C++

Sample list 

샘플에는 Camera 및 Applications 의 두 가지 주요 범주가 있습니다. Camera 카테고리의 샘플은 카메라 사용 방법에 초점을 맞춥니다. Applications 카테고리의 샘플은 3D 포인트 클라우드, 2D 이미지 또는 카메라의 기타 데이터와 같이 카메라에서 생성된 데이터를 사용합니다. 이 샘플은 카메라의 데이터를 사용하는 방법을 보여줍니다.

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.
  - Capture2DAnd3D - Capture 2D and 3D separately with the Zivid camera.
  - 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
  - AutomaticNetworkConfigurationForCameras - Automatically set the IP addresses of any number of cameras to be in the same subnet as the provided IP address of the network interface.
  - 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 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.
  - NetworkConfiguration - Uses Zivid API to change the IP address of the Zivid camera.
  - 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.
- 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.
    - ProjectImageStartAndStop - Start the Image Projection and Stop it.
    - ReadAndProjectImage - Read a 2D image from file and project it using the camera projector.
    - 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.
  - ProjectAndFindMarker - Show a marker using the projector, capture a set of 2D images to find the marker coordinates (2D and 3D).
  - ReprojectPoints - Illuminate checkerboard (Zivid Calibration Board) corners by getting checkerboard pose
  - 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 point cloud.
  - 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 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 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

키보드에서 Win + R 키를 눌러 명령 프롬프트를 시작한 다음 cmd 을 입력하고 Enter 를 누르세요.

리포지토리를 복제할 위치로 이동한 후 다음 명령을 실행합니다.

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

CMake로 샘플 솔루션을 구성하고 Visual Studio에서 열어 빌드를 실행합니다. 자세한 내용은 Configure C++ Samples With CMake and Build Them in Visual Studio in Windows 를 참조하십시오.

Ubuntu

키보드에서 Ctrl + Alt + T 키를 눌러 터미널을 엽니다.

리포지토리를 복제할 위치로 이동한 후 다음 명령을 실행합니다.

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

프로젝트 빌드:

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

일부 샘플은 외부 라이브러리, 특히 Eigen 3, OpenCV, PCL 또는 HALCON에 의존합니다. 설치하지 않으려면 다음 옵션을 각각 전달하여 샘플에 따라 샘플을 비활성화할 수 있습니다. cmake : -DUSE_EIGEN3=OFF, -DUSE_OPENCV=OFF, -DUSE_PCL=OFF, -DUSE_HALCON=OFF.

사용하려는 경우:

Eigen 3: Eigen3 설치 루트 경로인 <path> 를 활용하여 -DEIGEN3_INCLUDE_DIR=<path> 설정합니다. (Eigen/Core, Eigen/Dense 등이 포함된 폴더).
PCL 및 OpenCV: 시스템에 최신 버전이 설치되어 있으면 제대로 작동합니다. 그렇지 않은 경우 각각의 PCLConfig.cmake 와 OpenCVConfig.cmake 을 포함하는 경로 <path> 를 -DPCL_DIR=<path> / -DOpenCV_DIR=<path> 에 설정합니다.
HALCON: 시스템에 최신 버전이 설치되어 있으면 제대로 작동합니다.

이제 샘플을 다음과 같이 빌드 디렉토리에서 실행할 수 있습니다.

./CaptureFromFileCameraVis3D

C++

Sample list

Instructions

Sample list 

Instructions 