示例

直接使用您喜欢的编程语言对Zivid相机进行编程。

备注

一些Zivid示例需要使用到 Sample Data（示例数据）。

示例列表

C++

• 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.

  • 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.

    • CaptureHalconViaGenICam - Capture and save a point cloud, with colors, using GenICam interface and Halcon C++ SDK.

    • CaptureHalconViaZivid - Capture a point cloud, with colors, using Zivid SDK, transform it to a Halcon point cloud and save it using Halcon C++ SDK.

    • CaptureHDRLoop - Cover the same dynamic range in a scene with different acquisition settings to optimize for quality, speed, or to find a compromise.

    • CaptureHDRPrintNormals - Capture Zivid point clouds, compute normals and print a subset.

    • CaptureViaGenICam - Capture using the GenICam interface.

    • 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

    • AutomaticNetworkConfigurationForCameras - * Automatically configure the IP addresses of connected cameras to match the network of the user's PC.

    • 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 point clouds, with color, from the Zivid camera, with settings from YML file and diagnostics enabled.

    • 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 conditions in the scene and output the measured flickering frequency of the ambient light if flickering is detected.

    • NetworkConfiguration - Uses Zivid API to change the IP address of the Zivid camera.

    • 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.

  • 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

      • CaptureFromFileCameraVis3D - Capture point clouds, with color, with the Zivid file camera and visualize them.

      • CaptureHDRVisNormals - Capture Zivid point clouds, with color and normals, and visualize it in 3D and as a normal map.

      • 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.

      • ReadAndProjectImage - Read a 2D image from file and project it using the camera projector.

      • ReadPCLVis3D - Read point cloud from PCL file and visualize it.

    • FileFormats

      • 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.

    • HandEyeCalibration - Perform Hand-Eye calibration.

    • MaskPointCloud - Mask point cloud from a ZDF file and convert to PCL format, extract depth map and visualize it.

    • ProjectAndFindMarker - Show a marker using the projector, capture a set of 2D images to find the marker coordinates (2D and 3D).

    • ReprojectPoints - Illuminate checkerboard (Zivid Calibration Board) centers by getting the checkerboard feature points

    • 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.

    • StitchContinuouslyRotatingObject - Stitch point clouds from a continuously rotating object without pre-alignment using Local Point Cloud Registration and apply Voxel 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.

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

    • TransformPointCloudViaArucoMarker - Transform a point cloud from camera to ArUco marker coordinate frame by estimating the marker's pose from the point cloud.

    • TransformPointCloudViaCheckerboard - Transform a point cloud from camera to checkerboard (Zivid Calibration Board) coordinate frame by getting checkerboard pose from the API.

    • HandEyeCalibration

      • PoseConversions - Convert to/from Transformation Matrix (Rotation Matrix + Translation Vector)

      • UtilizeHandEyeCalibration - Transform single data point or entire point cloud from camera to robot base reference frame using Hand-Eye calibration

    • MultiCamera

      • MultiCameraCalibration - Use captures of a calibration object to generate transformation matrices to a single coordinate frame, from connected cameras.

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

      • StitchByTransformation - Use transformation matrices from Multi-Camera calibration to transform point clouds into single coordinate frame, from connected cameras.

      • StitchByTransformationFromZDF - Use transformation matrices from Multi-Camera calibration to transform point clouds into single coordinate frame, from a ZDF files.

C＃

• 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.

  • Advanced

    • CaptureHalconViaGenICam - Capture and save a point cloud, with colors, using GenICam interface and Halcon C++ SDK.

    • CaptureHalconViaZivid - Capture a point cloud, with colors, using Zivid SDK, transform it to a Halcon point cloud and save it using Halcon C++ SDK.

    • CaptureHDRLoop - Cover the same dynamic range in a scene with different acquisition settings to optimize for quality, speed, or to find a compromise.

    • CaptureHDRPrintNormals - Capture Zivid point clouds, compute normals and print a subset.

  • InfoUtilOther

    • AutomaticNetworkConfigurationForCameras - * Automatically configure the IP addresses of connected cameras to match the network of the user's PC.

