基于捕获速度的设置选择器

本章节将根据您从触发采集到获得点云的时间预算来提供有关最佳相机设置的详细说明。同时，我们还会考虑您的PC规格，因为数据传输和点云处理也取决于此。我们通过优化3D捕获的设置来获得良好的点云，以及通过优化2D捕获的设置来获得良好的彩色图像。

在这之前，您已确定选择哪款Zivid相机用于您的单品拣选应用，并且已正确安装和定位它。下一步是根据您的PC规格选择满足您的周期时间要求的相机设置。如果您还没有准备好PC，本文也介绍了如何结合使用的设置找到满足您的捕获时间要求的PC规格。

To download the desired settings file, connect to the camera (your specific model) in Zivid Studio, select the preset settings, turn on Ambient Light Adaption, and export the settings. The capture time with settings adapted for ambient light frequency might be longer.

60 Hz

To download the desired settings file, connect to the camera (your specific model) in Zivid Studio, select the preset settings, turn on Ambient Light Adaption, and export the settings. The capture time with settings adapted for ambient light frequency might be longer.

备注

If you plan to take a separate 2D capture, then you can disable color in your 3D capture by setting Sampling::Color to disabled to save capture time. The color in the preset settings is enabled by default.

为了证实能够达到上述单品拣选应用的要求，我们在多种不同规格的PC上使用Zivid相机运行基准捕获程序（benchmark capture programs）。下表显示了其结果。

Zivid 2+

以毫秒为单位的预期中位数 (±stddev)
消费品设置	Intel UHD i5G1	NVIDIA 4070	Intel UHD 770
消费品设置	Low-end [1]	High-end [2]
`Z2+ M60 Fast`	N/A	N/A	N/A
`Z2+ M130 Fast`	1773 (±418) ms	556 (±4) ms	1211 (±3) ms
`Z2+ L110 Fast`	1773 (±404) ms	555 (±5) ms	1210 (±3) ms
`Z2+ M60 Quality`	N/A	N/A	N/A
`Z2+ M130 Quality`	4309 (±305) ms	1707 (±6) ms	2726 (±5) ms
`Z2+ L110 Quality`	4314 (±320) ms	1707 (±6) ms	2726 (±5) ms

Zivid 2

以毫秒为单位的预期中位数 (±stddev)
消费品设置	Intel UHD 750	Intel UHD i3G1	NVIDIA 3070
消费品设置	High-end [3]	Low-end [4]	High-end [5]
`Z2 M70 Fast`	757 (±15) ms	1186 (±11) ms	305 (±5) ms
`Z2 L100 Fast`	746 (±13) ms	1184 (±11) ms	305 (±6) ms
`Z2 M70 Quality`	934 (±8) ms	1338 (±10) ms	462 (±7) ms
`Z2 L100 Quality`	934 (±8) ms	1339 (±10) ms	462 (±6) ms

Zivid One+

以毫秒为单位的预期中位数 (±stddev)
消费品设置	Intel UHD 750	Intel UHD i3G1	NVIDIA 3070
消费品设置	High-end [6]	Low-end [7]	High-end [8]
`Z1+ M Fast`	868 (±6) ms	1299 (±4) ms	358 (±2) ms
`Z1+ L Fast`	867 (±6) ms	1296 (±4) ms	359 (±1) ms
`Z1+ M Quality`	1226 (±2) ms	1880 (±5) ms	653 (±4) ms
`Z1+ L Quality`	1233 (±4) ms	1878 (±5) ms	656 (±4) ms

Parcel Picking 

Parcel is also split into two settings depending on scene complexity and capture time.

Parcels Fast/Matte

Parcels（包裹） Fast (Zivid 2+) / Matte (Zivid 2) settings are designed to achieve the shortest cycle times. These settings have a limited dynamic range but are good enough for objects that are relatively straightforward for imaging, for example:

纸板箱
白色信封
bright poly bags

小技巧

If you are only imaging boxes, parcels, satchels, etc., choose Parcels Fast (Zivid 2+) / Matte (Zivid 2) settings.

Parcels Quality/Reflective

For more challenging scenes, you should try out Parcels（包裹） Quality (Zivid 2+) / Reflective (Zivid 2) settings. These settings have larger dynamic range and are capable of getting good surface coverage on objects such as:

black poly bags
dark plastic bags
dark plastic wrap

设置选择表

If you experience artifacts in the form of ripples/waves across the whole point cloud, choose 50/60 Hz to select presets adapted to the ambient light (grid) frequency. If the ambient light is unproblematic, select Off for optimal performance.

Off

应用	捕获时间（2D + 3D）			相机设置
应用	高端电脑	中端电脑	低端电脑	相机设置
Parcels (Quality/Reflective)	~400 ms	~600 毫秒	~800 ms	`Z2+ M130 Quality`
				`Z2+ L110 Quality`
				`Z2 M70 Reflective`
				`Z2 L100 Reflective`
Parcels (Fast/Matte)	~200 ms	~350 ms	~500 毫秒	`Z2+ M130 Fast`
				`Z2+ L110 Fast`
				`Z2 M70 Matte`
				`Z2 L100 Matte`

50 Hz

To download the desired settings file, connect to the camera (your specific model) in Zivid Studio, select the preset settings, turn on Ambient Light Adaption, and export the settings. The capture time with settings adapted for ambient light frequency might be longer.

