KB Version History

This page shows the changes we made in the Knowledge Base with the related SDK version.

v2.17

Released: Nov 2025.

New Pages

Academy

• Barcode Detection

• Depalletization and Palletization Tutorial

• Hand-Eye Calibration

  • Hand-Eye Calibration Concept and Theory

  • How to get Good Dataset for Hand-Eye Calibration

  • Hand-Eye Calibration Object

  • How to run and integrate Zivid Hand-Eye Calibration

  • How to Verify Hand-Eye Calibration

  • How to troubleshoot Hand-Eye Calibration

    • OSError: [WinError 127] The specified procedure could not be found

    • Touch Test Unsafe to perform due to Bad Hand-Eye Calibration (Calibration Board Moved or Shifted)

    • Touch Test Unsafe to perform due to Bad Hand-Eye Calibration (Meters instead of Millimeters)

    • Touch Test Unsafe to perform due to Bad Hand-Eye Calibration (Dataset with only Translations)

    • Touch Test Unsafe to perform due to Bad Hand-Eye Calibration (Wrong Rotation Convention)

    • Touch Test Unsafe to perform due to Bad Hand-Eye Calibration (Wrong Hand-Eye Configuration)

    • Unsatisfactory Hand-Eye Calibration Results (Manual Robot Pose Typos)

    • Unsatisfactory Hand-Eye Calibration Results (Loose or Sagging On-Arm Mount)

    • Unsatisfactory Hand-Eye Calibration Results (Bad Robot Calibration: DH Parameters)

    • Unsatisfactory Hand-Eye Calibration Results (Bad Robot Zeroing/Mastering)

    • Unsatisfactory Hand-Eye Calibration Results (Bad Dimension Trueness)

    • Unsatisfactory Hand-Eye Calibration Results (Camera Outside Working Distance)

    • Unsatisfactory Hand-Eye Calibration Results (Loose, Sagging, or Vibrating Calibration Board)

    • Touch Test Fails (Poor Robot Positioning Accuracy) after Good Hand-Eye Calibration (Incorrect TCP)

    • Touch Test Fails (Poor Robot Positioning Accuracy) after Mild Collision

Support

• OpenCL Crashes (SEGFAULT)

• Over-smoothed surfaces/corners and “wing” artifacts on edges in the Point Cloud

• Camera Was Dropped or Impacted

Modified Pages

Getting Started

• User Guide

• Unboxing

• Working Distance and Field-of-View

• Mechanical Interface

• Mounting

• Robot Mounting

• Stationary Mounting

• Tripod Mounting

• Positioning Correctly

• Connectivity and Power Supply

• Regulatory Information

Academy

• Capturing High Quality Point Clouds

• Adjusting Filters

• Getting the Right Exposure for Good Point Clouds

• Optimizing Color Image

• Dealing with Highlights and Shiny Objects

• Dealing with Strong Ambient Light

• Dealing with Smooth (Insufficiently Sharp) 3D Edges

• 2D + 3D Capture Strategy

• Infield Correction

• Stitching

• Hand-Eye GUI

• Piece Picking Tutorial

• Settings Selector based on Capture Speed

• Camera Selector based on Scene Volume

• Bin Picking & Machine Tending Tutorial

• Camera Selector based on Scene Volume

Reference Articles

• Sampling (2D)

• Projector Brightness

• Exposure Time

• Power Supply and Cables

• Status LED Indication

• 2D Color Spaces and Output Formats

• Camera Intrinsics

• Depth of Focus

• Point Cloud Structure and Output Formats

• Camera Coordinate System

Support

• Troubleshooting

• Color Inconsistency (random Color Tint)

Removed/Deprecated Pages

Academy

• Depalletization - Imaging at Large Distance

v2.16 (Released: June 2025)