    • 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 point clouds, with color, from the Zivid camera, with settings from YML file and diagnostics enabled.

    • 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 conditions in the scene and output the measured flickering frequency of the ambient light if flickering is detected.

    • NetworkConfiguration - Uses Zivid API to change the IP address of the Zivid camera.

    • Warmup - Short example of a basic way to warm up the camera with specified time and capture cycle.

  • 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

      • 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 them.

      • ProjectImageStartAndStop - Start the Image Projection and Stop it.

      • ReadAndProjectImage - Read a 2D image from file and project it using the camera projector.

    • FileFormats

      • ReadIterateZDF - Read point cloud data from a ZDF file, iterate through it, and extract individual points.

      • ZDF2PLY - Convert point cloud from a ZDF file to a PLY file.

  • Advanced

    • Downsample - Downsample point cloud from a ZDF file.

    • HandEyeCalibration - Perform Hand-Eye calibration.

    • MultiCameraCalibration - Use captures of a calibration object to generate transformation matrices to a single coordinate frame.

    • 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.

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

    • TransformPointCloudViaArucoMarker - Transform a point cloud from camera to ArUco marker coordinate frame by estimating the marker's pose from the point cloud.

    • TransformPointCloudViaCheckerboard - Transform a point cloud from camera to checkerboard (Zivid Calibration Board) coordinate frame by getting checkerboard pose from the API.

    • HandEyeCalibration

      • PoseConversions - Convert to/from Transformation Matrix (Rotation Matrix + Translation Vector)

      • UtilizeHandEyeCalibration - Transform single data point or entire point cloud from camera to robot base reference frame using Hand-Eye calibration

Python

• camera

  • basic

    • capture - Capture colored point cloud, save 2D image, save 3D ZDF, and export PLY, using the Zivid camera.

    • capture_from_file_camera - Capture point clouds, with color, with the Zivid file camera.

    • capture_hdr_complete_settings - Capture point clouds, with color, from the Zivid camera with fully configured settings.

    • capture_with_settings_from_yml - Capture images and point clouds, with and without color, from the Zivid camera with settings from YML file.

  • advanced

    • capture_2d_and_3d - Capture 2D and 3D with the Zivid camera.

    • capture_hdr_loop - Cover the same dynamic range in a scene with different acquisition settings to optimize for quality, speed, or to find a compromise.

    • capture_hdr_print_normals - Capture Zivid point clouds, compute normals and print a subset.

  • info_util_other

    • adapt_settings_for_flickering_ambient_light - Adapt camera acquisition settings based on known ambient light conditions.

    • automatic_network_configuration_for_cameras - Automatically configure the IP addresses of connected cameras to match the network of the user's PC.

    • camera_info - Print version information for Python, zivid-python and Zivid SDK, then list cameras and print camera info and state for each connected camera.

    • camera_user_data - Store user data on the Zivid camera.

    • capture_with_diagnostics - Capture point clouds, with color, from the Zivid camera, with settings from YML file and diagnostics enabled.

    • context_manager_with_zivid - Sample showing how to use a context manager with Zivid Application and safely return processed data.

    • firmware_updater - Update firmware on the Zivid camera.

    • frame_info - Read frame info from the Zivid camera.

    • get_camera_intrinsics - Read intrinsic parameters from the Zivid camera (OpenCV model) or estimate them from the point cloud.

    • measure_scene_conditions - Measure ambient light conditions in the scene and output the measured flickering frequency of the ambient light if flickering is detected.

    • network_configuration - Uses Zivid API to change the IP address of the Zivid camera.

    • warmup - Short example of a basic way to warm up the camera with specified time and capture cycle.

  • maintenance

    • correct_camera_in_field - Correct the dimension trueness of a Zivid camera.

    • reset_camera_in_field - Reset infield correction on a camera.

    • verify_camera_in_field - Check the dimension trueness of a Zivid camera.

    • verify_camera_in_field_from_zdf - Check the dimension trueness of a Zivid camera from a ZDF file.

