Samples: Add GPU/CUDA samples and update for SDK 2.18.0

.github/workflows/main.yml

@@ -12,7 +12,7 @@ jobs:
         runs-on: ubuntu-latest
         strategy:
             matrix:
-                ubuntu-version: ["20.04", "22.04"]
+                ubuntu-version: ["latest"]
         steps:
             - name: Check out code
               uses: actions/checkout@v2
@@ -29,7 +29,7 @@ jobs:
         runs-on: ubuntu-latest
         strategy:
             matrix:
-                ubuntu-version: ["20.04"]
+                ubuntu-version: ["latest"]
         steps:
             - name: Check out code
               uses: actions/checkout@v2

README.md

@@ -1,6 +1,6 @@
 # Python samples
 
-This repository contains python code samples for Zivid SDK v2.17.2. For
+This repository contains python code samples for Zivid SDK v2.18.0. For
 tested compatibility with earlier SDK versions, please check out
 [accompanying releases].
 
@@ -27,12 +27,13 @@ tested compatibility with earlier SDK versions, please check out
   - **Capture**
     - [Quick Capture Tutorial]
     - [Capture Tutorial]
+    - [GPU Access Tutorial]
     - [Point Cloud Capture Process]
     - [2D Image Capture Process]
     - [2D + 3D Capture Strategy]
     - [File Camera]
     - [Projector]
-  - **Maintenance**
+  - **Maintenance and Prevention**
     - [Infield Correction]
     - [Warm-up]
     - [Firmware Update]
@@ -71,6 +72,10 @@ from the camera can be used.
     - [capture_with_settings_from_yml] - Capture images and point
       clouds, with and without color, from the Zivid camera with
       settings from YML file.
+    - [connect] - Connect to a Zivid camera using the different
+      available methods.
+    - [create_file_camera_from_zdf_with_diagnostics] - Capture a frame
+      with diagnostics enabled and create a file camera from it.
   - **advanced**
     - [capture_2d_and_3d] - Capture 2D and 3D with the Zivid camera.
     - [capture_and_print_normals] - Capture Zivid point clouds, compute
@@ -82,9 +87,11 @@ from the camera can be used.
       and Zivid SDK, then list cameras and print camera info and state
       for each connected camera.
     - [camera_user_data] - Store user data on the Zivid camera.
-    - [capture_with_diagnostics] - Capture point clouds, with color,
-      from the Zivid camera, with default settings and diagnostics
-      enabled.
+    - [capture_with_diagnostics] - Capture a 2D+3D frame and a 2D frame
+      from the Zivid camera with diagnostics enabled.
+    - [check_health] - Poll the camera health check from a separate
+      thread while capturing in the main thread, printing the statuses
+      and values every second.
     - [context_manager_with_zivid] - Sample showing how to use a context
       manager with Zivid Application and safely return processed data.
     - [firmware_updater] - Update firmware on the Zivid camera.
@@ -139,12 +146,24 @@ from the camera can be used.
       convert it to OpenCV format, then extract and visualize depth map.
     - [downsample][1] - Downsample point cloud from a ZDF file.
     - [gamma_correction] - Capture 2D image with gamma correction.
+    - [mask_point_cloud] - Read point cloud data from a ZDF file, apply
+      a binary mask, and visualize it.
     - **visualization**
       - [capture_vis_3d_in_loop] - Capture point clouds, with color,
         from the Zivid camera, and visualize them in a loop.
       - [capture_vis_3d_in_loop_with_keypress_exit] - Capture point
         clouds, with color, from the Zivid camera, and visualize them in
         a loop. Press 'q' to exit.
+    - **cuda**
+      - [capture_and_process_image_with_cupy_on_cuda] - Demonstrate GPU
+        interop with CuPy: wrap a Zivid GPU image buffer as a CuPy array
+        without copying it through CPU memory.
+      - [capture_and_render_point_cloud_with_opengl_on_cuda] -
+        Demonstrate GPU point cloud rendering with CUDA-OpenGL interop:
+        capture a Zivid point cloud, copy it device-to-device
+      - [capture_and_segment_image_with_pytorch_on_cuda] - Demonstrate
+        zero-copy GPU interop between Zivid and PyTorch/CuPy by feeding
+        a Zivid 2D image into a third-party
     - **transform**
       - [get_checkerboard_pose_from_zdf] - Read point cloud data of a
         Zivid calibration board from a ZDF file, estimate the
@@ -312,6 +331,7 @@ Zivid Samples are distributed under the [BSD license].
   [image]: https://www.zivid.com/hubfs/softwarefiles/images/zivid-generic-github-header.png
   [Quick Capture Tutorial]: https://support.zivid.com/en/latest/camera/getting-started/quick-capture-tutorial.html
