C++

サンプルリスト

サンプルには、カメラ と アプリケーション という 2 つの主なカテゴリがあります。 カメラ カテゴリのサンプルは、カメラの使用方法のみに焦点を当てています。 アプリケーション カテゴリのサンプルは、3D 点群、2D 画像、カメラからのその他のデータなど、カメラによって生成された出力を使用します。これらのサンプルは、カメラからのデータがどのように使用されるかを示しています。

• 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 point cloud, with colors, using Zivid SDK, transform it to a Halcon point cloud and save it using Halcon C++ SDK.

    • 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 in the main thread, printing the statuses and values every 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 conditions in the scene and output the measured flickering frequency of the ambient light if 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.

    • Transform

      • 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 point cloud.

      • TransformPointCloudViaCheckerboard - Transform a point cloud from camera to checkerboard (Zivid Calibration Board) coordinate frame by getting checkerboard 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 without pre-alignment using Local Point Cloud Registration and apply Voxel 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 single data point or entire point cloud from camera to robot base reference frame using Hand-Eye calibration

    • MultiCamera

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

    • 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

手順

1. Zivid ソフトウェアをインストールします

2. Zivid サンプルデータをダウンロードする

Windows

キーボードの Win + R キーを押してコマンドプロンプトを起動し、 cmd と入力して Enter を押します。

リポジトリのクローンを作成する場所に移動し、次のコマンドを実行します。

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

CMake でサンプルソリューションを構成し、Visual Studio で開き、ビルドして実行します。詳細については CMake を使用して C++ サンプルを構成し、Windows の Visual Studio でビルドする を参照してください。

Ubuntu

キーボードの Ctrl + Alt + T キーを押してターミナルを開きます。

リポジトリのクローンを作成する場所に移動し、次のコマンドを実行します。

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

プロジェクトをビルドします。

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

一部のサンプルは、外部ライブラリ、特に Eigen 3、OpenCV、PCL、または HALCON に依存しています。これらのライブラリをインストールしたくない場合は、次のオプションをそれぞれ cmake に渡すことで、それらに依存するサンプルを無効にできます。 -DUSE_EIGEN3=OFF 、 -DUSE_OPENCV=OFF 、 -DUSE_PCL=OFF 、 -DUSE_HALCON=OFF 。

オプションの依存関係をインストールし、サンプルがそれらを使用するように構成する方法については オプションの依存関係を使用した C++ サンプルの設定 を参照してください。

サンプルは、例えば以下のように、ビルドディレクトリから実行できます。

./CaptureFromFileCameraVis3D

• Windows 上の Visual Studio で C++ の「Zivid Hello World」アプリケーションを作成する
• CMake を使用して C++ サンプルを構成し、Windows の Visual Studio でビルドする
• Qt Creator を使用して Windows で C++ サンプルをビルドする
• オプションの依存関係を使用した C++ サンプルの設定