• applications

  • basic

    • visualization

      • capture_from_file_camera_vis_3d - Capture point clouds, with color, with the Zivid file camera.

      • capture_hdr_vis_normals - Capture Zivid point clouds, compute normals and convert to color map and display.

      • capture_vis_3d - Capture point clouds, with color, from the Zivid camera, and visualize it.

      • project_image_start_and_stop - Start the Image Projection and Stop it.

      • read_and_project_image - Read a 2D image from file and project it using the camera projector.

      • read_zdf_vis_3d - Read point cloud data from a ZDF file and visualize it.

    • file_formats

      • convert_zdf - Convert point cloud data from a ZDF file to your preferred format

      • read_iterate_zdf - Read point cloud data from a ZDF file, iterate through it, and extract individual points.

  • advanced

    • auto_2d_settings - Automatically find 2D settings for a 2D capture by using a Zivid calibration board.

    • color_balance - Balance color of a 2D image by using a Zivid calibration board.

    • create_depth_map - Read point cloud data from a ZDF file, convert it to OpenCV format, then extract and visualize depth map.

    • downsample - Downsample point cloud from a ZDF file.

    • gamma_correction - Capture 2D image with gamma correction.

    • get_checkerboard_pose_from_zdf - Read point cloud data of a Zivid calibration board from a ZDF file, estimate the

    • hand_eye_calibration - Perform Hand-Eye calibration.

    • mask_point_cloud - Read point cloud data from a ZDF file, apply a binary mask, and visualize it.

    • project_and_find_marker - Show a marker using the projector, capture a set of 2D images to find the marker coordinates (2D and 3D).

    • reproject_points - Illuminate checkerboard (Zivid Calibration Board) centers by getting the checkerboard feature points

    • roi_box_via_aruco_marker - Filter the point cloud based on a ROI box given relative to the ArUco marker on a Zivid Calibration Board.

    • roi_box_via_checkerboard - Filter the point cloud based on a ROI box given relative to the Zivid Calibration Board.

    • stitch_continuously_rotating_object - Stitch point clouds from a continuously rotating object without pre-alignment using Local Point Cloud Registration and apply Voxel Downsample.

    • stitch_using_robot_mounted_camera - Stitch multiple point clouds captured with a robot mounted camera.

    • stitch_via_local_point_cloud_registration - Stitch two point clouds using a transformation estimated by Local Point Cloud Registration and apply Voxel Downsample.

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

    • transform_point_cloud_via_aruco_marker - Transform a point cloud from camera to ArUco marker coordinate frame by estimating the marker's pose from the point cloud.

    • transform_point_cloud_via_checkerboard - Transform a point cloud from camera to checkerboard (Zivid Calibration Board) coordinate frame by getting checkerboard pose from the API.

    • hand_eye_calibration

      • hand_eye_gui - Hand-Eye Calibration GUI

      • pose_conversion_gui - Convert between different rotation formats with a GUI:

      • pose_conversions - Convert to/from Transformation Matrix (Rotation Matrix + Translation Vector).

      • robodk_hand_eye_calibration - Generate a dataset and perform hand-eye calibration using the Robodk interface.

      • utilize_hand_eye_calibration - Transform single data point or entire point cloud from camera to robot base reference frame using Hand-Eye calibration

      • verify_hand_eye_with_visualization - Verify hand-eye calibration by transforming all dataset point clouds and

      • ur_hand_eye_calibration

        • universal_robots_perform_hand_eye_calibration - Script to generate a dataset and perform hand-eye calibration using a Universal Robot UR5e robot.

      • robodk_hand_eye_calibration

        • robodk_verify_hand_eye_calibration - Perform a touch test with a robot to verify Hand-Eye Calibration using the RoboDK interface.

    • multi_camera

      • multi_camera_calibration - Use captures of a calibration object to generate transformation matrices to a single coordinate frame, from connected cameras.

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

      • stitch_by_transformation - Use transformation matrices from Multi-Camera calibration to transform point clouds into a single coordinate frame, from connected cameras.

      • stitch_by_transformation_from_zdf - Use transformation matrices from Multi-Camera calibration to transform point clouds into single coordinate frame, from a ZDF files.

