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 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 colored point cloud with the Zivid SDK, convert it to a HALCON point cloud and save it.

    • 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, printing statuses and values each 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 in the scene and report the flickering frequency when 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.

      • CaptureAndConvertToDlpackTensorOnCuda - Capture a 2D+3D frame and build DLPack tensors directly from the Zivid DeviceArrays on the CUDA device.

    • Transform

      • TransformPointCloudFromMillimetersToMeters - Transform point cloud data from millimeters to meters.

      • TransformPointCloudViaArucoMarker - Transform a point cloud from camera to ArUco marker coordinate frame using the marker’s estimated pose.

      • TransformPointCloudViaCheckerboard - Transform a point cloud from camera to checkerboard coordinate frame using the 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 using Local Point Cloud Registration, then 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 a data point or entire point cloud from camera to robot base frame using the Hand-Eye calibration matrix.

    • MultiCamera

      • MultiCameraCalibration - Generate transformation matrices to a single coordinate frame from captures by multiple connected cameras.

      • MultiCameraCalibrationFromZDF - Use captures of a calibration object to generate transformation matrices to a single coordinate frame, from a ZDF files.

      • StitchByTransformation - Transform point clouds from connected cameras into one coordinate frame using Multi-Camera calibration.

      • StitchByTransformationFromZDF - Transform point clouds from ZDF files into one coordinate frame using Multi-Camera calibration.

    • 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.

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
cmake --build .

일부 샘플은 Eigen 3, OpenCV, PCL 또는 HALCON과 같은 외부 라이브러리에 의존합니다. 이러한 라이브러리를 설치하지 않으려면 cmake -DUSE_EIGEN3=OFF , -DUSE_OPENCV=OFF , -DUSE_PCL=OFF , -DUSE_HALCON=OFF 에 다음 옵션을 각각 전달하여 의존하는 샘플을 비활성화할 수 있습니다.

선택적 종속성을 설치하고 이를 사용하도록 샘플을 구성하는 방법에 대한 지침은 Configure C++ Samples With Optional Dependencies 을 참조하세요.

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
• Configure C++ Samples With Optional Dependencies