Capture Tutorial

Introduction

이 튜토리얼에서는 Zivid SDK를 사용하여 포인트 클라우드 및 2D 이미지를 캡처하는 방법을 설명합니다.

Prerequisites

• 설치 Zivid Software.

• Python의 경우: zivid-python 을 설치합니다.

Initialize

Zivid SDK에서 API를 호출하려면 Zivid 애플리케이션을 초기화하고 프로그램이 실행되는 동안 활성 상태를 유지해야 합니다.

참고

Zivid::Application Zivid 카메라를 작동하는 동안 살아 있어야 합니다. 이것은 본질적으로 Zivid 드라이버입니다.

C++

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Zivid::Application zivid;

C#

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var zivid = new Zivid.NET.Application();

Python

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app = zivid.Application()

Connect

이제 카메라에 연결할 수 있습니다.

C++

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auto camera = zivid.connectCamera();

C#

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var camera = zivid.ConnectCamera();

Python

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camera = app.connect_camera()

Specific Camera

때로는 여러 대의 카메라가 동일한 컴퓨터에 연결되어 있지만 코드에서 특정 카메라로 작업해야 할 수도 있습니다. 원하는 카메라의 일련 번호를 제공하면 됩니다.

C++

auto camera = zivid.connectCamera(Zivid::CameraInfo::SerialNumber{ "2020C0DE" });

C#

var camera = zivid.ConnectCamera(new Zivid.NET.CameraInfo.SerialNumber("2020C0DE"));

Python

camera = app.connect_camera(serial_number="2020C0DE")

참고

카메라의 일련 번호는 Zivid Studio에 표시됩니다.

컴퓨터에 연결된 모든 카메라를 나열하고 일련 번호도 확인할 수 있습니다.

C++

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auto cameras = zivid.cameras();
std::cout << "Found " << cameras.size() << " cameras" << std::endl;
for(auto &camera : cameras)
{
    std::cout << "Camera Info: " << camera.info() << std::endl;
    std::cout << "Camera State: " << camera.state() << std::endl;
}

C#

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var cameras = zivid.Cameras;
Console.WriteLine("Number of cameras found: {0}", cameras.Count);
foreach (var camera in cameras)
{
    Console.WriteLine("Camera Info: {0}", camera.Info);
    Console.WriteLine("Camera State: {0}", camera.State);
}

Python

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cameras = app.cameras()
for camera in cameras:
    print(f"Camera Info:  {camera.info}")
    print(f"Camera State: {camera.state}")

File Camera

파일 카메라 옵션을 사용하면 실제 카메라에 액세스하지 않고도 SDK를 테스트할 수 있습니다. 파일 카메라는 각각의 카메라 모델에 해당하는 파일 카메라를 Sample Data 에서 찾을 수 있습니다. 각 파일 카메라는 각 카메라 모델의 주요 애플리케이션 중 하나 내에서 사용 사례를 보여줍니다. 아래 예제는 Sample Data 에서 Zivid 2 M70 파일 카메라를 사용하여 파일 카메라를 생성하는 방법을 보여줍니다.

C++

소스

const auto fileCamera =
    userInput ? fileCameraPath : std::string(ZIVID_SAMPLE_DATA_DIR) + "/FileCameraZivid2PlusMR60.zfc";

C#

소스

fileCamera = Environment.GetFolderPath(Environment.SpecialFolder.CommonApplicationData) + "/Zivid/FileCameraZivid2PlusMR60.zfc";

Python

소스

default=get_sample_data_path() / "FileCameraZivid2PlusMR60.zfc",

C++

소스

auto camera = zivid.createFileCamera(fileCamera);

C#

소스

var camera = zivid.CreateFileCamera(fileCamera);

Python

소스

camera = app.create_file_camera(file_camera)

획득 설정은 아래와 같이 초기화되어야 하지만 처리 설정을 자유롭게 변경할 수 있습니다.

