捕获教程

介绍 

本教程介绍了如何使用Zivid SDK捕获点云和2D图像。

先决条件

安装 Zivid 软件。
对于Python：安装 zivid-python

初始化 

调用Zivid SDK中的任何API都需要初始化Zivid application并在程序运行时使其保持活动状态。

备注

Zivid::Application 必须在操作Zivid相机时保持活动状态。这本质上是Zivid的驱动程序。

C++

Zivid::Application zivid;

C＃

var zivid = new Zivid.NET.Application();

Python

app = zivid.Application()

连接 

现在我们可以连接到相机了。

C++

auto camera = zivid.connectCamera();

C＃

var camera = zivid.ConnectCamera();

Python

camera = app.connect_camera()

选定相机 

当多台相机连接到同一台计算机时，如果需要在代码中使用某台特定的相机，可以通过该相机的序列号来实现。

C++

auto camera = zivid.connectCamera(Zivid::CameraInfo::SerialNumber{ "2020C0DE" });

C＃

var camera = zivid.ConnectCamera(new Zivid.NET.CameraInfo.SerialNumber("2020C0DE"));

Python

camera = app.connect_camera(serial_number="2020C0DE")

备注

Zivid Studio中显示的相机序列号。

您还可以列出所有连接到计算机的相机，并通过以下方式查看它们的序列号

C++

auto cameras = zivid.cameras();
std::cout << "Found " << cameras.size() << " cameras" << std::endl;
for(auto &camera : cameras)
{
    std::cout << "Camera Info: " << camera.info() << std::endl;
    std::cout << "Camera State: " << camera.state() << std::endl;
}

C＃

var cameras = zivid.Cameras;
Console.WriteLine("Number of cameras found: {0}", cameras.Count);
foreach (var camera in cameras)
{
    Console.WriteLine("Camera Info: {0}", camera.Info);
    Console.WriteLine("Camera State: {0}", camera.State);
}

Python

cameras = app.cameras()
for camera in cameras:
    print(f"Camera Info:  {camera.info}")
    print(f"Camera State: {camera.state}")

文件相机 

A file camera allows you to experiment with the SDK without access to a physical camera. The file cameras can be found in Sample Data（示例数据） where there are multiple file cameras to choose from.

C++

const auto fileCamera =
    userInput ? fileCameraPath : std::string(ZIVID_SAMPLE_DATA_DIR) + "/FileCameraZivid2PlusMR60.zfc";

C＃

fileCamera = Environment.GetFolderPath(Environment.SpecialFolder.CommonApplicationData) + "/Zivid/FileCameraZivid2PlusMR60.zfc";

Python

default=get_sample_data_path() / "FileCameraZivid2PlusMR60.zfc",

C++

auto camera = zivid.createFileCamera(fileCamera);

C＃

var camera = zivid.CreateFileCamera(fileCamera);

Python

camera = app.create_file_camera(file_camera)

采集设置应当如下所示进行初始化，但您可以自由更改处理设置。

C++

Zivid::Settings settings{
    Zivid::Settings::Acquisitions{ Zivid::Settings::Acquisition{} },
    Zivid::Settings::Processing::Filters::Smoothing::Gaussian::Enabled::yes,
    Zivid::Settings::Processing::Filters::Smoothing::Gaussian::Sigma{ 1.5 },
    Zivid::Settings::Processing::Filters::Reflection::Removal::Enabled::yes,
    Zivid::Settings::Processing::Filters::Reflection::Removal::Mode::global,
};
Zivid::Settings2D settings2D{ Zivid::Settings2D::Acquisitions{ Zivid::Settings2D::Acquisition{} },
                              Zivid::Settings2D::Processing::Color::Balance::Red{ 1 },
                              Zivid::Settings2D::Processing::Color::Balance::Green{ 1 },
                              Zivid::Settings2D::Processing::Color::Balance::Blue{ 1 } };

settings.color() = Zivid::Settings::Color{ settings2D };

C＃

var settings2D = new Zivid.NET.Settings2D
{
    Acquisitions = { new Zivid.NET.Settings2D.Acquisition { } },
    Processing =
    {
        Color =
        {
            Balance = { Red = 1.0, Green = 1.0, Blue = 1.0 }
        }
    }
};
var settings = new Zivid.NET.Settings
{
    Acquisitions = { new Zivid.NET.Settings.Acquisition { } },
    Processing =
    {
        Filters =
        {
            Smoothing =
            {
                Gaussian = { Enabled = true, Sigma = 1.5 }
            },
            Reflection =
            {
                Removal = { Enabled = true, Mode = ReflectionFilterModeOption.Global}
            }
        }
    }
};
settings.Color = settings2D;

Python

settings = zivid.Settings()
settings.acquisitions.append(zivid.Settings.Acquisition())
settings.processing.filters.smoothing.gaussian.enabled = True
settings.processing.filters.smoothing.gaussian.sigma = 1
settings.processing.filters.reflection.removal.enabled = True
settings.processing.filters.reflection.removal.mode = "global"

settings_2d = zivid.Settings2D()
settings_2d.acquisitions.append(zivid.Settings2D.Acquisition())
settings_2d.processing.color.balance.blue = 1.0
settings_2d.processing.color.balance.green = 1.0
settings_2d.processing.color.balance.red = 1.0

settings.color = settings_2d

您可以在 File Camera（文件相机）中阅读有关文件相机选项的更多信息。

多线程 

对相机对象的操作是线程安全的，但其它操作（如列出相机和连接相机）应按顺序执行。您可以在多线程中找到更多信息。

结论 

本教程展示了如何使用Zivid SDK进行相机的连接、配置、捕获和保存文件。

捕获教程

介绍 

初始化 

连接 

选定相机 

配置 

Presets（预设值）

加载 

保存 

手动配置 

单次 2D 和 3D 采集 - 默认设置

多次采集HDR

Fully Configured Settings

捕获 2D3D 

捕获 3D 

捕获2D图像 

保存 

导出 

加载 

保存2D图像 

文件相机 

多线程 

结论 