Color Mode

Color Mode可以设置控制如何计算彩色图像，可设置为以下几种模式：

ToneMapping
UseFirstAcquisition
Automatic

ToneMapping （色调映射）使用了所有采集项来生成一个融合的和标准化过的彩色图像。对于多次采集HDR捕获，得到的图像动态范围通常高于8位彩色图像范围。色调映射将通过应用比例因子将HDR颜色数据映射到8位颜色输出范围。色调映射也可用于单次采集捕获，以将捕获的彩色图像标准化为完整的8位输出。使用 ToneMapping 时，如果您移动、添加或移除了场景中的对象，重复捕获的颜色值可能会不一致。为了最大限度地控制颜色，请使用 UseFirstAcquisition 模式。

UseFirstAcquisition 使用了第一个采集项获得的颜色数据。如果捕获包含多次采集，则其它采集获得的数据不会被用于生成彩色图像。该模式下不会执行色调映射。此模式将提供对彩色图像的最大控制，并且颜色值将在使用相同设置的重复捕获中保持一致。

Automatic 是默认设置。
在进行单次采集和所有采集项都具有相同（重复的）采集设置的多次采集时， Automatic 等同于 UseFirstAcquisition 。
在进行具有不同采集设置的多次采集HDR时， Automatic 等同于 ToneMapping 。

备注

从SDK 2.7开始，可以通过将颜色模式设置为 UseFirstAcquisition 来禁用HDR捕获的色调映射。

对于单次采集捕获，色调映射可用于使暗图像变明亮。


Single acquisition capture with Color Mode set to `UseFirstAcquisition` or `Automatic` (no tone mapping)	Single acquisition capture with Color Mode set to `ToneMapping`

对于多次采集HDR，色调映射可用于将高动态范围颜色映射到更有限的动态范围输出。


Single acquisition capture of the first of three HDR acquisitions with Color Mode set to `UseFirstAcquisition` or `Automatic` (no tone mapping)	Single acquisition capture of the second of three HDR acquisitions with Color Mode set to `UseFirstAcquisition` or `Automatic` (no tone mapping)	Single acquisition capture of the third of three HDR acquisitions with Color Mode set to `UseFirstAcquisition` or `Automatic` (no tone mapping)

HDR with three acquisitions with Color Mode set to `ToneMapping` or `Automatic`

使用UseFirstAcquisition的HDR捕获

如果您不想对多次采集HDR使用色调映射，而是使用其中一个采集项的彩色图像，这是可以实现的。确定您要使用哪个采集项中的颜色。然后，确保该采集项是HDR采集设置序列中的第一个，并将颜色模式设置为 UseFirstAcquisition 。对于上面的示例，现在生成的彩色图像看起来就像使用三个HDR采集中的第一个采集项的单次捕获的彩色图像。

提示

在Zivid Studio的采集设置中依次点击 … → Move to top 即可将选定的采集项移动到序列中的第一个位置。

如果您想要更改 HDR 捕获获取彩色图像的采集，只需重新设置采集设置即可。建议使用 UseFirstAcquisition 颜色模式以在重复捕获中保持颜色一致，例如，可用于基于 2D 图像中的颜色或纹理进行对象分类。相关示例的详细说明，请查看如何处理 HDR 色彩不一致。

查看如何使用Zivid SDK设定processing settings（处理设置），包括Color Mode：

C++

std::cout << "Configuring settings for capture:" << std::endl;
Zivid::Settings2D settings2D{
    Zivid::Settings2D::Sampling::Color::rgb,
    Zivid::Settings2D::Sampling::Pixel::all,

    Zivid::Settings2D::Processing::Color::Balance::Blue{ 1.0 },
    Zivid::Settings2D::Processing::Color::Balance::Green{ 1.0 },
    Zivid::Settings2D::Processing::Color::Balance::Red{ 1.0 },
    Zivid::Settings2D::Processing::Color::Gamma{ 1.0 },

    Zivid::Settings2D::Processing::Color::Experimental::Mode::automatic,
};

