Limitation when performing captures in a sequence while switching between 2D and 3D capture calls

Here, we explain limitation when performing captures in a sequence while switching between 2D and 3D capture calls.


If you perform captures in a sequence where you switch between 2D and 3D capture calls, the Zivid One+ (not Zivid Two) cameras have a switching time penalty. This time penalty happens only if the 2D capture settings use brightness > 0 because different patterns need to be flashed to the projector controller, and this takes time. As a result, there is a delay between the captures when switching the capture mode (2D and 3D). The delay is approximately 350 ms when switching from 3D to 2D and 650 ms when switching from 2D to 3D. Therefore, there can be roughly 1 s overhead in addition to the 2D capture time and 3D capture time. In SDK 2.6 and beyond, this limitation only happens when using 2D captures with brightness > 0.

2D Capture Settings

Projector Brightness = 0

Projector Brightness > 0

Zivid Two



Zivid One+


350 - 900 ms switching time penalty


Zivid Two cameras do not have the time penalty that Zivid One+ cameras have; switching between 2D and 3D capture modes with Zivid Two happens instantly.


Switching time between 3D and 2D capture modes has been removed for Zivid One+ cameras in 2.6 SDK for the 2D capture without the projector (projector brightness setting set to 0).

For Zivid One+ cameras, if you must use the projector, taking another 3D capture for the color image may be less time-consuming than taking another 2D capture with the projector. This approach assumes you use the point cloud data from the main 3D capture (single or HDR) and the color image from the additional 3D capture. If you use single capture for the main 3D capture, use the same exposure time for the additional 3D capture to optimize the capture time. If you use HDR, the exposure time of the last HDR acquisition should be the same as the exposure time of the additional 3D capture.