C++

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Zivid::Settings settings{
    Zivid::Settings::Acquisitions{ Zivid::Settings::Acquisition{} },
    Zivid::Settings::Processing::Filters::Smoothing::Gaussian::Enabled::yes,
    Zivid::Settings::Processing::Filters::Smoothing::Gaussian::Sigma{ 1.5 },
    Zivid::Settings::Processing::Filters::Reflection::Removal::Enabled::yes,
    Zivid::Settings::Processing::Filters::Reflection::Removal::Mode::global,
};
Zivid::Settings2D settings2D{ Zivid::Settings2D::Acquisitions{ Zivid::Settings2D::Acquisition{} },
                              Zivid::Settings2D::Processing::Color::Balance::Red{ 1 },
                              Zivid::Settings2D::Processing::Color::Balance::Green{ 1 },
                              Zivid::Settings2D::Processing::Color::Balance::Blue{ 1 } };

settings.color() = Zivid::Settings::Color{ settings2D };

C#

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var settings2D = new Zivid.NET.Settings2D
{
    Acquisitions = { new Zivid.NET.Settings2D.Acquisition { } },
    Processing =
    {
        Color =
        {
            Balance = { Red = 1.0, Green = 1.0, Blue = 1.0 }
        }
    }
};
var settings = new Zivid.NET.Settings
{
    Acquisitions = { new Zivid.NET.Settings.Acquisition { } },
    Processing =
    {
        Filters =
        {
            Smoothing =
            {
                Gaussian = { Enabled = true, Sigma = 1.5 }
            },
            Reflection =
            {
                Removal = { Enabled = true, Mode = ReflectionFilterModeOption.Global}
            }
        }
    }
};
settings.Color = settings2D;

Python

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settings = zivid.Settings()
settings.acquisitions.append(zivid.Settings.Acquisition())
settings.processing.filters.smoothing.gaussian.enabled = True
settings.processing.filters.smoothing.gaussian.sigma = 1
settings.processing.filters.reflection.removal.enabled = True
settings.processing.filters.reflection.removal.mode = "global"

settings_2d = zivid.Settings2D()
settings_2d.acquisitions.append(zivid.Settings2D.Acquisition())
settings_2d.processing.color.balance.blue = 1.0
settings_2d.processing.color.balance.green = 1.0
settings_2d.processing.color.balance.red = 1.0

settings.color = settings_2d

파일 카메라 옵션에 대한 자세한 내용은 File Camera 에서 확인할 수 있습니다.

Configure

모든 카메라와 마찬가지로 구성할 수 있는 설정이 있습니다.

Presets

The recommendation is to use Presets available in Zivid Studio and as .yml files (see below). Presets are designed to work well for most cases right away, making them a great starting point. If needed, you can easily fine-tune the settings for better results. You can edit the YAML files in any text editor or code the settings manually.

Load

You can export camera settings to .yml files from Zivid Studio. These can be loaded and applied in the API.

C++

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const auto settingsFile = "Settings.yml";
std::cout << "Loading settings from file: " << settingsFile << std::endl;
const auto settingsFromFile = Zivid::Settings(settingsFile);

C#

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var settingsFile = "Settings.yml";
Console.WriteLine("Loading settings from file: " + settingsFile);
var settingsFromFile = new Zivid.NET.Settings(settingsFile);

Python

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settings_file = "Settings.yml"
print(f"Loading settings from file: {settings_file}")
settings_from_file = zivid.Settings.load(settings_file)

Save

설정을 .yml 파일의 형태로 저장할 수 있습니다.

C++

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const auto settingsFile = "Settings.yml";
std::cout << "Saving settings to file: " << settingsFile << std::endl;
settings.save(settingsFile);

C#

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var settingsFile = "Settings.yml";
Console.WriteLine("Saving settings to file: " + settingsFile);
settings.Save(settingsFile);

Python

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settings_file = "Settings.yml"
print(f"Saving settings to file: {settings_file}")
settings.save(settings_file)

Manual configuration

Another option is to configure settings manually. For more information about what each settings does, please see Camera Settings. Then, the next step it’s Capturing High Quality Point Clouds

Single 2D and 3D Acquisition - Default settings

단일 획득 캡처에 대한 설정을 만들 수 있습니다.