New Pages

Academy

• Multi-Camera Calibration Tutorial

• Stitch by Transform Tutorial

• Stitching

Software

• Configure C++ Samples With Optional Dependencies

• Isaac Sim

Modified Pages

Getting Started

• Studio Guide

• Control Panel

• Toolbar

• Quick Reference Index

Academy

• Adjusting Filters

• Infield Correction

• Guidelines for Performing Infield Correction

• Point Cloud Capture Process

• Optimizing Color Image

• Zivid Calibration Object

• Point Cloud Tutorial

• Piece Picking Tutorial

• Settings Selector based on Capture Speed

• Bin Picking & Machine Tending Tutorial

• Settings Selector based on Capture Speed

Software

• Configure C++ Samples With CMake and Build Them in Visual Studio in Windows

Reference Articles

• Camera Settings

• Exposure Time

• Diagnostics

• Point Cloud Structure and Output Formats

• Reflection Filter

Removed/Deprecated Pages

• How to Get Good 3D Data on a Pixel of Interest

• Stitch point cloud

• MATLAB

• Create a MATLAB “Hello World” Application With Reference to Zivid .NET API

• MATLAB Installation Instructions

v2.15 (Released: April 2025)

New Pages

Academy

• Hand-Eye GUI

Modified Pages

Getting Started

• User Guide

• Positioning Correctly

• Studio Guide

  • Available Views

  • Toolbar

  • Quick Reference Index

Academy

• Transform

• Normals

• How to get Good Quality Data on Zivid Calibration Object

• Cautions and Recommendations for Hand-Eye Calibration

• How To Use the Result of Hand-Eye Calibration

• Hand-Eye Calibration Process

• Any Robot + RoboDK + Python: Verify Hand-Eye Calibration Result via Touch Test

Software

• Halcon Installation Instructions

• Install Zivid + HALCON for Windows

• Install Zivid + HALCON for LINUX

• Configuration files

Reference Articles

• Power Supply and Cables

• Point Cloud Structure and Output Formats

• Camera Coordinate System

support

• Color Inconsistency (changing Ambient Light)

v2.14 (Released: December 2024)

New Pages

Reference Articles

• 2D Settings

  • Sampling (2D)

  • Acquisition Settings (2D)

    • Exposure Time

    • Aperture

    • Projector Brightness

    • Gain

  • Color Balance

  • Gamma

  • Color Mode

• Sage Engine

Support

• Troubleshooting

  • Capture time with NVIDIA GPU on Windows is unstable

  • Rainbow Pattern Blur

  • Color Inconsistency (random Color Tint)

  • Ripples from Ambient Light Interference

Software

• Debug in HALCON

Removed Pages

Academy

• Monochrome Capture

• Dual Simultaneous Capture

• Downsampling Theory

Modified Pages

Getting Started

• User Guide

  • Regulatory Information

• Static IP Network Configuration - Camera

• Studio Guide

  • Control Panel

  • Toolbar

  • Quick Reference Index

  • Available Views

• Quick Capture Tutorial

Academy

• Capture Tutorial

• 2D + 3D Capture Strategy

• Capturing High Quality Point Clouds

  • Getting the Right Exposure for Good Point Clouds

  • Dealing with Strong Ambient Light

  • Dealing with Highlights and Shiny Objects

• File Camera

• Hand-Eye Calibration

  • Zivid Calibration Object

• Piece Picking Tutorial

  • Camera Selector based on Scene Volume

  • Positioning Correctly

  • Settings Selector based on Capture Speed

  • Production Preparation Processes

• Bin Picking & Machine Tending Tutorial

  • Camera Selector based on Scene Volume

  • Positioning Correctly

  • Settings Selector based on Capture Speed

  • Production Preparation Processes

• Region of Interest Tutorial

  • ROI Box via Zivid Studio

Reference Articles

• Presets

• Vision Engine

  • Stripe Engine

• Sampling (3D)

• Exposure Time

• Projector Brightness

• Data Cables

• Power Supply and Cables

• Camera Intrinsics

• Depth of Focus

• Default Settings

Support

• FAQ

• Troubleshooting

  • Failed to detect Zivid calibration board

  • Contrast Distortion Artifact

  • Blurry Images

  • Blooming

  • Color Inconsistency from HDR

  • Ripples from Interreflections

  • Poor 2D edge detection

v2.13 (Released: June 2024)

