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.

    • Connect - Connect to a Zivid camera using the different available methods.

    • CreateFileCameraFromZDFWithDiagnostics - Capture a frame with diagnostics enabled and create a file camera from it.

  • 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 colored point cloud with the Zivid SDK, convert it to a HALCON point cloud and save it.

    • CaptureViaGenICam - Capture using the GenICam interface.

    • MultiCamera

      • 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

    • 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 a 2D+3D frame and a 2D frame from the Zivid camera with diagnostics enabled.

    • CheckHealth - Poll the camera health check from a separate thread while capturing, printing statuses and values each second.

    • ExploreSettingsMetaData - Recursively iterates through all leaf parameters in a Zivid camera’s settings.

    • 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 in the scene and report the flickering frequency when flickering is detected.

    • 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.

    • Network

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

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

  • 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

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

      • 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.

    • MaskPointCloud - Mask point cloud from a ZDF file using the Mask API and visualize it with Zivid::Visualizer.

    • Visualization

      • CaptureVis3DInLoop - Capture point clouds, with color, from the Zivid camera, and visualize them in a loop.

      • CaptureVis3DInLoopWithKeypressExit - Capture point clouds, with color, from the Zivid camera, and visualize them in a loop. Press 'q' to exit.

    • Cuda

      • CaptureAndConvertImageWithOpenCVOnCuda - Capture a 2D image with the Zivid SDK and perform RGBA to grayscale conversion on a CUDA device using OpenCV.

      • CaptureAndConvertToDlpackTensorOnCuda - Capture a 2D+3D frame and build DLPack tensors directly from the Zivid DeviceArrays on the CUDA device.

    • Transform

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

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

      • TransformPointCloudViaCheckerboard - Transform a point cloud from camera to checkerboard coordinate frame using the pose from the API.

    • Roi

      • 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.

    • Stitching

      • StitchContinuouslyRotatingObject - Stitch point clouds from a continuously rotating object using Local Point Cloud Registration, then 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.

    • Barcode

      • BarcodeDetector - Detect and decode linear and matrix barcodes from a 2D capture.

    • HandEyeCalibration

      • HandEyeCalibration - Perform Hand-Eye calibration.

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

      • UtilizeHandEyeCalibration - Transform a data point or entire point cloud from camera to robot base frame using the Hand-Eye calibration matrix.

    • MultiCamera

      • MultiCameraCalibration - Generate transformation matrices to a single coordinate frame from captures by multiple connected cameras.

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

      • StitchByTransformation - Transform point clouds from connected cameras into one coordinate frame using Multi-Camera calibration.

      • StitchByTransformationFromZDF - Transform point clouds from ZDF files into one coordinate frame using Multi-Camera calibration.

    • Projector

      • 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.

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.

    • Connect - Connect to a Zivid camera using the different available methods.

    • CreateFileCameraFromZDFWithDiagnostics - Capture a frame with diagnostics enabled and create a file camera from it.

  • Advanced

    • 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 colored point cloud with the Zivid SDK, convert it to a HALCON point cloud and save it.

  • InfoUtilOther

    • 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 a 2D+3D frame and a 2D frame from the Zivid camera with diagnostics enabled.

    • CheckHealth - Poll the camera health check from a separate thread while capturing, printing statuses and values each second.

    • 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 in the scene and report the flickering frequency when flickering is detected.

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

    • Network

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

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

  • 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.

    • 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.

    • MaskPointCloud - Mask point cloud from a ZDF file using the Mask API and visualize it with Zivid.NET Visualizer.

    • Visualization

      • CaptureVis3DInLoop - Capture point clouds, with color, from the Zivid camera, and visualize them in a loop.

      • CaptureVis3DInLoopWithKeypressExit - Capture point clouds, with color, from the Zivid camera, and visualize them in a loop. Press 'q' to exit.

    • Transform

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

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

      • TransformPointCloudViaCheckerboard - Transform a point cloud from camera to checkerboard coordinate frame using the pose from the API.

    • Roi

      • 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.

    • Stitching

      • StitchContinuouslyRotatingObject - Stitch point clouds from a continuously rotating object using Local Point Cloud Registration, then 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.