C++

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const auto settings =
    Zivid::Settings{ Zivid::Settings::Acquisitions{ Zivid::Settings::Acquisition{} },
                     Zivid::Settings::Color{ Zivid::Settings2D{
                         Zivid::Settings2D::Acquisitions{ Zivid::Settings2D::Acquisition{} } } } };

C#

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var settings = new Zivid.NET.Settings
{
    Acquisitions = { new Zivid.NET.Settings.Acquisition { } },
    Color = new Zivid.NET.Settings2D { Acquisitions = { new Zivid.NET.Settings2D.Acquisition { } } }
};

Python

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settings = zivid.Settings(
    acquisitions=[zivid.Settings.Acquisition()],
    color=zivid.Settings2D(acquisitions=[zivid.Settings2D.Acquisition()]),
)

Multi Acquisition HDR

multi-acquisition HDR 캡처에 사용할 설정을 만들 수도 있습니다.

C++

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Zivid::Settings settings;
for(const auto aperture : { 5.66, 4.00, 2.59 })
{
    std::cout << "Adding acquisition with aperture = " << aperture << std::endl;
    const auto acquisitionSettings = Zivid::Settings::Acquisition{
        Zivid::Settings::Acquisition::Aperture{ aperture },
    };
    settings.acquisitions().emplaceBack(acquisitionSettings);
}

C#

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var settings = new Zivid.NET.Settings();
foreach (var aperture in new double[] { 5.66, 4.00, 2.59 })
{
    Console.WriteLine("Adding acquisition with aperture = " + aperture);
    var acquisitionSettings = new Zivid.NET.Settings.Acquisition { Aperture = aperture };
    settings.Acquisitions.Add(acquisitionSettings);
}
settings.Color = new Zivid.NET.Settings2D { Acquisitions = { new Zivid.NET.Settings2D.Acquisition { } } };

Python

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settings = zivid.Settings(acquisitions=[zivid.Settings.Acquisition(aperture=fnum) for fnum in (5.66, 4.00, 2.83)])

완전히 구성된 설정은 아래에 설명되어 있습니다.

C++

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std::cout << "Configuring settings for capture:" << std::endl;
Zivid::Settings2D settings2D{
    Zivid::Settings2D::Sampling::Color::rgb,
    Zivid::Settings2D::Sampling::Pixel::all,

    Zivid::Settings2D::Processing::Color::Balance::Blue{ 1.0 },
    Zivid::Settings2D::Processing::Color::Balance::Green{ 1.0 },
    Zivid::Settings2D::Processing::Color::Balance::Red{ 1.0 },
    Zivid::Settings2D::Processing::Color::Gamma{ 1.0 },

    Zivid::Settings2D::Processing::Color::Experimental::Mode::automatic,
};

Zivid::Settings settings{
    Zivid::Settings::Color{ settings2D },

    Zivid::Settings::Engine::phase,

    Zivid::Settings::RegionOfInterest::Box::Enabled::yes,
    Zivid::Settings::RegionOfInterest::Box::PointO{ 1000, 1000, 1000 },
    Zivid::Settings::RegionOfInterest::Box::PointA{ 1000, -1000, 1000 },
    Zivid::Settings::RegionOfInterest::Box::PointB{ -1000, 1000, 1000 },
    Zivid::Settings::RegionOfInterest::Box::Extents{ -1000, 1000 },

    Zivid::Settings::RegionOfInterest::Depth::Enabled::yes,
    Zivid::Settings::RegionOfInterest::Depth::Range{ 200, 2000 },

    Zivid::Settings::Processing::Filters::Cluster::Removal::Enabled::yes,
    Zivid::Settings::Processing::Filters::Cluster::Removal::MaxNeighborDistance{ 10 },
    Zivid::Settings::Processing::Filters::Cluster::Removal::MinArea{ 100 },

    Zivid::Settings::Processing::Filters::Hole::Repair::Enabled::yes,
    Zivid::Settings::Processing::Filters::Hole::Repair::HoleSize{ 0.2 },
    Zivid::Settings::Processing::Filters::Hole::Repair::Strictness{ 1 },

    Zivid::Settings::Processing::Filters::Noise::Removal::Enabled::yes,
    Zivid::Settings::Processing::Filters::Noise::Removal::Threshold{ 7.0 },

    Zivid::Settings::Processing::Filters::Noise::Suppression::Enabled::yes,
    Zivid::Settings::Processing::Filters::Noise::Repair::Enabled::yes,

    Zivid::Settings::Processing::Filters::Outlier::Removal::Enabled::yes,
    Zivid::Settings::Processing::Filters::Outlier::Removal::Threshold{ 5.0 },