New Pages

Support

• Failed to fetch or apply Network Configuration

Modified Pages

Getting Started

• System Requirements

• Network Configuration

  • Static IP Network Configuration - Camera

  • DHCP or Link Local IP Network Configuration - Camera

• About GPU

• Studio Guide

  • Control Panel

  • Available Views

  • Toolbar

  • Quick Reference Index

Academy

• Transform via ArUco marker

• Transform via Checkerboard

• ROI Box via ArUco Marker

• ROI Box via Checkerboard

• Hand-Eye Calibration

  • Zivid Calibration Object

  • How to get Good Quality Data on Zivid Calibration Object

  • Hand-Eye Calibration Process

  • Zivid CLI Tool for Hand-Eye Calibration

  • Cautions and Recommendations for Hand-Eye Calibration

  • UR5 Robot + Python: Generate Dataset and perform Hand-Eye Calibration

  • Any Robot + RoboDK + Python: Generate Dataset and Perform Hand-Eye Calibration

  • Any Robot + RoboDK + Python: Verify Hand-Eye Calibration Result via Touch Test

Software

• Configure C++ Samples With CMake and Build Them in Visual Studio in Windows

• Samples

• SDK Lifecycle

v2.12 (Released: April 2024)

New Pages

Software

• Resampling

Removed Pages

Hardware

• Approved Zivid One+ USB Cables

Support

• Limitation when performing captures in a sequence while switching between 2D and 3D capture calls

• Zivid One+ Errata

• Failed to Locate 2D Camera With Serial Number

Modified Pages

Getting Started

• About GPU

• Studio Guide

  • Available Views

  • Toolbar

  • Quick Reference Index

Academy

• Monochrome Capture

• Point Cloud Capture Process

• 2D Image Capture Process

• Infield Correction

  • Running Infield Correction

• Downsample

• How To Use the Result of Hand-Eye Calibration

• Production Preparation Processes

• 2D + 3D Capture Strategy

• Production Preparation Processes

Software

• Capture Speed

• SDK Lifecycle

Reference Articles

• Vision Engine

  • Phase Engine

  • Stripe Engine

  • Omni Engine

• Reflection Filter

• Calculate 3D Capture Speed

• Recommended Industrial PCs

• Default Settings

v2.11 (Released: December 2023)

New Pages

Getting Started

• Enable Unsupported Compute Device for Zivid Software

Software

• Capture Speed

Reference Articles

• 2D Color Spaces and Output Formats

Modified Pages

Getting Started

• AMD Driver Ubuntu

• Check GPU Driver

Software

• SDK Lifecycle

• Configuration files

Academy

• Performance Considerations

• 2D + 3D Capture Strategy

• Piece Picking Tutorial

  • 2D + 3D Capture Strategy

• Monochrome Capture

• 2D Image Projection

• Infield Correction

  • Running Infield Correction

• Bin Picking & Machine Tending Tutorial

  • Settings Selector based on Capture Speed

• Point Cloud Tutorial

• 2D Image Capture Process

Reference Articles

• Vision Engine

  • Stripe Engine

• Sampling (3D)

• Cleaning Instructions

• Recommended Industrial PCs

v2.10 (Released: August 2023)

New Pages

Getting Started

• Box contents Zivid 2+

Academy

• 2D Image Projection

Software

• Docker

• SDK Lifecycle

Reference Articles

• Vision Engine

  • Phase Engine

  • Stripe Engine

  • Omni Engine

• Sampling (3D)

Modified Pages

Getting Started

• User Guide

  • Unboxing

  • Working Distance and Field-of-View

  • Mechanical Interface

  • Mounting

  • Robot Mounting

  • Stationary Mounting

  • Tripod Mounting

  • Positioning Correctly

  • Connectivity and Power Supply

  • Regulatory Information

Academy

• Performance Considerations

• Monochrome Capture

• Capturing High Quality Point Clouds

  • Working Distance and Camera Positioning

  • Getting the Right Exposure for Good Point Clouds

  • Adjusting Filters

  • Dealing with Strong Ambient Light

  • Dealing with Highlights and Shiny Objects

• Guidelines for Performing Infield Correction

• Multiple Zivid Cameras

• Dual Simultaneous Capture

• Downsample

• How to get Good Quality Data on Zivid Calibration Object

• Piece Picking Tutorial

  • Camera Selector based on Scene Volume

• Bin Picking & Machine Tending Tutorial

  • Application Requirements

  • Camera Selector based on Scene Volume

  • Positioning Correctly

  • Settings Selector based on Capture Speed

  • Production Preparation Processes

  • Maintenance

Reference Articles

• Vision Engine

• Acquisition Settings (3D)