    • robot_guidance

      • robodk_robot_guidance - Guide the robot to follow a path on the Zivid Calibration Board.

• modules

  • zividsamples

    • calibration_board_utils - Utility functions for the Zivid calibration board.

    • camera_verification - def capture_and_measure_from_frame(frame: zivid.Frame) -> VerificationAndState:

    • color_to_grayscale - if rgba_image.ndim != 3 or rgba_image.shape[2] != 4:

    • display - Display relevant data for Zivid Samples.

    • paths - Get relevant paths for Zivid Samples.

    • robodk_tools - Robot Control Module

    • save_load_matrix - Save and load Zivid 4x4 transformation matrices from and to YAML files.

    • settings_utils - categories = zivid.presets.categories2d(camera.info.model)

    • transformation_matrix - Convenience functions and a class for 4x4 transformation matrices.

    • white_balance_calibration - Balance color for 2D capture using white surface as reference.

HALCON

• Camera

  • Basic

    • Capture - Capture a 3D color point cloud from the camera and use it to generate a HALCON ObjectModel3D which is then visualized.

    • CaptureHDR - Capture an HDR image from the camera and use it to generate a HALCON ObjectModel3D which is then visualized.

    • CaptureHDRCompleteSettings - Capture an HDR image from the Zivid camera with fully configured settings for each frame.

    • CaptureSavePLY - Capture a 3D color point cloud from the camera and save it to a PLY file format.

    • CaptureWithSettingsFromYML - Capture a 2D color image, a 3D point cloud without colour and 2D color image + 3D color point cloud from the camera and use them to generate HALCON ObjectModel3D which is then visualized.

    • ConnectToSerialNumberCamera - Connect to a specific Zivid 3D camera based on its serial number.

  • Advanced

    • CaptureHDRLoop - Capture HDR images from the camera in a loop (while actively changing some HDR settings).

  • InfoUtilOther

    • QuerySettingsAndParameters - Query information about the image acquisition interface and selected specific parameters of Zivid camera.

    • Warmup - A basic warm-up method for a Zivid camera with specified time and capture cycle.

• Applications

  • Basic

    • FileFormats

      • ReadPLY - Import and display a Zivid point cloud from a PLY file.

  • Advanced

    • ObjectMatching

      • SurfaceMatchingCreateModel - Create a model for HALCON surface-based 3D matching algorithm from a Zivid point cloud captured by a camera.

      • SurfaceMatchingCreateModelFromFile - Create a model for HALCON surface-based 3D matching algorithm from a Zivid point cloud loaded from a ZDF file.

      • SurfaceMatchingFindModel - Utilize surface-based 3D matching on data taken with a Zivid camera.

      • SurfaceMatchingFindModelFromFile - Utilize surface-based 3D matching on data taken with a Zivid camera.

ROS

访问 zivid-ros Github 存储库。

安装

C++

1. 安装Zivid软件

2. 下载Zivid Sample Data

Windows

点击键盘上的Win+R键启动命令提示符，然后键入 cmd ，接着按下 Enter。

导航到要克隆的存储库的位置，然后运行以下命令：

git clone https://github.com/zivid/zivid-cpp-samples

使用CMake配置示例解决方案，在Visual Studio中打开示例，生成并运行。更多相关信息，请参阅 使用 CMake 配置 C++ 示例并在 Windows 的 Visual Studio 中构建它们。

Ubuntu

点击键盘上的 Ctrl + Alt + T 键打开终端。

导航到要克隆的存储库的位置，然后运行以下命令：

git clone https://github.com/zivid/zivid-cpp-samples
cd zivid-cpp-samples

生成项目：

mkdir build
cd build
cmake <options, see below> ../source
make -j

一些示例依赖于外部库，特别是 Eigen 3、OpenCV、PCL、Open3D 或 HALCON。如果您不想安装这些库，可以通过分别向 cmake 传递以下选项来禁用依赖于它们的示例： -DUSE_EIGEN3=OFF 、 -DUSE_OPENCV=OFF 、 -DUSE_PCL=OFF 、 -DUSE_HALCON=OFF 。

