捕获速度

3D应用中一个重要因素是速度。为了估计应用的运行速度，我们需要知道每个组件需要多少时间。有两个重要的测量项目可以估计 Zivid 需要多少时间：

捕获函数返回时间

This is the time it takes to execute the capture API. When the API returns it is safe to block the FOV of the camera or move the camera. In Zivid Studio, CaptureFunctionReturnTime is shown as Acquisition Time.

捕获时间

这是从调用 capture API 到点云在 GPU 上可用所需的时间。它不包括将数据从 GPU 内存复制到系统内存。

关于捕捉过程的详细介绍，请查看 点云捕获过程 。

Zivid 对不同硬件上的所有预设设置进行了基准测试，无论是 高端或者低端 硬件配置。这些基准会随着时间的推移而变化，在大多数情况下会随着我们转向更新的 SDK 版本而有所改善。对于相关数值，请选择与您的 SDK 版本相对应的本文档版本。

You can check your acquisition and capture time in Zivid Studio and via the SDK.

C++

source

const auto frame = camera.capture2D3D(settings);
const auto frameInfo = frame.info();
std::cout << "Acquisition time:" << std::endl;
std::cout << std::chrono::duration_cast<std::chrono::milliseconds>(
                 frameInfo.metrics().acquisitionTime().value())
                 .count()
          << " ms" << std::endl;
std::cout << "Capture time:" << std::endl;
std::cout
    << std::chrono::duration_cast<std::chrono::milliseconds>(frameInfo.metrics().captureTime().value()).count()
    << " ms" << std::endl;

C#

source

using (var frame = camera.Capture2D3D(settings))
{
    var frameInfo = frame.Info;
    Console.WriteLine("Acquisition time:");
    Console.WriteLine(frameInfo.Metrics.AcquisitionTime.Milliseconds + " ms");
    Console.WriteLine("Capture time:");
    Console.WriteLine(frameInfo.Metrics.CaptureTime.Milliseconds + " ms");

Python

source

frame = camera.capture_2d_3d(settings)
frame_info = frame.info
print("Acquisition time:")
print(f"{frame_info.metrics.acquisition_time.total_seconds() * 1000:.0f} ms")
print("Capture time:")
print(f"{frame_info.metrics.capture_time.total_seconds() * 1000:.0f} ms")

您还可以运行我们的 C++ 示例 ZividBenchmark.cpp 来对您的硬件进行基准测试。

Cameras

Configurations

Low-end Intel High-end NVIDIA High-end Intel Low-end Jetson NVIDIA High-end Jetson NVIDIA

Details about configurations

Display Options

Capture CaptureFunctionReturn

Standard Deviation

Capture 2D + 3D (hide)

Manufacturing Settings Parcels Settings Consumer Goods Settings Inspection Settings

hidden

hidden

	2+R
	High-end NVIDIA
	2D	3D
Manufacturing Settings
Manufacturing Diffuse	30 ms (±0)155 ms (±1)180 ms (±1)
Manufacturing Semi-Specular	30 ms (±0)740 ms (±1)765 ms (±1)
Manufacturing Specular	47 ms (±0)960 ms (±0)1000 ms (±1)
Manufacturing Small Features	42 ms (±2)890 ms (±1)910 ms (±1)

3D

(hide)

Manufacturing Settings Parcels Settings Consumer Goods Settings Inspection Settings

hidden

hidden

	2+R
	High-end NVIDIA
Manufacturing Settings
Manufacturing Diffuse	175 ms (±2)
Manufacturing Semi-Specular	760 ms (±5)
Manufacturing Specular	985 ms (±17)
Manufacturing Small Features	905 ms (±5)

2D

(hide)

Exposure Time Settings 2D HighRes Settings 2D LowRes Settings 2D

hidden

hidden

ET=ExposureTime	2+R
	ET	High-end NVIDIA
Exposure Time Settings 2D
Exposure Time 5 ms	5 ms	40 ms (±2)
Exposure Time 10 ms	10 ms	60 ms (±2)
Exposure Time 15 ms	15 ms	80 ms (±3)
Exposure Time 20 ms	20 ms	100 ms (±3)
Exposure Time 25 ms	0 ms	0 ms (±0)
Exposure Time 30 ms	0 ms	0 ms (±0)
Exposure Time 40 ms	0 ms	0 ms (±0)
Exposure Time 50 ms	0 ms	0 ms (±0)
Exposure Time 75 ms	0 ms	0 ms (±0)
Exposure Time 100 ms	0 ms	0 ms (±0)

Capture 2D + 3D (hide)

Capture 2D and then 3D

Capture 3D and then 2D

Capture 3D including 2D

hidden

hidden

	2+R
	High-end NVIDIA
	2D	3D
Capture 2D and then 3D
Projector On for 2D	47 ms290 ms335 ms
Capture 3D and then 2D
Capture 3D including 2D

Filters

(hide)

hidden

hidden

	2+R
	High-end NVIDIA
Filters
ContrastDistortionCorrection	2 ms (±0)
ContrastDistortionRemoval	0.5 ms (±1)
Noise	0 ms (±0)
Outlier	0.2 ms (±1)
Cluster	2.8 ms (±1)
ReflectionGlobal	6 ms (±1)
Smoothing	0.7 ms (±0)
RegionOfInterest-Box	0.3 ms (±1)
RegionOfInterest-Depth	0.2 ms (±1)