Merge pull request #91 from zivid/2024-08-06-update-csharp-samples

Nail down transformation matrix convention

Author: SatjaSivcev

source/Applications/Advanced/ROIBoxViaArucoMarker/ROIBoxViaArucoMarker.cs

@@ -81,12 +81,12 @@ static int Main()
             }
 
             Console.WriteLine("Estimating pose of detected ArUco marker");
-            var transformCameraToMarker = new Zivid.NET.Matrix4x4(detectionResult.DetectedMarkers()[0].Pose().ToMatrix());
+            var cameraToMarkerTransform = new Zivid.NET.Matrix4x4(detectionResult.DetectedMarkers()[0].Pose().ToMatrix());
 
             Console.WriteLine("Transforming the ROI base frame points to the camera frame");
             var roiPointsInCameraFrame = TransformPoints(
                 new List<Zivid.NET.PointXYZ> { pointOInCheckerboardFrame, pointAInCheckerboardFrame, pointBInCheckerboardFrame },
-                transformCameraToMarker);
+                cameraToMarkerTransform);
 
             Console.WriteLine("Setting the ROI");
             settings.RegionOfInterest.Box.Enabled = true;

source/Applications/Advanced/ROIBoxViaCheckerboard/ROIBoxViaCheckerboard.cs

@@ -69,12 +69,12 @@ static int Main()
 
             Console.WriteLine("Detecting and estimating pose of the Zivid checkerboard in the camera frame");
             var detectionResult = Detector.DetectCalibrationBoard(originalFrame);
-            var transformCameraToCheckerboard = new Zivid.NET.Matrix4x4(detectionResult.Pose().ToMatrix());
+            var cameraToCheckerboardTransform = new Zivid.NET.Matrix4x4(detectionResult.Pose().ToMatrix());
 
             Console.WriteLine("Transforming the ROI base frame points to the camera frame");
             var roiPointsInCameraFrame = TransformPoints(
                 new List<Zivid.NET.PointXYZ> { pointOInCheckerboardFrame, pointAInCheckerboardFrame, pointBInCheckerboardFrame },
-                transformCameraToCheckerboard);
+                cameraToCheckerboardTransform);
 
             Console.WriteLine("Setting the ROI");
             settings.RegionOfInterest.Box.Enabled = true;

source/Applications/Advanced/TransformPointCloudFromMillimetersToMeters/TransformPointCloudFromMillimetersToMeters.cs

@@ -20,11 +20,11 @@ static int Main()
             var frame = new Zivid.NET.Frame(dataFile);
             var pointCloud = frame.PointCloud;
 
-            var transformMillimetersToMeters =
+            var millimetersToMetersTransform =
                 new float[,] { { 0.001F, 0, 0, 0 }, { 0, 0.001F, 0, 0 }, { 0, 0, 0.001F, 0 }, { 0, 0, 0, 1 } };
 
             Console.WriteLine("Transforming point cloud from mm to m");
-            pointCloud.Transform(transformMillimetersToMeters);
+            pointCloud.Transform(millimetersToMetersTransform);
 
             var transformedFile = "FrameInMeters.zdf";
             Console.WriteLine("Saving frame to file: " + transformedFile);

source/Applications/Advanced/TransformPointCloudViaArucoMarker/TransformPointCloudViaArucoMarker.cs

@@ -30,19 +30,19 @@ static int Main()
             var detectionResult = Detector.DetectMarkers(frame, markerId, markerDictionary);
 
             Console.WriteLine("Estimating pose of detected ArUco marker");
-            var transformCameraToMarker = new Zivid.NET.Matrix4x4(detectionResult.DetectedMarkers()[0].Pose().ToMatrix());
+            var cameraToMarkerTransform = new Zivid.NET.Matrix4x4(detectionResult.DetectedMarkers()[0].Pose().ToMatrix());
             Console.WriteLine("ArUco marker pose in camera frame:");
-            Console.WriteLine(transformCameraToMarker);
+            Console.WriteLine(cameraToMarkerTransform);
             Console.WriteLine("Camera pose in ArUco marker frame:");
-            var transformMarkerToCamera = transformCameraToMarker.Inverse();
-            Console.WriteLine(transformMarkerToCamera);
+            var markerToCameraTransform = cameraToMarkerTransform.Inverse();
+            Console.WriteLine(markerToCameraTransform);
 
             var transformFile = "ArUcoMarkerToCameraTransform.yaml";
             Console.WriteLine("Saving a YAML file with Inverted ArUco marker pose to file: " + transformFile);
-            transformMarkerToCamera.Save(transformFile);
+            markerToCameraTransform.Save(transformFile);
 
             Console.WriteLine("Transforming point cloud from camera frame to ArUco marker frame");
-            pointCloud.Transform(transformMarkerToCamera);
+            pointCloud.Transform(markerToCameraTransform);
 
             var arucoMarkerTransformedFile = "CalibrationBoardInArucoMarkerOrigin.zdf";
             Console.WriteLine("Saving transformed point cloud to file: " + arucoMarkerTransformedFile);

source/Applications/Advanced/TransformPointCloudViaCheckerboard/TransformPointCloudViaCheckerboard.cs

@@ -24,18 +24,18 @@ static int Main()
 
             Console.WriteLine("Detecting and estimating pose of the Zivid checkerboard in the camera frame");
             var detectionResult = Detector.DetectCalibrationBoard(frame);
-            var transformCameraToCheckerboard = new Zivid.NET.Matrix4x4(detectionResult.Pose().ToMatrix());
-            Console.WriteLine(transformCameraToCheckerboard);
+            var cameraToCheckerboardTransform = new Zivid.NET.Matrix4x4(detectionResult.Pose().ToMatrix());
+            Console.WriteLine(cameraToCheckerboardTransform);
             Console.WriteLine("Camera pose in checkerboard frame:");
-            var transformCheckerboardToCamera = transformCameraToCheckerboard.Inverse();
-            Console.WriteLine(transformCheckerboardToCamera);
+            var checkerboardToCameraTransform = cameraToCheckerboardTransform.Inverse();
+            Console.WriteLine(checkerboardToCameraTransform);
 
             var transformFile = "CheckerboardToCameraTransform.yaml";
             Console.WriteLine("Saving a YAML file with Inverted checkerboard pose to file: " + transformFile);
-            transformCheckerboardToCamera.Save(transformFile);
+            checkerboardToCameraTransform.Save(transformFile);
 
             Console.WriteLine("Transforming point cloud from camera frame to Checkerboard frame");
-            pointCloud.Transform(transformCheckerboardToCamera);
+            pointCloud.Transform(checkerboardToCameraTransform);
 
             var checkerboardTransformedFile = "CalibrationBoardInCheckerboardOrigin.zdf";
             Console.WriteLine("Saving transformed point cloud to file: " + checkerboardTransformedFile);