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.
  - 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.

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
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。

现在可以从构建的目录运行示例，例如：

./CaptureFromFileCameraVis3D

C++

示例列表

操作指南

示例列表 

操作指南 