Zivid::Settings settings{
    Zivid::Settings::Color{ settings2D },

    Zivid::Settings::Engine::phase,

    Zivid::Settings::RegionOfInterest::Box::Enabled::yes,
    Zivid::Settings::RegionOfInterest::Box::PointO{ 1000, 1000, 1000 },
    Zivid::Settings::RegionOfInterest::Box::PointA{ 1000, -1000, 1000 },
    Zivid::Settings::RegionOfInterest::Box::PointB{ -1000, 1000, 1000 },
    Zivid::Settings::RegionOfInterest::Box::Extents{ -1000, 1000 },

    Zivid::Settings::RegionOfInterest::Depth::Enabled::yes,
    Zivid::Settings::RegionOfInterest::Depth::Range{ 200, 2000 },

    Zivid::Settings::Processing::Filters::Cluster::Removal::Enabled::yes,
    Zivid::Settings::Processing::Filters::Cluster::Removal::MaxNeighborDistance{ 10 },
    Zivid::Settings::Processing::Filters::Cluster::Removal::MinArea{ 100 },

    Zivid::Settings::Processing::Filters::Hole::Repair::Enabled::yes,
    Zivid::Settings::Processing::Filters::Hole::Repair::HoleSize{ 0.2 },
    Zivid::Settings::Processing::Filters::Hole::Repair::Strictness{ 1 },

    Zivid::Settings::Processing::Filters::Noise::Removal::Enabled::yes,
    Zivid::Settings::Processing::Filters::Noise::Removal::Threshold{ 7.0 },

    Zivid::Settings::Processing::Filters::Noise::Suppression::Enabled::yes,
    Zivid::Settings::Processing::Filters::Noise::Repair::Enabled::yes,

    Zivid::Settings::Processing::Filters::Outlier::Removal::Enabled::yes,
    Zivid::Settings::Processing::Filters::Outlier::Removal::Threshold{ 5.0 },

    Zivid::Settings::Processing::Filters::Reflection::Removal::Enabled::yes,
    Zivid::Settings::Processing::Filters::Reflection::Removal::Mode::global,

    Zivid::Settings::Processing::Filters::Smoothing::Gaussian::Enabled::yes,
    Zivid::Settings::Processing::Filters::Smoothing::Gaussian::Sigma{ 1.5 },

    Zivid::Settings::Processing::Filters::Experimental::ContrastDistortion::Correction::Enabled::yes,
    Zivid::Settings::Processing::Filters::Experimental::ContrastDistortion::Correction::Strength{ 0.4 },

    Zivid::Settings::Processing::Filters::Experimental::ContrastDistortion::Removal::Enabled::no,
    Zivid::Settings::Processing::Filters::Experimental::ContrastDistortion::Removal::Threshold{ 0.5 },

    Zivid::Settings::Processing::Resampling::Mode::upsample2x2,

    Zivid::Settings::Diagnostics::Enabled::no,
};

setSamplingPixel(settings, camera);
std::cout << settings << std::endl;

C＃

Console.WriteLine("Configuring settings for capture:");
var settings2D = new Zivid.NET.Settings2D()
{
    Sampling =
    {
        Color = Zivid.NET.Settings2D.SamplingGroup.ColorOption.Rgb,
        Pixel = Zivid.NET.Settings2D.SamplingGroup.PixelOption.All,
    },
    Processing =
    {
        Color =
        {
            Balance =
            {
                Blue = 1.0,
                Green = 1.0,
                Red = 1.0,
            },
            Gamma = 1.0,
            Experimental = { Mode = Zivid.NET.Settings2D.ProcessingGroup.ColorGroup.ExperimentalGroup.ModeOption.Automatic },
        },
    },
};
var settings = new Zivid.NET.Settings()
{
    Engine = Zivid.NET.Settings.EngineOption.Phase,