    • HandEyeCalibration

      • HandEyeCalibration - Perform Hand-Eye calibration.

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

      • UtilizeHandEyeCalibration - Transform a data point or entire point cloud from camera to robot base frame using the Hand-Eye calibration matrix.

    • MultiCamera

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

    • Projector

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

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.

    • connect - Connect to a Zivid camera using the different available methods.

    • create_file_camera_from_zdf_with_diagnostics - Capture a frame with diagnostics enabled and create a file camera from it.

  • advanced

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

    • capture_and_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.

    • camera_info - Print Python, zivid-python and Zivid SDK versions, then list each connected camera with info and state.

    • camera_user_data - Store user data on the Zivid camera.

    • capture_with_diagnostics - Capture a 2D+3D frame and a 2D frame from the Zivid camera with diagnostics enabled.

    • check_health - Poll the camera health check from a separate thread while capturing, printing statuses and values each second.

    • 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 in the scene and report the flickering frequency when flickering is detected.

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

    • network

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

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

  • 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.

    • visualize_benchmark_results - Visualize the CSV results produced by the ZividBenchmark sample.

• applications

  • basic

    • visualization

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

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

      • 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_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.

    • capture_undistort_2d - Use camera intrinsics to undistort a 2D image.

    • 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.

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

    • visualization

      • capture_vis_3d_in_loop - Capture point clouds, with color, from the Zivid camera, and visualize them in a loop.

      • capture_vis_3d_in_loop_with_keypress_exit - Capture point clouds, with color, from the Zivid camera, and visualize them in a loop. Press 'q' to exit.

    • cuda

      • capture_and_convert_to_dlpack_tensor_on_cuda - Demonstrate zero-copy GPU interop by handing a Zivid DeviceArray to PyTorch on the GPU, showing two paths.

      • capture_and_process_image_with_cupy_on_cuda - Demonstrate GPU interop with CuPy: wrap a Zivid GPU image buffer as a CuPy array without copying it through CPU memory.

      • capture_and_render_point_cloud_with_opengl_on_cuda - Render a Zivid point cloud interactively by copying it device-to-device into OpenGL buffers with CUDA interop.

      • capture_and_segment_image_with_pytorch_on_cuda - Feed a Zivid 2D image into a third-party segmentation model on the GPU without a CPU round-trip.

    • transform

      • get_checkerboard_pose_from_zdf - Estimate the checkerboard pose from a ZDF file of a Zivid calibration board and save it to YAML.

      • 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 using the marker's estimated pose.

      • transform_point_cloud_via_checkerboard - Transform a point cloud from camera to checkerboard coordinate frame using the pose from the API.

    • roi

      • 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.

    • stitching

      • stitch_continuously_rotating_object - Stitch point clouds from a continuously rotating object using Local Point Cloud Registration, then 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.

    • barcode

      • barcode_detector - Detect and decode linear and matrix barcodes from a 2D capture.

    • hand_eye_calibration

      • hand_eye_calibration - Perform 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).

      • utilize_hand_eye_calibration - Transform a data point or entire point cloud from camera to robot base frame using the Hand-Eye calibration matrix.

      • verify_hand_eye_with_visualization - Verify hand-eye calibration by transforming all dataset point clouds and visualizing them overlapped.

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

        • 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 - Generate transformation matrices to a single coordinate frame from captures by multiple connected cameras.

      • multi_camera_calibration_from_zdf - Generate transformation matrices to a single coordinate frame from multi-camera ZDF captures.

      • stitch_by_transformation - Transform point clouds from connected cameras into one coordinate frame using Multi-Camera calibration.

      • stitch_by_transformation_from_zdf - Transform point clouds from ZDF files into one coordinate frame using Multi-Camera calibration.

    • projector

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

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

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

    • 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 - Capture and measure the infield verification state of a Zivid camera.

    • color_to_grayscale - Convert Zivid RGBA color images to grayscale.

    • display - Display relevant data for Zivid Samples.

    • paths - Get relevant paths for Zivid Samples.

    • robodk_tools - Connect to a robot through RoboDK, list its targets and set its speeds.

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

    • save_load_transformation_matrix - Save and load Zivid transformation matrices to and from YAML files.

