FAQ

What depth sensing technology does Zivid use?

Zivid uses a technology called Temporal Structured Light. This is a technology that integrates a sequence of different spatial encoded patterns. High accuracy depth information is achieved even on structure-less planes.

Is the structured light that Zivid uses in the visual spectrum?

Yes, the Zivid camera uses white LED light for vivid colors.

Is the structured light that Zivid uses harmful to people?

As with any bright light source, do not stare into the beam. The light source should not pose a hazard to the eyes, due to the aversion response (head turn or eye blink for example) to very bright light sources. However, to be on the safe side, one should avoid looking into the camera/projector during operation.

For detailed information, check Regulatory Information.

What light class certificate do Zivid 3D cameras have?

Zivid 3D cameras use a white light source which is classified as Risk Group 2.

See the label at the back of the camera. For detailed information, check Regulatory Information.

What Safety Standards does Zivid follow?

To read about Safety before using the Zivid camera, check here.

What material is the Zivid camera casing made of?

The Zivid cameras are constructed of both aluminum and magnesium parts to create a lightweight and robust casing.

How much does the Zivid camera weigh?

Camera

Weight [Kg]

Zivid 2+

0.920

Zivid 2

0.945

What kind of sensor does Zivid use?

Camera

Sensor

Zivid 2+

5.10 MP CMOS

Zivid 2

2.86 MP CMOS

What is the Field of View of the Zivid cameras?

Zivid 2+

MR130/M130

Distance [mm]

FOV [mm]

800

481 x 406

1300

793 x 658

2000

1220 x 1012

LR110/L110

Distance [mm]

FOV [mm]

700

694 x 547

1100

1096 x 858

1700

1692 x 1324

MR60/M60

Distance [mm]

FOV [mm]

300

234 x 236

600

579 x 469

1100

1096 x 858

Zivid 2

M70

Distance [mm]

FOV [mm]

500

514 x 320

700

754 x 449

1500

1519 x 959

L100

Distance [mm]

FOV [mm]

600

644 x 372

1000

1147 x 680

1600

1618 x 988

To calculate the FOV for different distances, click here.

How many points are in each point cloud?

Zivid 2+

The image size is 2448 x 2048 with 5.0 MegaPixel, which is the number of cloud points.

Zivid 2

The image size is 1944 x 1200 with 2.3 MegaPixel, which is the number of cloud points.

What kind of Ethernet cable may I use for Zivid cameras?

The Zivid cameras come with a 5 m CAT6 Ethernet cable. Zivid also provides Ethernet cables in 5 m, 10 m, and 25 m options. See Data Cables for more info.

Zivid strongly recommends that the cables are carefully checked before use or if run time errors occur. It is also strongly recommended to tighten the screw on the camera side when setting up the camera.

Can I use robot internal wiring instead of external cables for camera data and power supply?

We do not recommend using internal robot wiring for camera data and power.

We strongly recommend using Data Cables. Internal robot wiring is likely not specified for CAT-6A standard. Therefore, the camera may not perform reliably, or it may even not work at all if using the robot’s internal wiring.

We strongly recommend using Zivid Power Supply and Power Extension Cables (which we tested) with all Zivid cameras to ensure compliance with Safety and EMC emission and immunity standards. If you insist on using internal robot wiring for the camera power supply, some critical instructions and requirements the power supply needs to meet are in the link above.

Warning

Using robot wiring for power supply and data is entirely at the risk of the customer

What Operating Systems are supported by Zivid?

Windows: 10 / 11

Linux: Ubuntu 20.04 / 22.04 / 24.04

Note

Support for Ubuntu 18.04 is removed since SDK 2.10; see SDK Changelog for Ubuntu 18.04 support in earlier SDK versions.

What APIs does Zivid Support?

C++

C#/.NET

Python

GenICam/HALCON (Experimental)

ROS

Does Zivid support GenICam?

Zivid Software includes a GenICam GenTL producer (Experimental)

Using GenICam with Zivid cameras is tested in following HALCON versions:

19.05 Progress, 20.05 Progress, 21.11 Progress

For other GenICam GenTL consumers, we provide a technical preview. This may allow use of a Zivid camera in other software packages that enable interfacing GenICam GenTL compliant cameras.

How much bandwidth does the camera occupy?

Camera

Bandwidth [Gbps]

Zivid 2+

6.3

Zivid 2

4.3

Can I increase the frame rate while sacrificing on quality and/or resolution?

By applying sub-/downsampling, see Sampling (3D), it is possible to decrease the acquisition and capture time by reducing the resolution. Despite the reduced resolution, it is noteworthy that the quality of the point cloud may actually be enhanced.

In what format can files be saved?

The point cloud files can be saved as .zdf, which is the format that Zivid Studio uses. You can also export the file as a PLY file (*.ply as ordered or unordered) / ASCII points file (*xyz) / Point cloud data file (*.pcd) [1]

Will the point cloud data differ when using Zivid Studio and the API?

As long as the settings used are the same, there should be no difference between Zivid Studio GUI and the API. If you notice a difference in the data between the tools, ensure that all the settings used are the same. Note that the default settings may differ for Zivid Studio and the API.

How can I process the point cloud data from Zivid?

Zivid does not provide point cloud processing software. HALCON, Matrox, and Easy3DObject are examples of paid processing software while OpenCV and Open3D are free alternatives to use depending on the target application.

What kind of calibration is performed by Zivid?

Zivid cameras come precalibrated from the factory and are ready to use. Our floating calibration takes temperature and iris (aperture) into account. The point cloud provided by the camera is calibrated, which means that X, Y and Z are correct according to real scenery. There is a pixel to pixel correspondence for the X, Y and Z matrices and the color image.

Zivid also offers Infield Correction tool designed to verify and correct the dimension trueness of Zivid cameras in the field.

Hand-eye calibration is used to calibrate the camera to a robot. It refers to finding the transformation between the coordinate systems. Zivid has an official tool for helping customers with the Hand-Eye Calibration calibration.

Tip

Enable Thermal Stabilization to further reduce the impact of temperature dependent performance factors.

What temperatures can I safely run Zivid in?

Zivid 2+ and Zivid 2 cameras are designed to work within 0˚C and 40˚C.

We strongly recommend operating the camera within its specified temperature range.

Caution

Using the camera outside its temperature range can damage the camera and void your warranty. Use the camera out of spec at own risk.

Tip

Zivid factory calibration takes temperature into account. However, to further reduce the impact of temperature dependent performance factors, enable Thermal Stabilization.

What is the expected service life of Zivid camera?

Zivid cameras are designed to capture 25 million point clouds in its lifetime.

This is not to be mistaken for expected Mean Time To Failure (MTTF/MTBF).

How can I access the log files to forward to Zivid Support?

You can find the logs at %LOCALAPPDATA%\Zivid\API\Log on Windows and $XDG_CACHE_HOME/Zivid/API/Log on Ubuntu.

Caution

If $XDG_CACHE_HOME is not set use $HOME/.cache.