    RegionOfInterest =
    {
        Box = {
            Enabled = true,
            PointO = new Zivid.NET.PointXYZ{ x = 1000, y = 1000, z = 1000 },
            PointA = new Zivid.NET.PointXYZ{ x = 1000, y = -1000, z = 1000 },
            PointB = new Zivid.NET.PointXYZ{ x = -1000, y = 1000, z = 1000 },
            Extents = new Zivid.NET.Range<double>(-1000, 1000),
        },
        Depth =
        {
            Enabled = true,
            Range = new Zivid.NET.Range<double>(200, 2000),
        },
    },
    Processing =
    {
        Filters =
        {
            Cluster =
            {
                Removal = { Enabled = true, MaxNeighborDistance = 10, MinArea = 100}
            },
            Hole =
            {
                Repair = { Enabled = true, HoleSize = 0.2, Strictness = 1 },
            },
            Noise =
            {
                Removal = { Enabled = true, Threshold = 7.0 },
                Suppression = { Enabled = true },
                Repair = { Enabled = true },
            },
            Outlier =
            {
                Removal = { Enabled = true, Threshold = 5.0 },
            },
            Reflection =
            {
                Removal = { Enabled = true, Mode = ReflectionFilterModeOption.Global },
            },
            Smoothing =
            {
                Gaussian = { Enabled = true, Sigma = 1.5 },
            },
            Experimental =
            {
                ContrastDistortion =
                {
                    Correction = { Enabled = true, Strength = 0.4 },
                    Removal = { Enabled = true, Threshold = 0.5 },
                },
            },
        },
        Resampling = { Mode = Zivid.NET.Settings.ProcessingGroup.ResamplingGroup.ModeOption.Upsample2x2 },
    },
    Diagnostics = { Enabled = false },
};

settings.Color = settings2D;

SetSamplingPixel(ref settings, camera);
Console.WriteLine(settings);

Python

print("Configuring settings for capture:")
settings_2d = zivid.Settings2D()

settings_2d.sampling.color = zivid.Settings2D.Sampling.Color.rgb
settings_2d.sampling.pixel = zivid.Settings2D.Sampling.Pixel.all

settings_2d.processing.color.balance.red = 1.0
settings_2d.processing.color.balance.blue = 1.0
settings_2d.processing.color.balance.green = 1.0
settings_2d.processing.color.gamma = 1.0

settings_2d.processing.color.experimental.mode = zivid.Settings2D.Processing.Color.Experimental.Mode.automatic

settings = zivid.Settings()
settings.engine = zivid.Settings.Engine.phase

settings.region_of_interest.box.enabled = True
settings.region_of_interest.box.point_o = [1000, 1000, 1000]
settings.region_of_interest.box.point_a = [1000, -1000, 1000]
settings.region_of_interest.box.point_b = [-1000, 1000, 1000]
settings.region_of_interest.box.extents = [-1000, 1000]

settings.region_of_interest.depth.enabled = True
settings.region_of_interest.depth.range = [200, 2000]

settings.processing.filters.cluster.removal.enabled = True
settings.processing.filters.cluster.removal.max_neighbor_distance = 10
settings.processing.filters.cluster.removal.min_area = 100

settings.processing.filters.hole.repair.enabled = True
settings.processing.filters.hole.repair.hole_size = 0.2
settings.processing.filters.hole.repair.strictness = 1

settings.processing.filters.noise.removal.enabled = True
settings.processing.filters.noise.removal.threshold = 7.0

settings.processing.filters.noise.suppression.enabled = True
settings.processing.filters.noise.repair.enabled = True

settings.processing.filters.outlier.removal.enabled = True
settings.processing.filters.outlier.removal.threshold = 5.0

settings.processing.filters.reflection.removal.enabled = True
settings.processing.filters.reflection.removal.mode = (
    zivid.Settings.Processing.Filters.Reflection.Removal.Mode.global_
)

settings.processing.filters.smoothing.gaussian.enabled = True
settings.processing.filters.smoothing.gaussian.sigma = 1.5

settings.processing.filters.experimental.contrast_distortion.correction.enabled = True
settings.processing.filters.experimental.contrast_distortion.correction.strength = 0.4

settings.processing.filters.experimental.contrast_distortion.removal.enabled = False
settings.processing.filters.experimental.contrast_distortion.removal.threshold = 0.5

settings.processing.resampling.mode = zivid.Settings.Processing.Resampling.Mode.upsample2x2

settings.diagnostics.enabled = False

settings.color = settings_2d

_set_sampling_pixel(settings, camera)
print(settings)

版本历史

SDK	变更
2.7.0	Tone mapping（色调映射）API被Color Mode（颜色模式）API替代。
2.3.0	添加了Tone mapping（色调映射）API。