    • save_residuals - Save per-pose hand-eye calibration residuals to a YAML file.

    • settings_utils - Pick and adjust Zivid capture settings for the samples.

    • 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.

    • 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 2D and 3D data with settings from YML, then generate and visualize a HALCON ObjectModel3D.

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

  • 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

    • HandEyeCalibration

      • EyeInHandCalibration3DObject - Hand-eye calibration with a Zivid camera and a 3D calibration object.

      • EyeInHandCalibrationMVTecPlate - Hand-eye calibration with a Zivid camera and MVTec calibration plate.

      • JSONHomogeneousMatrixToHalconPose - Transform homogenous matrixes to halcon pose.

    • 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.

• Procedures

  • calc_calplate_pose_eye_in_hand - Calculate the pose of the calibration object in the camera frame for Eye-In-Hand.

  • calc_calplate_pose_eye_to_hand - Calculate the pose of the calibration object in the camera frame for Eye-To-Hand.

  • generate_R_G_B_and_RGB_images - Create separate images for each color channel and a combined RGB image.

  • get_first_available_zivid_device - Get the first Zivid device from the input tuple of devices.

  • get_settings_for_zivid_camera_model - Get settings depending on the camera model.

  • get_zivid_camera_width - Get width for given camera and sampling pixel setting.

  • get_zivid_preset_file - Get preset file for given camera.

  • get_zivid_sample_data_dir - Get the path of ZIVID DATA depending on your operating system.

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。

Navigate to a location where you want to clone the repository, then run the following command:

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。

Navigate to a location where you want to clone the repository, then run the following command:

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
cmake --build .

部分示例依赖于外部库，特别是 Eigen 3、OpenCV、PCL 或 HALCON。如果您不想安装这些库，可以通过向 cmake 分别传递以下选项来禁用依赖于它们的示例： 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。

Navigate to a location where you want to clone the repository, then run the following command:

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 。

请注意，Open3D 不适用于 Python 3.13 及更高版本。

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

备注

如果 Open3D 安装失败，请确保您使用的是 Open3D 支持的 Python 版本。或者，您也可以运行以下命令，仅安装非 Open3D 示例所需的依赖项：

pip install ./modules

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、26.04 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

• Install Zivid + HALCON for Linux

• 创建一个 HALCON 中的"Hello World"程序

• 如何运行 HALCON 示例

• HALCON 中的捕获设置

• 在 HALCON 中调试

• HALCON 示例视频

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

MATLAB

已停止支持 MATLAB。请访问旧版本（<= 2.15）以获取支持。

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	✓	✓	✓
CaptureHdrCompleteSettings	✓	✓	✓	✓
CaptureSavePly				✓
CaptureWithSettingsFromYml	✓	✓	✓	✓
Connect	✓	✓	✓
ConnectToSerialNumberCamera				✓
CreateFileCameraFromZdfWithDiagnostics	✓	✓	✓
Advanced
AllocateMemoryForPointCloudData	✓
Capture2DAnd3D	✓		✓
CaptureAndPrintNormals	✓	✓	✓
CaptureHalconViaGenICam	✓	✓
CaptureHalconViaZivid	✓	✓
CaptureViaGenICam	✓
Advanced/MultiCamera
MultiCameraCaptureInParallel	✓
MultiCameraCaptureSequentially	✓
MultiCameraCaptureSequentiallyWithInterleavedProcessing	✓
InfoUtilOther
adapt_settings_for_flickering_ambient_light			✓
CameraInfo	✓	✓	✓
CameraUserData	✓	✓	✓
CaptureWithDiagnostics	✓	✓	✓
CheckHealth	✓	✓	✓
context_manager_with_zivid			✓
ExploreSettingsMetaData	✓
FirmwareUpdater	✓	✓	✓
FrameInfo	✓	✓	✓
GetCameraIntrinsics	✓	✓	✓
MeasureSceneConditions	✓	✓	✓
QuerySettingsAndParameters				✓
SettingsInfo	✓
Warmup	✓	✓	✓	✓
ZividBenchmark	✓
InfoUtilOther/Network
AutomaticNetworkConfigurationForCameras	✓	✓	✓
NetworkConfiguration	✓	✓	✓
Maintenance
CorrectCameraInField	✓	✓	✓
ResetCameraInField	✓	✓	✓
VerifyCameraInField	✓	✓	✓
VerifyCameraInFieldFromZdf	✓	✓	✓
visualize_benchmark_results			✓

