Camera Coordinate System

Zivid point clouds are given relative to the Zivid camera right-hand coordinate system. The origin of this coordinate system is fixed at the optical center of the Zivid imager lens (internal 2D camera). The x-axis points right towards the projector, the y-axis points down, and the z-axis points outward.

Zivid Camera Origin and Coordinate System

Optical center

The optical center of the Zivid camera relative to the mechanical interface is shown in the mechanical drawings.

Zivid 3
XL250
Optical center position
Zivid 2+
MR130/M130
Optical center position
LR110/L110
Optical center position
MR60/M60
Optical center position
Zivid 2
Optical center position

Optical axis

The 2D camera and the projector have an angle with respect to the center axis.

Zivid 3
XL250
Zivid 3 XL250 as seen from above. Shows how the camera is angled relative to the projector.
Zivid 2+
MR130/M130
Zivid 2+ MR130/M130 as seen from above. Shows how the camera is angled relative to the projector.
LR110/L110
Zivid 2+ LR110/L110 as seen from above. Shows how the camera is angled relative to the projector.
MR60/M60
Zivid 2+ MR60/M60 as seen from above. Shows how the camera is angled relative to the projector.
Zivid 2
Zivid 2 as seen from above. Shows how the camera is angled relative to the projector.

Version History

SDK

Changes

2.17.0

Added support for Zivid 3 XL250.

2.15.0

Added information about optical axis.