    Zivid::Settings::Processing::Filters::Reflection::Removal::Enabled::yes,
    Zivid::Settings::Processing::Filters::Reflection::Removal::Mode::global,

    Zivid::Settings::Processing::Filters::Smoothing::Gaussian::Enabled::yes,
    Zivid::Settings::Processing::Filters::Smoothing::Gaussian::Sigma{ 1.5 },

    Zivid::Settings::Processing::Filters::Experimental::ContrastDistortion::Correction::Enabled::yes,
    Zivid::Settings::Processing::Filters::Experimental::ContrastDistortion::Correction::Strength{ 0.4 },

    Zivid::Settings::Processing::Filters::Experimental::ContrastDistortion::Removal::Enabled::no,
    Zivid::Settings::Processing::Filters::Experimental::ContrastDistortion::Removal::Threshold{ 0.5 },

    Zivid::Settings::Processing::Resampling::Mode::upsample2x2,

    Zivid::Settings::Diagnostics::Enabled::no,
};

setSamplingPixel(settings, camera);
std::cout << settings << std::endl;
std::cout << "Configuring base acquisition with settings same for all HDR acquisition:" << std::endl;
const auto baseAcquisition = Zivid::Settings::Acquisition{};
std::cout << baseAcquisition << std::endl;
const auto baseAquisition2D = Zivid::Settings2D::Acquisition{};

std::cout << "Configuring acquisition settings different for all HDR acquisitions" << std::endl;
auto exposureValues = getExposureValues(camera);
const std::vector<double> aperture = std::get<0>(exposureValues);
const std::vector<double> gain = std::get<1>(exposureValues);
const std::vector<std::chrono::microseconds> exposureTime = std::get<2>(exposureValues);
const std::vector<double> brightness = std::get<3>(exposureValues);
for(size_t i = 0; i < aperture.size(); ++i)
{
    std::cout << "Acquisition " << i + 1 << ":" << std::endl;
    std::cout << "  Exposure Time: " << exposureTime.at(i).count() << std::endl;
    std::cout << "  Aperture: " << aperture.at(i) << std::endl;
    std::cout << "  Gain: " << gain.at(i) << std::endl;
    std::cout << "  Brightness: " << brightness.at(i) << std::endl;
    const auto acquisitionSettings = baseAcquisition.copyWith(
        Zivid::Settings::Acquisition::Aperture{ aperture.at(i) },
        Zivid::Settings::Acquisition::Gain{ gain.at(i) },
        Zivid::Settings::Acquisition::ExposureTime{ exposureTime.at(i) },
        Zivid::Settings::Acquisition::Brightness{ brightness.at(i) });
    settings.acquisitions().emplaceBack(acquisitionSettings);
}
const auto acquisitionSettings2D = baseAquisition2D.copyWith(
    Zivid::Settings2D::Acquisition::Aperture{ 2.83 },
    Zivid::Settings2D::Acquisition::ExposureTime{ microseconds{ 10000 } },
    Zivid::Settings2D::Acquisition::Brightness{ 1.8 },
    Zivid::Settings2D::Acquisition::Gain{ 1.0 });
settings.color().value().acquisitions().emplaceBack(acquisitionSettings2D);

C#

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Console.WriteLine("Configuring settings for capture:");
var settings2D = new Zivid.NET.Settings2D()
{
    Sampling =
    {
        Color = Zivid.NET.Settings2D.SamplingGroup.ColorOption.Rgb,
        Pixel = Zivid.NET.Settings2D.SamplingGroup.PixelOption.All,
    },
    Processing =
    {
        Color =
        {
            Balance =
            {
                Blue = 1.0,
                Green = 1.0,
                Red = 1.0,
            },
            Gamma = 1.0,
            Experimental = { Mode = Zivid.NET.Settings2D.ProcessingGroup.ColorGroup.ExperimentalGroup.ModeOption.Automatic },
        },
    },
};
var settings = new Zivid.NET.Settings()
{
    Engine = Zivid.NET.Settings.EngineOption.Phase,

