Camera Coordinate System

Zivid point clouds are given relative to the Zivid camera right-hand coordinate system. The origin of this coordinate system is fixed at the optical center of the Zivid imager lens (internal 2D camera). The x-axis points right towards the projector, the y-axis points down, and the z-axis points outward.

Zivid Camera Origin and Coordinate System

Optical center

The optical center of the Zivid camera relative to the mechanical interface is shown in the mechanical drawings.

Optical center position
Optical center position
Optical center position
Optical center position

Optical axis

The 2D camera and the projector have an angle with respect to the center axis.

Zivid 2+ MR130/M130 as seen from above. Shows how the camera is angled relative to the projector.
Zivid 2+ LR110/L110 as seen from above. Shows how the camera is angled relative to the projector.
Zivid 2+ MR60/M60 as seen from above. Shows how the camera is angled relative to the projector.
Zivid 2 as seen from above. Shows how the camera is angled relative to the projector.

Version History

SDK

Changes

2.15.0

Added information about optical axis.