有关如何安装可选依赖项并配置示例以使用它们的说明，请参阅 使用可选依赖项配置 C++ 示例 。

现在可以从生成的目录运行示例，例如：

./CaptureFromFileCameraVis3D

如需获取更多相关信息，请访问GitHub zivid-cpp-samples 存储库。

C＃

1. 安装Zivid软件

2. 下载Zivid Sample Data

点击键盘上的Win+R键启动命令提示符，然后键入 cmd ，接着按下 Enter。

导航到要克隆的存储库的位置，然后运行以下命令：

git clone https://github.com/zivid/zivid-csharp-samples

在Visual Studio中打开ZividNETSamples.sln，生成并运行它。如果您不确定如何操作，请查看 使用Visual Studio构建C#示例。

一些示例依赖于外部库，特别是 MathNet.Numerics 和 System.ValueTuple 。在构建示例时，将通过NuGet自动安装这些库。

如需获取更多相关信息，请访问GitHub zivid-csharp-samples 存储库。

Python

备注

这些示例的推荐 Python 版本是 3.7 - 3.9 。

1. 安装Zivid软件。

2. 下载Zivid Sample Data。

3. 查看 Zivid Python 示例存储库：

   git clone http://github.com/zivid/zivid-python-samples.git
   

4. 使用IDE或命令行安装runtime requirements：

cd zivid-python-samples
pip install -r requirements.txt

5. 打开并运行其中一个示例。

   备注

   在 Windows 上运行 GUI 示例应该通过 pythonw 完成。

如需获取更多相关信息，请访问GitHub zivid-python-samples 存储库。

HALCON

Zivid 提供两种与 HALCON 接口的方式：

1. 通过 Zivid SDK，利用 HALCON 提供的 C++/C# 库。我们同时提供 C++ 和 C# 。（推荐）

2. 直接使用 Zivid 软件 附带的 GenICam GenTL producer 。

Zivid 和 HALCON 与 Windows 10 和 11 以及 Ubuntu 20.04、22.04、24.04 兼容。

备注

自 SDK 2.10 起，移除了对 Ubuntu 18.04 的支持。

要在这些操作系统之一中设置和使用Zivid，请按照以下页面中各自的说明进行操作：

• 在Windows中安装Zivid + HALCON

• 在Linux中安装Zivid+HALCON

• 创建一个HALCON中的"Hello World"程序

• 如何运行HALCON示例

• 在 HALCON 中调试

• HALCON示例视频

以下HALCON版本已经过测试并确认可与Zivid相机配合使用：

• 19.05 Progress, 20.05 Progress, 21.11 Progress, 24.05 Progress, 24.11 Progress-Steady, 25.05 Progress

我们建议使用我们测试过的HALCON版本。

如需获取更多相关信息，请访问GitHub zivid-halcon-samples 存储库。

MATLAB

orphan:

nosearch:

Support for MATLAB has been deprecated. Please visit an older version (<= 2.15) for support.

如需获取更多相关信息，请访问GitHub zivid-matlab-samples 存储库。

ROS

查看 zivid-ros GitHub 存储库以获取安装说明、代码示例以及如何开始使用 Zivid ROS 2 驱动程序。如果您使用的是 ROS 1，请参阅 zivid-ros-1 分支。