   [Capture Tutorial]: https://support.zivid.com/en/latest/camera/academy/camera/capture-tutorial.html
+  [GPU Access Tutorial]: https://support.zivid.com/en/latest/camera/academy/camera/gpu-access-tutorial.html
   [Point Cloud Capture Process]: https://support.zivid.com/en/latest/camera/academy/camera/point-cloud-capture-process.html
   [2D Image Capture Process]: https://support.zivid.com/en/latest/camera/academy/camera/2d-image-capture-process.html
   [2D + 3D Capture Strategy]: https://support.zivid.com/en/latest/camera/academy/camera/2d3d-capture-strategy.html
@@ -334,12 +354,15 @@ Zivid Samples are distributed under the [BSD license].
   [capture_from_file_camera]: https://github.com/zivid/zivid-python-samples/tree/master/source/camera/basic/capture_from_file_camera.py
   [capture_hdr_complete_settings]: https://github.com/zivid/zivid-python-samples/tree/master/source/camera/basic/capture_hdr_complete_settings.py
   [capture_with_settings_from_yml]: https://github.com/zivid/zivid-python-samples/tree/master/source/camera/basic/capture_with_settings_from_yml.py
+  [connect]: https://github.com/zivid/zivid-python-samples/tree/master/source/camera/basic/connect.py
+  [create_file_camera_from_zdf_with_diagnostics]: https://github.com/zivid/zivid-python-samples/tree/master/source/camera/basic/create_file_camera_from_zdf_with_diagnostics.py
   [capture_2d_and_3d]: https://github.com/zivid/zivid-python-samples/tree/master/source/camera/advanced/capture_2d_and_3d.py
   [capture_and_print_normals]: https://github.com/zivid/zivid-python-samples/tree/master/source/camera/advanced/capture_and_print_normals.py
   [adapt_settings_for_flickering_ambient_light]: https://github.com/zivid/zivid-python-samples/tree/master/source/camera/info_util_other/adapt_settings_for_flickering_ambient_light.py
   [camera_info]: https://github.com/zivid/zivid-python-samples/tree/master/source/camera/info_util_other/camera_info.py
   [camera_user_data]: https://github.com/zivid/zivid-python-samples/tree/master/source/camera/info_util_other/camera_user_data.py
   [capture_with_diagnostics]: https://github.com/zivid/zivid-python-samples/tree/master/source/camera/info_util_other/capture_with_diagnostics.py
+  [check_health]: https://github.com/zivid/zivid-python-samples/tree/master/source/camera/info_util_other/check_health.py
   [context_manager_with_zivid]: https://github.com/zivid/zivid-python-samples/tree/master/source/camera/info_util_other/context_manager_with_zivid.py
   [firmware_updater]: https://github.com/zivid/zivid-python-samples/tree/master/source/camera/info_util_other/firmware_updater.py
   [frame_info]: https://github.com/zivid/zivid-python-samples/tree/master/source/camera/info_util_other/frame_info.py
@@ -365,8 +388,12 @@ Zivid Samples are distributed under the [BSD license].
   [create_depth_map]: https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/create_depth_map.py
   [1]: https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/downsample.py
   [gamma_correction]: https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/gamma_correction.py
+  [mask_point_cloud]: https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/mask_point_cloud.py
   [capture_vis_3d_in_loop]: https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/visualization/capture_vis_3d_in_loop.py
   [capture_vis_3d_in_loop_with_keypress_exit]: https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/visualization/capture_vis_3d_in_loop_with_keypress_exit.py
+  [capture_and_process_image_with_cupy_on_cuda]: https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/cuda/capture_and_process_image_with_cupy_on_cuda.py
+  [capture_and_render_point_cloud_with_opengl_on_cuda]: https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/cuda/capture_and_render_point_cloud_with_opengl_on_cuda.py
+  [capture_and_segment_image_with_pytorch_on_cuda]: https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/cuda/capture_and_segment_image_with_pytorch_on_cuda.py
   [get_checkerboard_pose_from_zdf]: https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/transform/get_checkerboard_pose_from_zdf.py
   [transform_point_cloud_from_millimeters_to_meters]: https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/transform/transform_point_cloud_from_millimeters_to_meters.py
   [transform_point_cloud_via_aruco_marker]: https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/transform/transform_point_cloud_via_aruco_marker.py

continuous-integration/lint.sh

@@ -4,7 +4,7 @@ SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 ROOT_DIR=$(realpath "$SCRIPT_DIR/..")
 SOURCE_DIR=$(realpath "$ROOT_DIR/source")
 