    RegionOfInterest =
    {
        Box = {
            Enabled = true,
            PointO = new Zivid.NET.PointXYZ{ x = 1000, y = 1000, z = 1000 },
            PointA = new Zivid.NET.PointXYZ{ x = 1000, y = -1000, z = 1000 },
            PointB = new Zivid.NET.PointXYZ{ x = -1000, y = 1000, z = 1000 },
            Extents = new Zivid.NET.Range<double>(-1000, 1000),
        },
        Depth =
        {
            Enabled = true,
            Range = new Zivid.NET.Range<double>(200, 2000),
        },
    },
    Processing =
    {
        Filters =
        {
            Cluster =
            {
                Removal = { Enabled = true, MaxNeighborDistance = 10, MinArea = 100}
            },
            Hole =
            {
                Repair = { Enabled = true, HoleSize = 0.2, Strictness = 1 },
            },
            Noise =
            {
                Removal = { Enabled = true, Threshold = 7.0 },
                Suppression = { Enabled = true },
                Repair = { Enabled = true },
            },
            Outlier =
            {
                Removal = { Enabled = true, Threshold = 5.0 },
            },
            Reflection =
            {
                Removal = { Enabled = true, Mode = ReflectionFilterModeOption.Global },
            },
            Smoothing =
            {
                Gaussian = { Enabled = true, Sigma = 1.5 },
            },
            Experimental =
            {
                ContrastDistortion =
                {
                    Correction = { Enabled = true, Strength = 0.4 },
                    Removal = { Enabled = true, Threshold = 0.5 },
                },
            },
        },
        Resampling = { Mode = Zivid.NET.Settings.ProcessingGroup.ResamplingGroup.ModeOption.Upsample2x2 },
    },
    Diagnostics = { Enabled = false },
};

settings.Color = settings2D;

SetSamplingPixel(ref settings, camera);
Console.WriteLine(settings);
Console.WriteLine("Configuring base acquisition with settings same for all HDR acquisitions:");
var baseAcquisition = new Zivid.NET.Settings.Acquisition { };
Console.WriteLine(baseAcquisition);
var baseAcquisition2D = new Zivid.NET.Settings2D.Acquisition { };

Console.WriteLine("Configuring acquisition settings different for all HDR acquisitions:");
Tuple<double[], Duration[], double[], double[]> exposureValues = GetExposureValues(camera);
double[] aperture = exposureValues.Item1;
Duration[] exposureTime = exposureValues.Item2;
double[] gain = exposureValues.Item3;
double[] brightness = exposureValues.Item4;
for (int i = 0; i < aperture.Length; i++)
{
    Console.WriteLine("Acquisition {0}:", i + 1);
    Console.WriteLine("  Exposure Time: {0}", exposureTime[i].Microseconds);
    Console.WriteLine("  Aperture: {0}", aperture[i]);
    Console.WriteLine("  Gain: {0}", gain[i]);
    Console.WriteLine("  Brightness: {0}", brightness[i]);
    var acquisitionSettings = baseAcquisition.CopyWith(s =>
    {
        s.Aperture = aperture[i];
        s.ExposureTime = exposureTime[i];
        s.Gain = gain[i];
        s.Brightness = brightness[i];
    });
    settings.Acquisitions.Add(acquisitionSettings);
}
var acquisitionSettings2D = baseAcquisition2D.CopyWith(s =>
{
    s.Aperture = 2.83;
    s.ExposureTime = Duration.FromMicroseconds(1000);
    s.Gain = 1.0;
    s.Brightness = 1.8;
});
settings.Color.Acquisitions.Add(acquisitionSettings2D);

Python

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print("Configuring settings for capture:")
settings_2d = zivid.Settings2D()

settings_2d.sampling.color = zivid.Settings2D.Sampling.Color.rgb
settings_2d.sampling.pixel = zivid.Settings2D.Sampling.Pixel.all

settings_2d.processing.color.balance.red = 1.0
settings_2d.processing.color.balance.blue = 1.0
settings_2d.processing.color.balance.green = 1.0
settings_2d.processing.color.gamma = 1.0

settings_2d.processing.color.experimental.mode = zivid.Settings2D.Processing.Color.Experimental.Mode.automatic

settings = zivid.Settings()
settings.engine = zivid.Settings.Engine.phase

settings.region_of_interest.box.enabled = True
settings.region_of_interest.box.point_o = [1000, 1000, 1000]
settings.region_of_interest.box.point_a = [1000, -1000, 1000]
settings.region_of_interest.box.point_b = [-1000, 1000, 1000]
settings.region_of_interest.box.extents = [-1000, 1000]