等同示例

相机

Sample	C++	C#	Python	HDevelop
Basic
Capture	✓	✓	✓	✓
CaptureFromFileCamera	✓	✓	✓
CaptureHdr				✓
CaptureHdrCompleteSettings	✓	✓	✓	✓
CaptureSavePly				✓
CaptureWithSettingsFromYml	✓	✓	✓	✓
ConnectToSerialNumberCamera				✓
Advanced
AllocateMemoryForPointCloudData	✓
Capture2DAnd3D	✓		✓
CaptureHalconViaGenICam	✓	✓
CaptureHalconViaZivid	✓	✓
CaptureHdrLoop	✓	✓	✓	✓
CaptureHdrPrintNormals	✓	✓	✓
CaptureViaGenICam	✓
MultiCameraCaptureInParallel	✓
MultiCameraCaptureSequentially	✓
MultiCameraCaptureSequentiallyWithInterleavedProcessing	✓
InfoUtilOther
adapt_settings_for_flickering_ambient_light			✓
AutomaticNetworkConfigurationForCameras	✓	✓	✓
CameraInfo	✓	✓	✓
CameraUserData	✓	✓	✓
CaptureWithDiagnostics	✓	✓	✓
context_manager_with_zivid			✓
FirmwareUpdater	✓	✓	✓
FrameInfo	✓	✓	✓
GetCameraIntrinsics	✓	✓	✓
MeasureSceneConditions	✓	✓	✓
NetworkConfiguration	✓	✓	✓
QuerySettingsAndParameters				✓
SettingsInfo	✓
Warmup	✓	✓	✓	✓
ZividBenchmark	✓
Maintenance
CorrectCameraInField	✓	✓	✓
ResetCameraInField	✓	✓	✓
VerifyCameraInField	✓	✓	✓
VerifyCameraInFieldFromZdf	✓	✓	✓

应用

Sample	C++	C#	Python	HDevelop
Basic/Visualization
CaptureFromFileCameraVis3D	✓	✓	✓
CaptureHdrVisNormals	✓		✓
CaptureVis3D	✓	✓	✓
CaptureWritePclVis3D	✓
ProjectImageStartAndStop	✓	✓	✓
ReadAndProjectImage	✓	✓	✓
ReadPclVis3D	✓
read_zdf_vis_3d			✓
Basic/FileFormats
convert_zdf			✓
ReadIterateZdf	✓	✓	✓
ReadPly				✓
Zdf2Ply		✓
Advanced
auto_2d_settings			✓
CaptureUndistort2D	✓
color_balance			✓
CreateDepthMap	✓		✓
Downsample	✓	✓	✓
GammaCorrection	✓		✓
get_checkerboard_pose_from_zdf			✓
HandEyeCalibration	✓	✓	✓
MaskPointCloud	✓		✓
MultiCameraCalibration	✓	✓	✓
ProjectAndFindMarker	✓		✓
ReprojectPoints	✓		✓
RoiBoxViaArucoMarker	✓	✓	✓
RoiBoxViaCheckerboard	✓	✓	✓
StitchContinuouslyRotatingObject	✓		✓
StitchUsingRobotMountedCamera	✓		✓
StitchViaLocalPointCloudRegistration	✓		✓
TransformPointCloudFromMillimetersToMeters	✓	✓	✓
TransformPointCloudViaArucoMarker	✓	✓	✓
TransformPointCloudViaCheckerboard	✓	✓	✓
Advanced/HandEyeCalibration
hand_eye_gui			✓
pose_conversion_gui			✓
PoseConversions	✓	✓	✓
robodk_hand_eye_calibration			✓
UtilizeHandEyeCalibration	✓	✓	✓
verify_hand_eye_with_visualization			✓
Advanced/HandEyeCalibration/UrHandEyeCalibration
universal_robots_perform_hand_eye_calibration			✓
Advanced/HandEyeCalibration/RobodkHandEyeCalibration
robodk_verify_hand_eye_calibration			✓
Advanced/MultiCamera
MultiCameraCalibration	✓	✓	✓
MultiCameraCalibrationFromZdf	✓		✓
StitchByTransformation	✓		✓
StitchByTransformationFromZdf	✓		✓
Advanced/ObjectMatching
SurfaceMatchingCreateModel				✓
SurfaceMatchingCreateModelFromFile				✓
SurfaceMatchingFindModel				✓
SurfaceMatchingFindModelFromFile				✓
Advanced/RobotGuidance
robodk_robot_guidance			✓

模块

Sample	C++	C#	Python	HDevelop
Zividsamples
calibration_board_utils			✓
camera_verification			✓
color_to_grayscale			✓
display			✓
paths			✓
robodk_tools			✓
save_load_matrix			✓
settings_utils			✓
transformation_matrix			✓
white_balance_calibration			✓