60 Hz

To download the desired settings file, connect to the camera (your specific model) in Zivid Studio, select the preset settings, turn on Ambient Light Adaption, and export the settings. The capture time with settings adapted for ambient light frequency might be longer.

备注

If you plan to take a separate 2D capture, we recommend disabling color in your 3D capture by setting Sampling::Color to disabled. This will reduce the capture time. The color in the preset settings is enabled by default.

To demonstrate reaching the above requirements for parcels we continuously run benchmark capture programs with our cameras on various PCs. The following table shows the results.

Zivid 2+

以毫秒为单位的预期中位数 (±stddev)
Parcels Settings	Intel UHD i5G1	NVIDIA 4070	Intel UHD 770
Parcels Settings	Low-end [9]	High-end [10]
`Z2+ M130 Fast`	612 (±6) ms	185 (±2) ms	345 (±2) ms
`Z2+ L110 Fast`	611 (±5) ms	186 (±2) ms	345 (±2) ms
`Z2+ M130 Quality`	817 (±15) ms	345 (±2) ms	581 (±3) ms
`Z2+ L110 Quality`	818 (±13) ms	345 (±2) ms	581 (±4) ms

Zivid 2

以毫秒为单位的预期中位数 (±stddev)
Parcels Settings	Intel UHD 750	Intel UHD i3G1	NVIDIA 3070
Parcels Settings	High-end [11]	Low-end [12]	High-end [13]
`Z2 M70 Matte`	443 (±2) ms	725 (±71) ms	193 (±5) ms
`Z2 L100 Matte`	443 (±2) ms	728 (±7) ms	193 (±5) ms
`Z2 M70 Reflective`	678 (±7) ms	1060 (±71) ms	323 (±6) ms
`Z2 L100 Reflective`	678 (±7) ms	1059 (±8) ms	323 (±5) ms

Zivid One+

以毫秒为单位的预期中位数 (±stddev)
Parcels Settings	Intel UHD 750	Intel UHD i3G1	NVIDIA 3070
Parcels Settings	High-end [14]	Low-end [15]	High-end [16]
No data available.

测试3D设置

我们可以使用Zivid Studio来测试3D设置。

可通过以下操作在Zivid Studio中导入设置：

点击 File → Import Capture Settings
导航到设置文件的位置
点击Open

小技巧

将YML文件直接拖放至Zivid Studio界面也可以导入相机的3D设置 - 该功能自Zivid SDK 2.5起可以使用。

也可以使用Zivid SDK加载设置。

C++

std::cout << "Loading settings from file" << std::endl;
const auto settingsFile =
    std::string(ZIVID_SAMPLE_DATA_DIR) + "/Settings/" + settingsFolder(camera) + "/Settings01.yml";
const auto settings = Zivid::Settings(settingsFile);

C＃

Console.WriteLine("Loading settings from file");
var settingsFile = Environment.GetFolderPath(Environment.SpecialFolder.CommonApplicationData)
                   + "/Zivid/Settings/" + SettingsFolder(camera) + "/Settings01.yml";
var settings = new Zivid.NET.Settings(settingsFile);

Python

print("Loading settings from file")
settings_file = Path(user_options.settings_path)
settings = zivid.Settings.load(settings_file)

2D设置 

虽然您可以通过3D捕获获得彩色图像，但可能因为相机投影仪发出的光线导致2D图像可能不足以满足您的2D应用需求。您可以在 2D+3D捕获策略中阅读更多相关信息。我们为您的单品拣选应用提供了两个获取2D设置的选项：

使用Zivid标定板和代码示例来自动获取2D设置
使用查询表找到合适的2D设置
Manually tune 2D settings

Automatic 2D settings 

您可以运行 auto_2d_settings.py 示例来使用Zivid标定板自动查找2D捕获的采集设置和色彩平衡。将标定板放放置在料箱的顶部或底部，并通过指定标定板的位置和所需的对焦范围（料箱高度）作为命令行参数来运行示例。例如，如果您将标定板放在箱子顶部，箱高为400毫米，则按以下方式运行样本：

python auto_2d_settings.py --desired-focus-range 400 --checkerboard-at-start-of-range

如果将标定板放在料箱底部，请运行：

python auto_2d_settings.py --desired-focus-range 400 --checkerboard-at-end-of-range

默认情况下，此示例在查找2D设置时不会使用相机内部投影仪，但这可以通过可选参数 --use-projector 进行设置。此外，您还可以通过可选参数 --no-color-balance 来选择不执行颜色平衡的查找算法。由于示例使用场景中的环境光进行校准，您应该在与实际应用类似的照明条件下运行该示例。