-python3 -m pip install --requirement "$SCRIPT_DIR/requirements.txt" || exit
+python3 -m pip install --break-system-packages --requirement "$SCRIPT_DIR/requirements.txt" || exit
 
 pythonFiles=$(find "$SOURCE_DIR" -name '*.py' -not -path "*/ur_hand_eye_calibration/3rdParty*")
 

continuous-integration/requirements.txt

@@ -1,5 +1,5 @@
 black==24.1.0
 flake8==7.0.0
-flake8-annotations==3.0.1
+flake8-annotations==3.2.0
 pylint==3.0.3
 darglint==1.8.1

continuous-integration/setup.sh

@@ -29,12 +29,11 @@ function install_www_deb {
     rm -r $TMP_DIR || exit
 }
 
-install_www_deb "https://downloads.zivid.com/sdk/releases/2.17.2+440b2367-1/u${VERSION_ID:0:2}/zivid_2.17.2+440b2367-1_amd64.deb" || exit
-install_www_deb "https://downloads.zivid.com/sdk/releases/2.17.2+440b2367-1/u${VERSION_ID:0:2}/zivid-genicam_2.17.2+440b2367-1_amd64.deb" || exit
+install_www_deb "https://downloads.zivid.com/sdk/releases/2.18.0+1b44dbef-1/u${VERSION_ID:0:2}/zivid-opencl_2.18.0+1b44dbef-1_amd64.deb" || exit
+install_www_deb "https://downloads.zivid.com/sdk/releases/2.18.0+1b44dbef-1/u${VERSION_ID:0:2}/zivid-genicam_2.18.0+1b44dbef-1_amd64.deb" || exit
 
-python3 -m pip install --upgrade pip || exit
 pushd "$ROOT_DIR" || exit
-python3 -m pip install --requirement "./requirements.txt" || exit
+python3 -m pip install --break-system-packages --requirement "./requirements.txt" || exit
 popd || exit
 
 echo Success! ["$(basename $0)"]

modules/zividsamples/camera_verification.py

@@ -1,7 +1,7 @@
 import random
 from dataclasses import dataclass
 from datetime import datetime, timedelta
-from typing import Optional
+from typing import Optional, Tuple
 
 import zivid
 
@@ -33,13 +33,13 @@ class VerificationAndState:
     time: datetime
     info: zivid.CameraInfo
 
-    def _position(self):
+    def _position(self) -> Tuple[Optional[float], Optional[float], Optional[float]]:
         return self.verification.position() if self.verification else (None, None, None)
 
-    def distance(self):
+    def distance(self) -> Optional[float]:
         return self._position()[2]
 
-    def local_dimension_trueness(self):
+    def local_dimension_trueness(self) -> Optional[float]:
         return self.verification.local_dimension_trueness() if self.verification else None
 
     def __str__(self) -> str:

modules/zividsamples/display.py

@@ -82,7 +82,6 @@ def display_pointcloud(data: Union[zivid.Frame, zivid.PointCloud, zivid.Unorgani
 
     Args:
         data: Union[zivid.Frame, zivid.PointCloud, zivid.UnorganizedPointCloud]
-        normals: If True, display normals as color map
 
     """
     with zivid.visualization.Visualizer() as visualizer:

modules/zividsamples/gui/calibration/calibration_buttons_widget.py

@@ -1,4 +1,4 @@
-from typing import List
+from typing import List, Optional
 
 from PyQt5.QtCore import pyqtSignal
 from PyQt5.QtWidgets import QApplication, QCheckBox, QGroupBox, QHBoxLayout, QPushButton, QWidget
@@ -8,7 +8,7 @@ class HandEyeCalibrationButtonsWidget(QWidget):
     calibrate_button_clicked = pyqtSignal()
     use_fixed_objects_toggled = pyqtSignal(bool)
 
-    def __init__(self, parent=None):
+    def __init__(self, parent: Optional[QWidget] = None) -> None:
         super().__init__(parent)
 
         # Define buttons
@@ -34,19 +34,19 @@ def __init__(self, parent=None):
 
         self.setLayout(buttons_layout)
 
-    def on_calibrate_button_clicked(self):
+    def on_calibrate_button_clicked(self) -> None:
         self.calibrate_button.setStyleSheet("background-color: yellow;")
         QApplication.processEvents()
         self.calibrate_button_clicked.emit()
         self.calibrate_button.setStyleSheet("")
 
-    def on_use_fixed_objects_toggled(self, checked: bool):
+    def on_use_fixed_objects_toggled(self, checked: bool) -> None:
         self.use_fixed_objects_toggled.emit(checked)
 
-    def disable_buttons(self):
+    def disable_buttons(self) -> None:
         self.calibrate_button.setEnabled(False)
 
-    def enable_buttons(self):
+    def enable_buttons(self) -> None:
         self.calibrate_button.setEnabled(True)
 
     def get_tab_widgets_in_order(self) -> List[QWidget]: