Samples

Dive straight into programming the Zivid camera with your preferred programming language.

Note

Some Zivid Samples require Sample Data.

List of samples

C++

• Camera

  • Basic

    • Capture - Capture colored point cloud, save 2D image, save 3D ZDF, and export PLY, using the Zivid camera.

    • CaptureFromFileCamera - Capture point clouds, with color, with the Zivid file camera.

    • CaptureHDRCompleteSettings - Capture point clouds, with color, from the Zivid camera with fully configured settings.

    • CaptureWithSettingsFromYML - 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.

    • CreateFileCameraFromZDFWithDiagnostics - Capture a frame with diagnostics enabled and create a file camera from it.

  • Advanced

    • AllocateMemoryForPointCloudData - Two methods to copy point cloud data from GPU memory to CPU memory, to be consumed by OpenCV.

    • Capture2DAnd3D - Capture 2D and 3D with the Zivid camera.

    • CaptureAndPrintNormals - Capture Zivid point clouds, compute normals and print a subset.

    • CaptureHalconViaGenICam - Capture and save a point cloud, with colors, using GenICam interface and Halcon C++ SDK.

    • CaptureHalconViaZivid - Capture a colored point cloud with the Zivid SDK, convert it to a HALCON point cloud and save it.

    • CaptureViaGenICam - Capture using the GenICam interface.

    • MultiCamera

      • MultiCameraCaptureInParallel - Capture point clouds with multiple cameras in parallel.

      • MultiCameraCaptureSequentially - Capture point clouds with multiple cameras sequentially.

      • MultiCameraCaptureSequentiallyWithInterleavedProcessing - Capture point clouds with multiple cameras sequentially with interleaved processing.

  • InfoUtilOther

    • CameraInfo - List connected cameras and print camera version and state information for each connected camera.

    • CameraUserData - Store user data on the Zivid camera.

    • CaptureWithDiagnostics - Capture a 2D+3D frame and a 2D frame from the Zivid camera with diagnostics enabled.

    • CheckHealth - Poll the camera health check from a separate thread while capturing, printing statuses and values each second.

    • ExploreSettingsMetaData - Recursively iterates through all leaf parameters in a Zivid camera’s settings.

    • FirmwareUpdater - Update firmware on the Zivid camera.

    • FrameInfo - Read frame info from the Zivid camera.

    • GetCameraIntrinsics - Read intrinsic parameters from the Zivid camera (OpenCV model) or estimate them from the point cloud.

    • MeasureSceneConditions - Measure ambient light in the scene and report the flickering frequency when flickering is detected.

    • SettingsInfo - Read settings info from the Zivid camera.

    • Warmup - Short example of a basic way to warm up the camera with specified time and capture cycle.

    • ZividBenchmark - Zividbenchmark is a sample that will test the average speed of different operations on your computer.

    • Network

      • AutomaticNetworkConfigurationForCameras - Automatically configure the IP addresses of connected cameras to match the network of the user’s PC.

      • NetworkConfiguration - Uses Zivid API to change the IP address of the Zivid camera.

  • Maintenance

    • CorrectCameraInField - Correct the dimension trueness of a Zivid camera.

    • ResetCameraInField - Reset infield correction on a camera.

    • VerifyCameraInField - Check the dimension trueness of a Zivid camera.

    • VerifyCameraInFieldFromZDF - Check the dimension trueness of a Zivid camera from a ZDF file.

• Applications

  • Basic

    • Visualization

      • CaptureAndVisualizeNormals - Capture Zivid point clouds, with color and normals, and visualize it in 3D and as a normal map.

      • CaptureFromFileCameraVis3D - Capture point clouds, with color, with the Zivid file camera and visualize them.

      • CaptureVis3D - Capture point clouds, with color, from the Zivid camera, and visualize it.

      • CaptureWritePCLVis3D - Capture point clouds, with color, from the Zivid camera, save it to PCD file format, and visualize it.

      • ProjectImageStartAndStop - Start the Image Projection and Stop it.

      • ReadPCLVis3D - Read point cloud from PCL file and visualize it.

    • FileFormats

      • ConvertZDF - Convert point cloud data from a ZDF file to your preferred format.

      • ReadIterateZDF - Read point cloud data from a ZDF file, iterate through it, and extract individual points.

  • Advanced

    • CaptureUndistort2D - Use camera intrinsics to undistort a 2D image.

    • CreateDepthMap - Convert point cloud from a ZDF file to OpenCV format, extract depth map and visualize it.

    • Downsample - Downsample point cloud from a ZDF file.

    • GammaCorrection - Capture 2D image with gamma correction.

    • MaskPointCloud - Mask point cloud from a ZDF file using the Mask API and visualize it with Zivid::Visualizer.

    • Visualization

      • CaptureVis3DInLoop - Capture point clouds, with color, from the Zivid camera, and visualize them in a loop.

      • CaptureVis3DInLoopWithKeypressExit - Capture point clouds, with color, from the Zivid camera, and visualize them in a loop. Press ‘q’ to exit.

    • Cuda

      • CaptureAndConvertImageWithOpenCVOnCuda - Capture a 2D image with the Zivid SDK and perform RGBA to grayscale conversion on a CUDA device using OpenCV.

      • CaptureAndConvertToDlpackTensorOnCuda - Capture a 2D+3D frame and build DLPack tensors directly from the Zivid DeviceArrays on the CUDA device.

    • Transform

      • TransformPointCloudFromMillimetersToMeters - Transform point cloud data from millimeters to meters.

      • TransformPointCloudViaArucoMarker - Transform a point cloud from camera to ArUco marker coordinate frame using the marker’s estimated pose.

      • TransformPointCloudViaCheckerboard - Transform a point cloud from camera to checkerboard coordinate frame using the pose from the API.

    • Roi

      • ROIBoxViaArucoMarker - Filter the point cloud based on a ROI box given relative to the ArUco marker on a Zivid Calibration Board.

      • ROIBoxViaCheckerboard - Filter the point cloud based on a ROI box given relative to the Zivid Calibration Board.

    • Stitching

      • StitchContinuouslyRotatingObject - Stitch point clouds from a continuously rotating object using Local Point Cloud Registration, then downsample.

      • StitchUsingRobotMountedCamera - Stitch multiple point clouds captured with a robot mounted camera.

      • StitchViaLocalPointCloudRegistration - Stitch two point clouds using a transformation estimated by Local Point Cloud Registration and apply Voxel Downsample.

    • Barcode

      • BarcodeDetector - Detect and decode linear and matrix barcodes from a 2D capture.

    • HandEyeCalibration

      • HandEyeCalibration - Perform Hand-Eye calibration.

      • PoseConversions - Convert to/from Transformation Matrix (Rotation Matrix + Translation Vector).

      • UtilizeHandEyeCalibration - Transform a data point or entire point cloud from camera to robot base frame using the Hand-Eye calibration matrix.

    • MultiCamera

      • MultiCameraCalibration - Generate transformation matrices to a single coordinate frame from captures by multiple connected cameras.

      • MultiCameraCalibrationFromZDF - Use captures of a calibration object to generate transformation matrices to a single coordinate frame, from a ZDF files.

      • StitchByTransformation - Transform point clouds from connected cameras into one coordinate frame using Multi-Camera calibration.

      • StitchByTransformationFromZDF - Transform point clouds from ZDF files into one coordinate frame using Multi-Camera calibration.

    • Projector

      • ProjectAndFindMarker - Show a marker using the projector, capture a set of 2D images to find the marker coordinates (2D and 3D).

      • ReadProjectAndCaptureImage - Read a 2D image from file and project it using the camera projector.

      • ReprojectPoints - Illuminate checkerboard (Zivid Calibration Board) centers by getting the checkerboard feature points.

C#

• Camera

  • Basic

    • Capture - Capture colored point cloud, save 2D image, save 3D ZDF, and export PLY, using the Zivid camera.

    • CaptureFromFileCamera - Capture point clouds, with color, with the Zivid file camera.

    • CaptureHDRCompleteSettings - Capture point clouds, with color, from the Zivid camera with fully configured settings.

    • CaptureWithSettingsFromYML - 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.

    • CreateFileCameraFromZDFWithDiagnostics - Capture a frame with diagnostics enabled and create a file camera from it.

  • Advanced

    • CaptureAndPrintNormals - Capture Zivid point clouds, compute normals and print a subset.

    • CaptureHalconViaGenICam - Capture and save a point cloud, with colors, using GenICam interface and Halcon C++ SDK.

    • CaptureHalconViaZivid - Capture a colored point cloud with the Zivid SDK, convert it to a HALCON point cloud and save it.

  • InfoUtilOther

    • CameraInfo - List connected cameras and print camera version and state information for each connected camera.

    • CameraUserData - Store user data on the Zivid camera.

    • CaptureWithDiagnostics - Capture a 2D+3D frame and a 2D frame from the Zivid camera with diagnostics enabled.

    • CheckHealth - Poll the camera health check from a separate thread while capturing, printing statuses and values each second.

    • FirmwareUpdater - Update firmware on the Zivid camera.

    • FrameInfo - Read frame info from the Zivid camera.

    • GetCameraIntrinsics - Read intrinsic parameters from the Zivid camera (OpenCV model) or estimate them from the point cloud.

    • MeasureSceneConditions - Measure ambient light in the scene and report the flickering frequency when flickering is detected.

    • Warmup - Short example of a basic way to warm up the camera with specified time and capture cycle.

    • Network

      • AutomaticNetworkConfigurationForCameras - Automatically configure the IP addresses of connected cameras to match the network of the user’s PC.

      • NetworkConfiguration - Uses Zivid API to change the IP address of the Zivid camera.

  • Maintenance

    • CorrectCameraInField - Correct the dimension trueness of a Zivid camera.

    • ResetCameraInField - Reset infield correction on a camera.

    • VerifyCameraInField - Check the dimension trueness of a Zivid camera.

    • VerifyCameraInFieldFromZDF - Check the dimension trueness of a Zivid camera from a ZDF file.

• Applications

  • Basic

    • Visualization

      • CaptureFromFileCameraVis3D - Capture point clouds, with color, with the Zivid file camera and visualize them.

      • CaptureVis3D - Capture point clouds, with color, from the Zivid camera, and visualize them.

      • ProjectImageStartAndStop - Start the Image Projection and Stop it.

    • FileFormats

      • ReadIterateZDF - Read point cloud data from a ZDF file, iterate through it, and extract individual points.

      • ZDF2PLY - Convert point cloud from a ZDF file to a PLY file.

  • Advanced

    • Downsample - Downsample point cloud from a ZDF file.

    • MaskPointCloud - Mask point cloud from a ZDF file using the Mask API and visualize it with Zivid.NET Visualizer.

    • Visualization

      • CaptureVis3DInLoop - Capture point clouds, with color, from the Zivid camera, and visualize them in a loop.

      • CaptureVis3DInLoopWithKeypressExit - Capture point clouds, with color, from the Zivid camera, and visualize them in a loop. Press ‘q’ to exit.

    • Transform

      • TransformPointCloudFromMillimetersToMeters - Transform point cloud data from millimeters to meters.

      • TransformPointCloudViaArucoMarker - Transform a point cloud from camera to ArUco marker coordinate frame using the marker’s estimated pose.

      • TransformPointCloudViaCheckerboard - Transform a point cloud from camera to checkerboard coordinate frame using the pose from the API.

    • Roi

      • ROIBoxViaArucoMarker - Filter the point cloud based on a ROI box given relative to the ArUco marker on a Zivid Calibration Board.

      • ROIBoxViaCheckerboard - Filter the point cloud based on a ROI box given relative to the Zivid Calibration Board.

    • Stitching

      • StitchContinuouslyRotatingObject - Stitch point clouds from a continuously rotating object using Local Point Cloud Registration, then downsample.

      • StitchUsingRobotMountedCamera - Stitch multiple point clouds captured with a robot mounted camera.

      • StitchViaLocalPointCloudRegistration - Stitch two point clouds using a transformation estimated by Local Point Cloud Registration and apply Voxel Downsample.

    • HandEyeCalibration

      • HandEyeCalibration - Perform Hand-Eye calibration.

      • PoseConversions - Convert to/from Transformation Matrix (Rotation Matrix + Translation Vector).

      • UtilizeHandEyeCalibration - Transform a data point or entire point cloud from camera to robot base frame using the Hand-Eye calibration matrix.

    • MultiCamera

      • MultiCameraCalibration - Use captures of a calibration object to generate transformation matrices to a single coordinate frame.

    • Projector

      • ReadProjectAndCaptureImage - Read a 2D image from file and project it using the camera projector.

Python

• camera

  • basic

    • capture - Capture colored point cloud, save 2D image, save 3D ZDF, and export PLY, using the Zivid camera.

    • capture_from_file_camera - Capture point clouds, with color, with the Zivid file camera.

    • capture_hdr_complete_settings - Capture point clouds, with color, from the Zivid camera with fully configured settings.

    • 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 normals and print a subset.

  • info_util_other

    • adapt_settings_for_flickering_ambient_light - Adapt camera acquisition settings based on known ambient light conditions.

    • camera_info - Print Python, zivid-python and Zivid SDK versions, then list each connected camera with info and state.

    • camera_user_data - Store user data on the Zivid camera.

    • 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, printing statuses and values each 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.

    • frame_info - Read frame info from the Zivid camera.

    • get_camera_intrinsics - Read intrinsic parameters from the Zivid camera (OpenCV model) or estimate them from the point cloud.

    • measure_scene_conditions - Measure ambient light in the scene and report the flickering frequency when flickering is detected.

    • warmup - Short example of a basic way to warm up the camera with specified time and capture cycle.

    • network

      • automatic_network_configuration_for_cameras - Automatically configure the IP addresses of connected cameras to match the network of the user’s PC.

      • network_configuration - Uses Zivid API to change the IP address of the Zivid camera.

  • maintenance

    • correct_camera_in_field - Correct the dimension trueness of a Zivid camera.

    • reset_camera_in_field - Reset infield correction on a camera.

    • verify_camera_in_field - Check the dimension trueness of a Zivid camera.

    • verify_camera_in_field_from_zdf - Check the dimension trueness of a Zivid camera from a ZDF file.

    • visualize_benchmark_results - Visualize the CSV results produced by the ZividBenchmark sample.

• applications

  • basic

    • visualization

      • capture_and_visualize_normals - Capture Zivid point clouds, compute normals and convert to color map and display.

      • capture_from_file_camera_vis_3d - Capture point clouds, with color, with the Zivid file camera.

      • capture_vis_3d - Capture point clouds, with color, from the Zivid camera, and visualize it.

      • project_image_start_and_stop - Start the Image Projection and Stop it.

      • read_zdf_vis_3d - Read point cloud data from a ZDF file and visualize it.

    • file_formats

      • convert_zdf - Convert point cloud data from a ZDF file to your preferred format.

      • read_iterate_zdf - Read point cloud data from a ZDF file, iterate through it, and extract individual points.

  • advanced

    • auto_2d_settings - Automatically find 2D settings for a 2D capture by using a Zivid calibration board.

    • capture_undistort_2d - Use camera intrinsics to undistort a 2D image.

    • color_balance - Balance color of a 2D image by using a Zivid calibration board.

    • create_depth_map - Read point cloud data from a ZDF file, convert it to OpenCV format, then extract and visualize depth map.

    • downsample - 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_convert_to_dlpack_tensor_on_cuda - Demonstrate zero-copy GPU interop by handing a Zivid DeviceArray to PyTorch on the GPU, showing two paths.

      • 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 - Render a Zivid point cloud interactively by copying it device-to-device into OpenGL buffers with CUDA interop.

      • capture_and_segment_image_with_pytorch_on_cuda - Feed a Zivid 2D image into a third-party segmentation model on the GPU without a CPU round-trip.

    • transform

      • get_checkerboard_pose_from_zdf - Estimate the checkerboard pose from a ZDF file of a Zivid calibration board and save it to YAML.

      • transform_point_cloud_from_millimeters_to_meters - Transform point cloud data from millimeters to meters.

      • transform_point_cloud_via_aruco_marker - Transform a point cloud from camera to ArUco marker coordinate frame using the marker’s estimated pose.

      • transform_point_cloud_via_checkerboard - Transform a point cloud from camera to checkerboard coordinate frame using the pose from the API.

    • roi

      • roi_box_via_aruco_marker - Filter the point cloud based on a ROI box given relative to the ArUco marker on a Zivid Calibration Board.

      • roi_box_via_checkerboard - Filter the point cloud based on a ROI box given relative to the Zivid Calibration Board.

    • stitching

      • stitch_continuously_rotating_object - Stitch point clouds from a continuously rotating object using Local Point Cloud Registration, then downsample.

      • stitch_using_robot_mounted_camera - Stitch multiple point clouds captured with a robot mounted camera.

      • stitch_via_local_point_cloud_registration - Stitch two point clouds using a transformation estimated by Local Point Cloud Registration and apply Voxel Downsample.

    • barcode

      • barcode_detector - Detect and decode linear and matrix barcodes from a 2D capture.

    • hand_eye_calibration

      • hand_eye_calibration - Perform Hand-Eye calibration.

      • hand_eye_gui - Hand-Eye Calibration GUI.

      • pose_conversion_gui - Convert between different rotation formats with a GUI.

      • pose_conversions - Convert to/from Transformation Matrix (Rotation Matrix + Translation Vector).

      • utilize_hand_eye_calibration - Transform a data point or entire point cloud from camera to robot base frame using the Hand-Eye calibration matrix.

      • verify_hand_eye_with_visualization - Verify hand-eye calibration by transforming all dataset point clouds and visualizing them overlapped.

      • ur_hand_eye_calibration

        • universal_robots_perform_hand_eye_calibration - Script to generate a dataset and perform hand-eye calibration using a Universal Robot UR5e robot.

      • robodk_hand_eye_calibration

        • robodk_hand_eye_calibration - Generate a dataset and perform hand-eye calibration using the Robodk interface.

        • robodk_verify_hand_eye_calibration - Perform a touch test with a robot to verify Hand-Eye Calibration using the RoboDK interface.

    • multi_camera

      • multi_camera_calibration - Generate transformation matrices to a single coordinate frame from captures by multiple connected cameras.

      • multi_camera_calibration_from_zdf - Generate transformation matrices to a single coordinate frame from multi-camera ZDF captures.

      • stitch_by_transformation - Transform point clouds from connected cameras into one coordinate frame using Multi-Camera calibration.

      • stitch_by_transformation_from_zdf - Transform point clouds from ZDF files into one coordinate frame using Multi-Camera calibration.

    • projector

      • project_and_find_marker - Show a marker using the projector, capture a set of 2D images to find the marker coordinates (2D and 3D).

      • read_project_and_capture_image - Read a 2D image from file and project it using the camera projector.

      • reproject_points - Illuminate checkerboard (Zivid Calibration Board) centers by getting the checkerboard feature points.

    • robot_guidance

      • robodk_robot_guidance - Guide the robot to follow a path on the Zivid Calibration Board.

• modules

  • zividsamples

    • calibration_board_utils - Utility functions for the Zivid calibration board.

    • camera_verification - Capture and measure the infield verification state of a Zivid camera.

    • color_to_grayscale - Convert Zivid RGBA color images to grayscale.

    • display - Display relevant data for Zivid Samples.

    • paths - Get relevant paths for Zivid Samples.

    • robodk_tools - Connect to a robot through RoboDK, list its targets and set its speeds.

    • save_load_matrix - Save and load Zivid 4x4 transformation matrices from and to YAML files.

    • save_load_transformation_matrix - Save and load Zivid transformation matrices to and from YAML files.

    • save_residuals - Save per-pose hand-eye calibration residuals to a YAML file.

    • settings_utils - Pick and adjust Zivid capture settings for the samples.

    • transformation_matrix - Convenience functions and a class for 4x4 transformation matrices.

    • white_balance_calibration - Balance color for 2D capture using white surface as reference.

HALCON

• Camera

  • Basic

    • Capture - Capture a 3D color point cloud from the camera and use it to generate a HALCON ObjectModel3D which is then visualized.

    • CaptureHDRCompleteSettings - Capture an HDR image from the Zivid camera with fully configured settings for each frame.

    • CaptureSavePLY - Capture a 3D color point cloud from the camera and save it to a PLY file format.

    • CaptureWithSettingsFromYML - Capture 2D and 3D data with settings from YML, then generate and visualize a HALCON ObjectModel3D.

    • ConnectToSerialNumberCamera - Connect to a specific Zivid 3D camera based on its serial number.

  • InfoUtilOther

    • QuerySettingsAndParameters - Query information about the image acquisition interface and selected specific parameters of Zivid camera.

    • Warmup - A basic warm-up method for a Zivid camera with specified time and capture cycle.

• Applications

  • Basic

    • FileFormats

      • ReadPLY - Import and display a Zivid point cloud from a PLY file.

  • Advanced

    • HandEyeCalibration

      • EyeInHandCalibration3DObject - Hand-eye calibration with a Zivid camera and a 3D calibration object.

      • EyeInHandCalibrationMVTecPlate - Hand-eye calibration with a Zivid camera and MVTec calibration plate.

      • JSONHomogeneousMatrixToHalconPose - Transform homogenous matrixes to halcon pose.

    • ObjectMatching

      • SurfaceMatchingCreateModel - Create a model for HALCON surface-based 3D matching algorithm from a Zivid point cloud captured by a camera.

      • SurfaceMatchingCreateModelFromFile - Create a model for HALCON surface-based 3D matching algorithm from a Zivid point cloud loaded from a ZDF file.

      • SurfaceMatchingFindModel - Utilize surface-based 3D matching on data taken with a Zivid camera.

      • SurfaceMatchingFindModelFromFile - Utilize surface-based 3D matching on data taken with a Zivid camera.

• Procedures

  • calc_calplate_pose_eye_in_hand - Calculate the pose of the calibration object in the camera frame for Eye-In-Hand.

  • calc_calplate_pose_eye_to_hand - Calculate the pose of the calibration object in the camera frame for Eye-To-Hand.

  • generate_R_G_B_and_RGB_images - Create separate images for each color channel and a combined RGB image.

  • get_first_available_zivid_device - Get the first Zivid device from the input tuple of devices.

  • get_settings_for_zivid_camera_model - Get settings depending on the camera model.

  • get_zivid_camera_width - Get width for given camera and sampling pixel setting.

  • get_zivid_preset_file - Get preset file for given camera.

  • get_zivid_sample_data_dir - Get the path of ZIVID DATA depending on your operating system.

ROS

Go to the zivid-ros Github repository.

Installation

C++

1. Install Zivid Software

2. Download Zivid Sample Data

Windows

Launch the Command Prompt by pressing Win + R keys on the keyboard, then type cmd and press Enter.

Navigate to a location where you want to clone the repository, then run the following command:

git clone https://github.com/zivid/zivid-cpp-samples

Configure the sample solution with CMake, open it in Visual Studio, build it, run it. For more information see Configure C++ Samples With CMake and Build Them in Visual Studio in Windows.

Ubuntu

Open the Terminal by pressing Ctrl + Alt + T keys on the keyboard.

Navigate to a location where you want to clone the repository, then run the following command:

git clone https://github.com/zivid/zivid-cpp-samples
cd zivid-cpp-samples

Build the project:

mkdir build
cd build
cmake <options, see below> ../source
cmake --build .

Some of the samples depend on external libraries, in particular Eigen 3, OpenCV, PCL or HALCON. If you don’t want to install those, you can disable the samples depending on them by passing the following options, respectively, to cmake: -DUSE_EIGEN3=OFF, -DUSE_OPENCV=OFF, -DUSE_PCL=OFF, -DUSE_HALCON=OFF.

See Configure C++ Samples With Optional Dependencies for instructions on how to install the optional dependencies and configure the samples to use them.

The samples can now be run from the build directory, for instance like this:

./CaptureFromFileCameraVis3D

For more information visit the GitHub zivid-cpp-samples repository.

C#

1. Install Zivid Software

2. Download Zivid Sample Data

Launch the Command Prompt by pressing Win + R keys on the keyboard, then type cmd and press Enter.

Navigate to a location where you want to clone the repository, then run the following command:

git clone https://github.com/zivid/zivid-csharp-samples

Open ZividNETSamples.sln in Visual Studio, build it and run it. If you are uncertain about doing this, check out Build C# Samples using Visual Studio.

Some of the samples depend on external libraries, in particular MathNet.Numerics and System.ValueTuple. These libraries will be installed automatically through NuGet when building the sample.

For more information visit the GitHub zivid-csharp-samples repository.

Python

Note

The recommended Python version for these samples is 3.7 - 3.9.

Note that Open3D is not available for Python 3.13 and later.

1. Install Zivid Software.

2. Download Zivid Sample Data.

3. Check out the Zivid Python samples repository:

   git clone http://github.com/zivid/zivid-python-samples.git
   

4. Install the runtime requirements using IDE or command line:

cd zivid-python-samples
pip install -r requirements.txt

Note

If Open3D fails to install, ensure you are using a Python version supported by Open3D. Alternatively, you can install only dependencies required for non-Open3D samples by running:

pip install ./modules

5. Open and run one of the samples.

   Note

   Running GUI samples on Windows should be done via pythonw.

For more information visit the GitHub zivid-python-samples repository.

HALCON

Zivid offers two ways of interfacing with HALCON:

1. Through the Zivid SDK, utilizing the C++/C# libraries available for HALCON. We provide samples for both C++ and C#. (Recommended)

2. Directly through a GenICam GenTL producer that comes with the Zivid Software.

Zivid and HALCON are compatible with Windows 10 and 11, and Ubuntu 20.04, 22.04, 24.04, 26.04.

Note

Support for Ubuntu 18.04 is removed since SDK 2.10.

To set up and use Zivid in one of these operating systems, please follow their respective instructions on the following pages:

• Install Zivid + HALCON for Windows

• Install Zivid + HALCON for Linux

• Create a HALCON “Hello World” Program

• How to Run a HALCON Sample

• Capture Settings in HALCON

• Debug in HALCON

• HALCON Sample Videos

For more information visit the GitHub zivid-halcon-samples repository.

MATLAB

Support for MATLAB has been deprecated. Please visit an older version (<= 2.15) for support.

For more information visit the GitHub zivid-matlab-samples repository.

ROS

Check out the zivid-ros GitHub repository for installation instructions, code samples and how to get started with the Zivid ROS 2 driver. If you are using ROS 1, see the zivid-ros-1 branch.

Sample parity

Camera

Sample	C++	C#	Python	HDevelop
Basic
Capture	✓	✓	✓	✓
CaptureFromFileCamera	✓	✓	✓
CaptureHdrCompleteSettings	✓	✓	✓	✓
CaptureSavePly				✓
CaptureWithSettingsFromYml	✓	✓	✓	✓
Connect	✓	✓	✓
ConnectToSerialNumberCamera				✓
CreateFileCameraFromZdfWithDiagnostics	✓	✓	✓
Advanced
AllocateMemoryForPointCloudData	✓
Capture2DAnd3D	✓		✓
CaptureAndPrintNormals	✓	✓	✓
CaptureHalconViaGenICam	✓	✓
CaptureHalconViaZivid	✓	✓
CaptureViaGenICam	✓
Advanced/MultiCamera
MultiCameraCaptureInParallel	✓
MultiCameraCaptureSequentially	✓
MultiCameraCaptureSequentiallyWithInterleavedProcessing	✓
InfoUtilOther
adapt_settings_for_flickering_ambient_light			✓
CameraInfo	✓	✓	✓
CameraUserData	✓	✓	✓
CaptureWithDiagnostics	✓	✓	✓
CheckHealth	✓	✓	✓
context_manager_with_zivid			✓
ExploreSettingsMetaData	✓
FirmwareUpdater	✓	✓	✓
FrameInfo	✓	✓	✓
GetCameraIntrinsics	✓	✓	✓
MeasureSceneConditions	✓	✓	✓
QuerySettingsAndParameters				✓
SettingsInfo	✓
Warmup	✓	✓	✓	✓
ZividBenchmark	✓
InfoUtilOther/Network
AutomaticNetworkConfigurationForCameras	✓	✓	✓
NetworkConfiguration	✓	✓	✓
Maintenance
CorrectCameraInField	✓	✓	✓
ResetCameraInField	✓	✓	✓
VerifyCameraInField	✓	✓	✓
VerifyCameraInFieldFromZdf	✓	✓	✓
visualize_benchmark_results			✓

