C++
Sample list
There are two main categories of samples: Camera and Applications. The samples in the Camera category focus only on how to use the camera. The samples in the Applications category use the output generated by the camera, such as the 3D point cloud, a 2D image or other data from the camera. These samples shows how the data from the camera can be used.
Camera
Basic
Capture - Capture point clouds, with color, from the Zivid camera.
Capture2D - Capture 2D images from the Zivid camera.
CaptureAssistant - Capture Assistant to capture point clouds, with color, from the Zivid camera.
CaptureFromFileCamera - Capture point clouds, with color, with the Zivid file camera.
CaptureHDR - Capture HDR point clouds, with color, from the Zivid camera.
CaptureHDRCompleteSettings - Capture point clouds, with color, from the Zivid camera with fully configured settings.
CaptureWithSettingsFromYML - Capture point clouds, with color, from the Zivid camera, with settings from YML file.
Advanced
AllocateMemoryForPointCloudData - Two methods to copy point cloud data from GPU memory to CPU memory, to be consumed by OpenCV.
Capture2D+3D - Capture 2D and then 3D using various capture strategies, optimizing for both 2D quality and 2D acquisition speed.
CaptureHalconViaGenICam - Capture and save a point cloud, with colors, using GenICam interface and Halcon C++ SDK.
CaptureHalconViaZivid - Capture a point cloud, with colors, using Zivid SDK, transform it to a Halcon point cloud and save it using Halcon C++ SDK.
CaptureHDRLoop - Cover the same dynamic range in a scene with different acquisition settings to optimize for quality, speed, or to find a compromise.
CaptureHDRPrintNormals - Capture Zivid point clouds, compute normals and print a subset.
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
CameraUserData - Store user data on the Zivid camera.
CaptureWithDiagnostics - Capture point clouds, with color, from the Zivid camera, with settings from YML file and diagnostics enabled.
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.
PrintVersionInfo - List connected cameras and print version information.
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 - Zividbenchmarks is a sample that will test the average speed of different operations on your computer. It will provide
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.
CaptureHDRVisNormals - Capture Zivid point clouds, with color and normals, and visualize it in 3D and as a normal map.
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.
ReadPCLVis3D - Read point cloud from PCL file and visualize it.
FileFormats
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.
HandEyeCalibration - Perform Hand-Eye calibration.
MaskPointCloud - Mask point cloud from a ZDF file and convert to PCL format, extract depth map and visualize it.
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.
TransformPointCloudFromMillimetersToMeters - Transform point cloud data from millimeters to meters.
TransformPointCloudViaArucoMarker - Transform a point cloud from camera to ArUco Marker coordinate frame by estimating the marker’s pose from the
TransformPointCloudViaCheckerboard - Transform a point cloud from camera to checkerboard (Zivid Calibration Board) coordinate frame by getting checkerboard pose from the API.
HandEyeCalibration
PoseConversions - Convert to/from Transformation Matrix (Rotation Matrix + Translation Vector)
UtilizeHandEyeCalibration - Transform single data point or entire point cloud from camera frame to robot base frame using Hand-Eye calibration
MultiCamera
MultiCameraCalibration - Use captures of a calibration object to generate transformation matrices to a single coordinate frame, from connected cameras.
MultiCameraCalibrationFromZDF - Use captures of a calibration object to generate transformation matrices to a single coordinate frame, from a ZDF files.
StitchByTransformation - Use transformation matrices from Multi-Camera calibration to transform point clouds into single coordinate frame, from connected cameras.
StitchByTransformationFromZDF - Use transformation matrices from Multi-Camera calibration to transform point clouds into single coordinate frame, from a ZDF files.
Instructions
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 to 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 to 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
make -j
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
.
If you do want to use them:
Eigen 3: Set
-DEIGEN3_INCLUDE_DIR=<path>
where<path>
is the root directory of your Eigen3 installation (the folder containing Eigen/Core, Eigen/Dense etc.)PCL and OpenCV: If a recent enough version is installed on your system, these should just work. If not, set
-DPCL_DIR=<path>
/-DOpenCV_DIR=<path>
where<path>
is the directory containingPCLConfig.cmake
andOpenCVConfig.cmake
, respectively.HALCON: If a recent enough version is installed on your system, these should just work.
The samples can now be run from the build directory, for instance like this:
./CaptureFromFileCameraVis3D