPATH;$PWD\source"`
->   - bash: `export PYTHONPATH="$PYTHONPATH:$PWD/source"`
-
-6.  Open and run one of the samples.
+5.  Open and run one of the samples.
 
 ## Support
 

continuous-integration/setup.sh

@@ -3,21 +3,37 @@
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 ROOT_DIR=$(realpath "$SCRIPT_DIR/..")
 
+ZIVID_SDK_EXACT_VERSION=2.9.0+4dbba385-1
+ZIVID_TELICAM_EXACT_VERSION=3.0.1.1-3
+
 export DEBIAN_FRONTEND=noninteractive
+source /etc/os-release || exit $?
 
 function apt-yes {
     apt-get --assume-yes "$@"
 }
 
+function install_www_deb {
+    TMP_DIR=$(mktemp --tmpdir --directory zivid-python-install-www-deb-XXXX) || exit $?
+    pushd $TMP_DIR || exit $?
+    wget -nv "$@" || exit $?
+    apt-yes install --fix-broken ./*deb || exit $?
+    popd || exit $?
+    rm -r $TMP_DIR || exit $?
+}
+
 apt-yes update || exit
 apt-yes dist-upgrade || exit
 
 apt-yes install \
-    python3-pip ||
+    python3-pip \
+    wget ||
     exit $?
 
-python3 -m pip install --upgrade pip || exit
+install_www_deb "https://downloads.zivid.com/sdk/releases/${ZIVID_SDK_EXACT_VERSION}/u${VERSION_ID:0:2}/zivid-telicam-driver_${ZIVID_TELICAM_EXACT_VERSION}_amd64.deb" || exit $?
+install_www_deb "https://downloads.zivid.com/sdk/releases/${ZIVID_SDK_EXACT_VERSION}/u${VERSION_ID:0:2}/zivid_${ZIVID_SDK_EXACT_VERSION}_amd64.deb" || exit $?
 
+python3 -m pip install --upgrade pip || exit
 python3 -m pip install --requirement "$ROOT_DIR/requirements.txt" || exit
 
 echo Success! ["$(basename $0)"]

requirements.txt

@@ -5,3 +5,4 @@ open3d
 pyyaml
 scipy
 robodk
+zivid

source/applications/advanced/create_depth_map.py

@@ -8,6 +8,7 @@
 import cv2
 import numpy as np
 import zivid
+from sample_utils.display import display_bgr
 from sample_utils.paths import get_sample_data_path
 
 
@@ -44,27 +45,21 @@ def _point_cloud_to_cv_bgr(point_cloud: zivid.PointCloud) -> np.ndarray:
         bgr: BGR image (HxWx3 ndarray)
 
     """
-    rgba = point_cloud.copy_data("rgba")
-    # Applying color map
-    bgr = cv2.cvtColor(rgba, cv2.COLOR_RGBA2BGR)
+    bgra = point_cloud.copy_data("bgra")
 
-    return bgr
+    return bgra[:, :, :3]
 
 
-def _visualize_and_save_image(image: np.ndarray, image_file: str, window_name: str) -> None:
+def _visualize_and_save_image(image: np.ndarray, image_file: str, title: str) -> None:
     """Visualize and save image to file.
 
     Args:
         image: BGR image (HxWx3 ndarray)
         image_file: File name
-        window_name: OpenCV Window name
+        title: OpenCV Window name
 
     """
-    cv2.namedWindow(window_name, cv2.WINDOW_NORMAL)
-    cv2.imshow(window_name, image)
-    print("Press any key to continue")
-    cv2.waitKey(0)
-    cv2.destroyWindow(window_name)
+    display_bgr(image, title)
     cv2.imwrite(image_file, image)
 
 

source/applications/advanced/gamma_correction.py

@@ -8,6 +8,7 @@
 import cv2
 import numpy as np
 import zivid
+from sample_utils.display import display_bgr
 
 
 def _options() -> argparse.Namespace:
@@ -46,10 +47,9 @@ def _capture_bgr_image(camera: zivid.Camera, gamma: float) -> np.ndarray:
 
     print("Capturing 2D frame")
     with camera.capture(settings_2d) as frame_2d:
-        image = frame_2d.image_rgba()
-        rgba = image.copy_data()
-        bgr = cv2.cvtColor(rgba, cv2.COLOR_RGBA2BGR)
-        return bgr
+        image = frame_2d.image_bgra()
+        bgra = image.copy_data()
+        return bgra[:, :, :3]
 
 
 def _combine_images(image_one: np.ndarray, image_two: np.ndarray) -> np.ndarray:
@@ -69,19 +69,6 @@ def _combine_images(image_one: np.ndarray, image_two: np.ndarray) -> np.ndarray:
     return combined_image
 
 
-def _display_bgr(image: np.ndarray, bgr_name: str) -> None:
-    """Display BGR image using OpenCV.
-
-    Args:
-        image: BGR image to be displayed
-        bgr_name: Name of the OpenCV window
-
-    """
-    cv2.imshow(bgr_name, image)
-    print("Press any key to continue")
-    cv2.waitKey(0)
-
-
 def _main() -> None:
     app = zivid.Application()
 
@@ -100,7 +87,8 @@ def _main() -> None:
 
     print(f"Displaying color image before and after gamma correction: {user_options.gamma}")
     combined_image = _combine_images(bgr_original, bgr_adjusted)
-    _display_bgr(combined_image, "Original on left, adjusted on right")
+    cv2.imwrite("combined_image.jpg", combined_image)
+    display_bgr(combined_image[:, :, 0:3], title="Original on left, adjusted on right")
 
 
 if __name__ == "__main__":

source/applications/basic/file_formats/convert_zdf.py

@@ -100,9 +100,8 @@ def _convert_2_2d(point_cloud: zivid.PointCloud, file_name: str) -> None:
 
     """
     print(f"Saving the frame to {file_name}")
-    rgba = point_cloud.copy_data("rgba")
-    bgr = cv2.cvtColor(rgba, cv2.COLOR_RGBA2BGR)
-    cv2.imwrite(file_name, bgr)
+    bgra = point_cloud.copy_data("bgra")
+    cv2.imwrite(file_name, bgra[:, :, :3])
 
 
 def _main() -> None:

source/sample_utils/display.py

@@ -27,15 +27,15 @@ def display_rgb(rgb: np.ndarray, title: str = "RGB image", block: bool = True) -
     plt.show(block=block)
 
 
-def display_bgr(bgr: np.ndarray, bgr_name: str) -> None:
+def display_bgr(bgr: np.ndarray, title: str = "RGB image") -> None:
     """Display BGR image using OpenCV.
 
     Args:
         bgr: BGR image (HxWx3 ndarray)
-        bgr_name: Name of the OpenCV window
+        title: Name of the OpenCV window
 
     """
-    cv2.imshow(bgr_name, bgr)
+    cv2.imshow(title, bgr)
     print("Press any key to continue")
     cv2.waitKey(0)