Python

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 point clouds, with color, from the Zivid camera.

    • capture_2d - Capture 2D images from the Zivid camera.

    • capture_2d_with_settings_from_yml - Capture 2D images from the Zivid camera, with settings from YML file.

    • capture_assistant - Use Capture Assistant to capture point clouds, with color, from the Zivid camera.

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

    • capture_hdr - Capture point clouds, with color, from the Zivid camera.

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

    • capture_with_settings_from_yml - Capture point clouds, with color, from the Zivid camera, with settings from YML file.

  • advanced

    • capture_2d_and_3d - Capture 2D and 3D separately 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

    • automatic_network_configuration_for_cameras - Automatically set the IP addresses of any number of cameras to be in the same subnet as the provided IP address of the network interface.

    • 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.

    • firmware_updater - Update firmware on the Zivid camera.

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

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

    • warmup - A basic warm-up method for a Zivid 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 (PLY, CSV, TXT, PNG, JPG, BMP, TIFF).

      • 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) corners by getting checkerboard pose

    • 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.

    • 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.

    • robot_guidance

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

    • verify_hand_eye_calibration

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

• modules

  • zividsamples

    • calibration_board_utils - Utility functions for the Zivid calibration board.

    • 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.

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

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

操作指南

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. Check out the Zivid Python samples repository:

   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

   Running GUI samples on Windows should be done via pythonw.

• 使用Spyder IDE创建Python “Hello World”应用程序