settings.region_of_interest.depth.enabled = True
settings.region_of_interest.depth.range = [200, 2000]

settings.processing.filters.cluster.removal.enabled = True
settings.processing.filters.cluster.removal.max_neighbor_distance = 10
settings.processing.filters.cluster.removal.min_area = 100

settings.processing.filters.hole.repair.enabled = True
settings.processing.filters.hole.repair.hole_size = 0.2
settings.processing.filters.hole.repair.strictness = 1

settings.processing.filters.noise.removal.enabled = True
settings.processing.filters.noise.removal.threshold = 7.0

settings.processing.filters.noise.suppression.enabled = True
settings.processing.filters.noise.repair.enabled = True

settings.processing.filters.outlier.removal.enabled = True
settings.processing.filters.outlier.removal.threshold = 5.0

settings.processing.filters.reflection.removal.enabled = True
settings.processing.filters.reflection.removal.mode = (
    zivid.Settings.Processing.Filters.Reflection.Removal.Mode.global_
)

settings.processing.filters.smoothing.gaussian.enabled = True
settings.processing.filters.smoothing.gaussian.sigma = 1.5

settings.processing.filters.experimental.contrast_distortion.correction.enabled = True
settings.processing.filters.experimental.contrast_distortion.correction.strength = 0.4

settings.processing.filters.experimental.contrast_distortion.removal.enabled = False
settings.processing.filters.experimental.contrast_distortion.removal.threshold = 0.5

settings.processing.resampling.mode = zivid.Settings.Processing.Resampling.Mode.upsample2x2

settings.diagnostics.enabled = False

settings.color = settings_2d

_set_sampling_pixel(settings, camera)
print(settings)
print("Configuring acquisition settings different for all HDR acquisitions")
exposure_values = _get_exposure_values(camera)
for aperture, gain, exposure_time, brightness in exposure_values:
    settings.acquisitions.append(
        zivid.Settings.Acquisition(
            aperture=aperture,
            exposure_time=exposure_time,
            brightness=brightness,
            gain=gain,
        )
    )

settings_2d.acquisitions.append(
    zivid.Settings2D.Acquisition(
        aperture=2.83,
        exposure_time=timedelta(microseconds=10000),
        brightness=1.8,
        gain=1.0,
    )
)

Capture 2D3D

Now we can capture a 2D and 3D image (point cloud with color). Whether there is a single acquisition or multiple acquisitions (HDR) is given by the number of acquisitions in settings.

C++

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const auto frame = camera.capture2D3D(settings);

C#

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using (var frame = camera.Capture2D3D(settings))

Python

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with camera.capture_2d_3d(settings) as frame:

C++

The Zivid::Frame contains the point cloud, the color image, the capture, and the camera information (all of which are stored on the compute device memory).

C#

The Zivid.NET.Frame contains the point cloud, the color image, the capture, and the camera information (all of which are stored on the compute device memory).

Python

The zivid.Frame contains the point cloud, the color image, the capture, and the camera information (all of which are stored on the compute device memory).

Capture 3D

If we only want to capture 3D, the points cloud without color, we can do so via the capture3D API.

C++

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const auto frame3D = camera.capture3D(settings);

C#

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using (var frame3D = camera.Capture3D(settings))

Python

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with camera.capture_3d(settings) as frame_3d:

Capture 2D

If we only want to capture a 2D image, which is faster than 3D, we can do so via the capture2D API.

C++

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const auto frame2D = camera.capture2D(settings);

C#

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using (var frame2D = camera.Capture2D(settings))

Python

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with camera.capture_2d(settings) as frame_2d:

Save

이제 결과를 저장할 수 있습니다.

C++

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const auto dataFile = "Frame.zdf";
frame.save(dataFile);

C#

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var dataFile = "Frame.zdf";
frame.Save(dataFile);

Python

소스

data_file = "Frame.zdf"
frame.save(data_file)

팁

Zivid Studio 에서 Frame.zdf 파일을 열고 볼 수 있습니다.

Export

In the next code example, the point cloud is exported to the .ply format. For other exporting options, see Point Cloud for a list of supported formats.

