C++
示例列表
示例主要分为两类：相机 和 应用。 相机 类别中的示例侧重于如何使用相机。 应用 类别中的示例则侧重于使用相机生成的输出，例如3D点云、2D图像或来自相机的其它数据。这些示例展示了可以如何使用来自相机的数据。
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.
CaptureAndPrintNormals - Capture Zivid point clouds, compute normals and print a subset.
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.
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
CaptureAndVisualizeNormals - Capture Zivid point clouds, with color and normals, and visualize it in 3D and as a normal map.
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 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.
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
BarcodeDetector - Detect and decode linear and matrix barcodes from a 2D capture.
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).
ReadProjectAndCaptureImage - Read a 2D image from file and project it using the camera projector.
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.
操作指南
Windows
点击键盘上的Win+R键启动命令提示符，然后输入 cmd 并 按 Enter 键。
导航到要克隆存储库的位置，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，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
构建项目：
mkdir build
cd build
cmake <options, see below> ../source
make -j
Some of the samples depend on external libraries, in particular Eigen 3, OpenCV, PCL or HALCON.
If you don't want to install those, you can disable the samples depending on them by passing the following options, respectively, to cmake: -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 。
现在可以从构建的目录运行示例，例如：
./CaptureFromFileCameraVis3D