应用

Sample	C++	C#	Python	HDevelop
Basic/Visualization
CaptureAndVisualizeNormals	✓		✓
CaptureFromFileCameraVis3D	✓	✓	✓
CaptureVis3D	✓	✓	✓
CaptureWritePclVis3D	✓
ProjectImageStartAndStop	✓	✓	✓
ReadPclVis3D	✓
read_zdf_vis_3d			✓
Basic/FileFormats
ConvertZdf	✓		✓
ReadIterateZdf	✓	✓	✓
ReadPly				✓
Zdf2Ply		✓
Advanced
auto_2d_settings			✓
CaptureUndistort2D	✓		✓
color_balance			✓
CreateDepthMap	✓		✓
Downsample	✓	✓	✓
GammaCorrection	✓		✓
MaskPointCloud	✓	✓	✓
Advanced/Visualization
CaptureVis3DInLoop	✓	✓	✓
CaptureVis3DInLoopWithKeypressExit	✓	✓	✓
Advanced/Cuda
CaptureAndConvertImageWithOpenCvOnCuda	✓
CaptureAndConvertToDlpackTensorOnCuda	✓		✓
capture_and_process_image_with_cupy_on_cuda			✓
capture_and_render_point_cloud_with_opengl_on_cuda			✓
capture_and_segment_image_with_pytorch_on_cuda			✓
Advanced/Transform
get_checkerboard_pose_from_zdf			✓
TransformPointCloudFromMillimetersToMeters	✓	✓	✓
TransformPointCloudViaArucoMarker	✓	✓	✓
TransformPointCloudViaCheckerboard	✓	✓	✓
Advanced/Roi
RoiBoxViaArucoMarker	✓	✓	✓
RoiBoxViaCheckerboard	✓	✓	✓
Advanced/Stitching
StitchContinuouslyRotatingObject	✓	✓	✓
StitchUsingRobotMountedCamera	✓	✓	✓
StitchViaLocalPointCloudRegistration	✓	✓	✓
Advanced/Barcode
BarcodeDetector	✓		✓
Advanced/HandEyeCalibration
EyeInHandCalibration3DObject				✓
EyeInHandCalibrationMvTecPlate				✓
HandEyeCalibration	✓	✓	✓
hand_eye_gui			✓
JsonHomogeneousMatrixToHalconPose				✓
pose_conversion_gui			✓
PoseConversions	✓	✓	✓
UtilizeHandEyeCalibration	✓	✓	✓
verify_hand_eye_with_visualization			✓
Advanced/HandEyeCalibration/UrHandEyeCalibration
universal_robots_perform_hand_eye_calibration			✓
Advanced/HandEyeCalibration/RobodkHandEyeCalibration
robodk_hand_eye_calibration			✓
robodk_verify_hand_eye_calibration			✓
Advanced/MultiCamera
MultiCameraCalibration	✓	✓	✓
MultiCameraCalibrationFromZdf	✓		✓
StitchByTransformation	✓		✓
StitchByTransformationFromZdf	✓		✓
Advanced/Projector
ProjectAndFindMarker	✓		✓
ReadProjectAndCaptureImage	✓	✓	✓
ReprojectPoints	✓		✓
Advanced/RobotGuidance
robodk_robot_guidance			✓
Advanced/ObjectMatching
SurfaceMatchingCreateModel				✓
SurfaceMatchingCreateModelFromFile				✓
SurfaceMatchingFindModel				✓
SurfaceMatchingFindModelFromFile				✓

操作步骤

Sample	C++	C#	Python	HDevelop
CalcCalplatePoseEyeInHand				✓
CalcCalplatePoseEyeToHand				✓
GenerateRGBAndRgbImages				✓
GetFirstAvailableZividDevice				✓
GetSettingsForZividCameraModel				✓
GetZividCameraWidth				✓
GetZividPresetFile				✓
GetZividSampleDataDir				✓

模块

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