C++

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const auto dataFilePLY = "PointCloud.ply";
frame.save(dataFilePLY);

C#

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var dataFilePLY = "PointCloud.ply";
frame.Save(dataFilePLY);

Python

소스

data_file_ply = "PointCloud.ply"
frame.save(data_file_ply)

Load

프레임을 저장하면 ZDF 파일에서 로드할 수 있습니다.

C++

소스

const auto dataFile = std::string(ZIVID_SAMPLE_DATA_DIR) + "/Zivid3D.zdf";
std::cout << "Reading ZDF frame from file: " << dataFile << std::endl;
const auto frame = Zivid::Frame(dataFile);

C#

source

var dataFile =
    Environment.GetFolderPath(Environment.SpecialFolder.CommonApplicationData) + "/Zivid/Zivid3D.zdf";
Console.WriteLine("Reading ZDF frame from file: " + dataFile);

using (var frame = new Zivid.NET.Frame(dataFile))
{

Python

소스

data_file = get_sample_data_path() / "Zivid3D.zdf"
print(f"Reading point cloud from file: {data_file}")
frame = zivid.Frame(data_file)

Save 2D

From a capture2D() you get a Frame2D. There are two color spaces available for 2D images: linear RGB and sRGB. The imageRGBA() will return an image in the linear RGB color space. If you append _SRGB to the function name then the returned image will be in the sRGB color space

linear RGB

C++

source

const auto imageRGBA = frame2D.imageRGBA();

C#

source

var imageRGBA = frame2D.ImageRGBA();

Python

source

image_rgba = frame_2d.image_rgba()

sRGB

C++

source

const auto imageSRGB = frame2D.imageRGBA_SRGB();

C#

source

var imageSRGB = frame2D.ImageRGBA_SRGB();

Python

source

image_srgb = frame_2d.image_rgba_srgb()

Then, we can save the 2D image in linear RGB or sRGB color space.

linear RGB

C++

source

const auto imageFile = "ImageRGBA_linear.png";
std::cout << "Saving 2D color image (Linear RGB) to file: " << imageFile << std::endl;
imageRGBA.save(imageFile);

C#

source

var imageFile = "ImageRGBA_linear.png";
Console.WriteLine($"Saving 2D color image (Linear RGB) to file: {imageFile}");
imageRGBA.Save(imageFile);

Python

source

image_file = "ImageRGBA_linear.png"
print(f"Saving 2D color image (sRGB color space) to file: {image_file}")
image_rgba.save(image_file)

sRGB

C++

source

const auto imageFile = "ImageRGBA_sRGB.png";
std::cout << "Saving 2D color image (sRGB color space) to file: " << imageFile << std::endl;
imageSRGB.save(imageFile);

C#

source

var imageFile = "ImageRGBA_sRGB.png";
Console.WriteLine($"Saving 2D color image (sRGB color space) to file: {imageFile}");
imageSRGB.Save(imageFile);

Python

source

image_file = "ImageRGBA_sRGB.png"
print(f"Saving 2D color image (sRGB color space) to file: {image_file}")
image_srgb.save(image_file)

We can get 2D color image directly from the point cloud. This image will have the same resolution as the point cloud and it will be in the sRGB color space.

C++

const auto pointCloud = frame.pointCloud();
const auto image2DInPointCloudResolution = pointCloud.copyImageRGBA_SRGB();

C#

var pointCloud = frame.PointCloud;
var image2DInPointCloudResolution = pointCloud.CopyImageRGBA_SRGB();

Python

point_cloud = frame.point_cloud()
image_2d_in_point_cloud_resolution = point_cloud.copy_image("bgra_srgb")

We can get the 2D color image from Frame2D, which is part of the Frame object, obtained from capture2D3D(). This image will have the resolution given by the 2D settings inside the 2D3D settings.

C++

const auto image2D = frame.frame2D().value().imageBGRA_SRGB();

C#

var image2D = frame.Frame2D.ImageBGRA_SRGB();

Python

image_2d = frame.frame_2d().image_bgra_srgb()

Multithreading

카메라 개체에 대한 작업은 스레드로부터 안전하지만 카메라 나열 및 카메라 연결과 같은 다른 작업은 순서대로 실행해야 합니다. 자세한 내용은 Multithreading 알아보십시오.

Conclusion

이 튜토리얼은 Zivid SDK를 사용하여 Zivid 카메라에 연결, 구성, 캡처 및 저장하는 방법을 보여줍니다.