Applications

Sample	C++	C#	Python	HDevelop
Basic/Visualization
CaptureAndVisualizeNormals	✓		✓
CaptureFromFileCameraVis3D	✓	✓	✓
CaptureVis3D	✓	✓	✓
CaptureWritePclVis3D	✓
ProjectImageStartAndStop	✓	✓	✓
ReadPclVis3D	✓
read_zdf_vis_3d			✓
Basic/FileFormats
ConvertZdf	✓		✓
ReadIterateZdf	✓	✓	✓
ReadPly				✓
Zdf2Ply		✓
Advanced
auto_2d_settings			✓
CaptureUndistort2D	✓		✓
color_balance			✓
CreateDepthMap	✓		✓
Downsample	✓	✓	✓
GammaCorrection	✓		✓
MaskPointCloud	✓	✓	✓
Advanced/Visualization
CaptureVis3DInLoop	✓	✓	✓
CaptureVis3DInLoopWithKeypressExit	✓	✓	✓
Advanced/Cuda
CaptureAndConvertImageWithOpenCvOnCuda	✓
CaptureAndConvertToDlpackTensorOnCuda	✓		✓
capture_and_process_image_with_cupy_on_cuda			✓
capture_and_render_point_cloud_with_opengl_on_cuda			✓
capture_and_segment_image_with_pytorch_on_cuda			✓
Advanced/Transform
get_checkerboard_pose_from_zdf			✓
TransformPointCloudFromMillimetersToMeters	✓	✓	✓
TransformPointCloudViaArucoMarker	✓	✓	✓
TransformPointCloudViaCheckerboard	✓	✓	✓
Advanced/Roi
RoiBoxViaArucoMarker	✓	✓	✓
RoiBoxViaCheckerboard	✓	✓	✓
Advanced/Stitching
StitchContinuouslyRotatingObject	✓	✓	✓
StitchUsingRobotMountedCamera	✓	✓	✓
StitchViaLocalPointCloudRegistration	✓	✓	✓
Advanced/Barcode
BarcodeDetector	✓		✓
Advanced/HandEyeCalibration
EyeInHandCalibration3DObject				✓
EyeInHandCalibrationMvTecPlate				✓
HandEyeCalibration	✓	✓	✓
hand_eye_gui			✓
JsonHomogeneousMatrixToHalconPose				✓
pose_conversion_gui			✓
PoseConversions	✓	✓	✓
UtilizeHandEyeCalibration	✓	✓	✓
verify_hand_eye_with_visualization			✓
Advanced/HandEyeCalibration/UrHandEyeCalibration
universal_robots_perform_hand_eye_calibration			✓
Advanced/HandEyeCalibration/RobodkHandEyeCalibration
robodk_hand_eye_calibration			✓
robodk_verify_hand_eye_calibration			✓
Advanced/MultiCamera
MultiCameraCalibration	✓	✓	✓
MultiCameraCalibrationFromZdf	✓		✓
StitchByTransformation	✓		✓
StitchByTransformationFromZdf	✓		✓
Advanced/Projector
ProjectAndFindMarker	✓		✓
ReadProjectAndCaptureImage	✓	✓	✓
ReprojectPoints	✓		✓
Advanced/RobotGuidance
robodk_robot_guidance			✓
Advanced/ObjectMatching
SurfaceMatchingCreateModel				✓
SurfaceMatchingCreateModelFromFile				✓
SurfaceMatchingFindModel				✓
SurfaceMatchingFindModelFromFile				✓

Procedures

Sample	C++	C#	Python	HDevelop
CalcCalplatePoseEyeInHand				✓
CalcCalplatePoseEyeToHand				✓
GenerateRGBAndRgbImages				✓
GetFirstAvailableZividDevice				✓
GetSettingsForZividCameraModel				✓
GetZividCameraWidth				✓
GetZividPresetFile				✓
GetZividSampleDataDir				✓

Modules

Sample	C++	C#	Python	HDevelop
Zividsamples
calibration_board_utils			✓
camera_verification			✓
color_to_grayscale			✓
display			✓
paths			✓
robodk_tools			✓
save_load_matrix			✓
save_load_transformation_matrix			✓
save_residuals			✓
settings_utils			✓
transformation_matrix			✓
white_balance_calibration			✓