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

    • 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.

    • 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

    • 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

1. Install Zivid Software

2. Download Zivid Sample Data

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

• Build a C++ “Zivid Hello World” Application in Visual Studio on Windows
• Configure C++ Samples With CMake and Build Them in Visual Studio in Windows
• Use Qt Creator to Build C++ Samples in Windows