设置选择表 

下表是一个设置选择器工具，用于根据料箱底部的照度和相机到料箱顶部的距离进行2D设置。这些2D设置适用于不使用相机投影仪作为光源，仅使用外部光源的情况。

使用该表格时，首先要在给定的预期照明条件的情况下确定料箱底部的照度。然后，根据从相机到料箱顶部的距离选择设置。

备注

照度的单位为勒克斯 (lx) ，是入射到单位面积表面上的总光功率。光功率的单位为流明 (lm) ，是单位时间内光源发出的可见光总量的量度。

小技巧

您可以使用适用于 Android 或 Apple 的测光仪应用程序粗略地测量场景中的照度；如果需要进行准确的测量，那么您需要一个照度计。

料箱底部照度	相机到箱子顶部距离
料箱底部照度	600 毫米	800 毫米	1100 毫米	1400 毫米	1700 毫米	1900 毫米
~300 lx	`Zivid Two M70`	`Zivid Two M70`	`Zivid Two L100`	`Zivid One+ M`	`Zivid One+ L`	`Zivid One+ L`
		`Zivid Two L100`	`Zivid One+ M`	`Zivid One+ L`	`Zivid 2 Plus M130`	`Zivid 2 Plus M130`
		`Zivid One+ M`	`Zivid 2 Plus M130`	`Zivid 2 Plus M130`
		`Zivid 2 Plus M130`	`Zivid 2 Plus L110`	`Zivid 2 Plus L110`
		`Zivid 2 Plus L110`	`Zivid 2 Plus L110`	`Zivid 2 Plus L110`
~1000 lx	`Zivid Two M70`	`Zivid Two M70`	`Zivid Two L100`	`Zivid One+ M`	`Zivid One+ L`	`Zivid One+ L`
		`Zivid Two L100`	`Zivid One+ M`	`Zivid One+ L`	`Zivid 2 Plus M130`	`Zivid 2 Plus M130`
		`Zivid One+ M`	`Zivid 2 Plus M130`	`Zivid 2 Plus M130`
		`Zivid 2 Plus M130`	`Zivid 2 Plus L110`	`Zivid 2 Plus L110`
		`Zivid 2 Plus L110`	`Zivid 2 Plus L110`	`Zivid 2 Plus L110`

小技巧

您如果希望在您的PC上对3D和/或2D设置进行基准测试（benchmark），您可以从YML文件加载设置并运行 ZividBenchmark.cpp 示例。您可以打开示例，然后选择C++标题来获取说明。

Manually tune 2D settings 

If automatic tuning or the look-up table does not provide sufficient 2D quality, you can manually tune the color settings by adjusting the color balance and gamma parameters. Gamma correction can be used to either darken or brighten the image. The color channel parameters makes the color image look more natural. We recommend using our projector as a flash when capturing 2D images. IN this case, you do not need to adjust the color balance. If you choose to capture without the projector, you need to re-tune the white balance. We explain how to do this in Color Balance（色彩平衡） article.

For an in-depth tutorial on how to optimize for colors, see 优化彩色图像.

测试2D设置

To test 2D settings, you can either use the 2D capture mode in Zivid Studio or run our code sample.

可通过以下操作在Zivid Studio中导入设置：

点击 File → Import Capture Settings
导航到设置文件的位置
点击Open

小技巧

将YML文件直接拖放至Zivid Studio界面也可以导入相机的3D设置 - 该功能自Zivid SDK 2.5起可以使用。

也可以使用Zivid SDK加载设置。

Using our code sample, you can provide the path to the 2D acquisition settings YML file as an argument.

python capture_2d_with_settings_from_yml.py <path-to-2d-settings.yml>

The sample load the 2D settings, capture an image, displays it, and saves it.

Python

user_options = _options()
camera = app.connect_camera()
settings_2d = zivid.Settings2D.load(user_options.path)
with camera.capture(settings_2d) as frame_2d:
    image = frame_2d.image_rgba()
    rgba = image.copy_data()
    display_rgb(rgba[:, :, 0:3], title="RGB image", block=True)
    image_file = "Image.png"
    print(f"Saving 2D color image to file: {image_file}")
    image.save(image_file)

备注

我们在低环境光（~300 lx）和高环境光（~1000 lx）条件下测试了我们为上述典型场景推荐的3D和2D设置。我们已经完成了我们在相机选择器章节中指定的距离范围，以及场景中的所有项目的测试。因此，我们相信这些设置将适用于属于这些类别的大多数场景。但是，如果您确切地知道场景中的项目是什么，并且您是专业的相机使用者，则可以手动配置设置以针对您的情况来优化它们。您可以查看捕获高质量的点云来了解如何做到这一点。

在下一章节中，我们将介绍如何通过使用多线程来优化机器人循环时间。

基于捕获速度的设置选择器

3D设置 

Consumer Goods 

Parcel Picking 

2D设置 

Automatic 2D settings 

设置选择表 

Manually tune 2D settings 

基于捕获速度的设置选择器

3D设置

Consumer Goods

Parcel Picking

2D设置

Automatic 2D settings

设置选择表

Manually tune 2D settings

3D设置 

Consumer Goods 

Parcel Picking 

2D设置 

Automatic 2D settings 

设置选择表 

Manually tune 2D settings 