  • Aperture

  • Exposure Time

  • Projector Brightness

• Filters

  • Noise Filter

• Data Cables

• Power Supply and Cables

• Recommended Industrial PCs

• Status LED Indication

• Factory Reset Button

• Thermal Stabilization

• Protective Housing

• Camera Intrinsics

• Point Cloud Structure and Output Formats

• Camera Coordinate System

• Presets

Support

• FAQ

• Ripples from Interreflections

v2.9 (Released: March 2023)

New Pages

Academy

• Performance Considerations

• Performance Considerations for Multiple Zivid Cameras

• File Camera

• Multithreading

• Optimizing Robot Cycle Times

• Region of Interest Tutorial

  • ROI Box via Zivid Studio

Reference Articles

• Camera Settings

  • Region of Interest

  • Cluster Filter

  • Hole Repair Filter

  • Presets

• Calculate 3D Capture Speed

• Camera Intrinsics

Modified Pages

Academy

• Capture Tutorial

• Point Cloud Capture Process

  • Performance Considerations

• 2D Image Capture Process

• 2D + 3D Capture Strategy

• Capturing High Quality Point Clouds

  • Getting the Right Exposure for Good Point Clouds

  • Adjusting Filters

  • Dealing with Highlights and Shiny Objects

  • Depalletization - Imaging at Large Distance

• Infield Correction

  • Guidelines for Performing Infield Correction

  • Running Infield Correction

• Multiple Zivid Cameras

• Transform

  • ROI Box via ArUco Marker

  • ROI Box via Checkerboard

• Cautions and Recommendations for Hand-Eye Calibration

• Piece Picking Tutorial

  • Settings Selector based on Capture Speed

  • Production Preparation Processes

Getting Started

• Studio Guide

  • Control Panel

  • Toolbar

  • Quick Reference Index

Software

• File Camera (Outdated page)

Reference Articles

• Camera Settings

  • Projector Brightness

  • Outlier Filter

  • Reflection Filter

  • Gaussian Smoothing

  • Default Settings

• Calculate 3D Capture Speed

• Thermal Stabilization

v2.8 (Released: October 2022)

New Pages

Academy

• 2D + 3D Capture Strategy

• Any Robot + RoboDK + Python: Verify Hand-Eye Calibration Result via Touch Test

• Any Robot + RoboDK + Python: Generate Dataset and Perform Hand-Eye Calibration

• Piece Picking Tutorial

  • Application Requirements

  • Camera Selector based on Scene Volume

  • Positioning Correctly

  • 2D + 3D Capture Strategy

  • Settings Selector based on Capture Speed

  • Production Preparation Processes

  • Maintenance

Reference Articles

• Recommended Industrial PCs

Support

• 2D color image inconsistency after updating Zivid SDK

• Unknown IP Configuration

Modified Pages

Academy

• Point Cloud Capture Process

• 2D Image Capture Process

• Warm-up

• Firmware Update

• Multiple Zivid Cameras

• Adjusting Color Balance

• Downsample

• Transform

• Normals

• Transform via Checkerboard

• ROI Box via Checkerboard

Getting Started

• User Guide

  • Box contents Zivid One+

  • System Requirements

• Install Zivid on Ubuntu

• Network Configuration

  • Static IP Network Configuration - PC

  • Static IP Network Configuration - Camera

  • DHCP or Link Local IP Network Configuration - Camera

  • DHCP Network Configuration - PC

  • Link Local IP Network Configuration - PC

• Intel Driver Ubuntu

• AMD Driver Ubuntu

• Install OpenCL Drivers on Ubuntu

• Studio Guide

  • Available Views

  • Toolbar

  • Quick Reference Index

Software

• Configure C++ Samples With CMake and Build Them in Visual Studio in Windows

• Halcon Installation Instructions

• Install Zivid + HALCON for LINUX

• API Reference

Reference Articles

• Vision Engine

• SNR Value

• Approved Zivid One+ USB Cables

Support

• FAQ

• Contact Us

v2.7 (Released: June 2022)

New Pages

Academy

• ROI Box via Checkerboard

• Transform via Checkerboard

Reference Articles

• Thermal Stabilization

• Cloud Logging

Support

• Memory Leak in Zivid Application

• How to preserve Thin and Pointy Objects in the Point Cloud

Modified Pages

Getting Started

• User Guide

  • System Requirements

• Network Configuration

  • Static IP Network Configuration - Camera

  • DHCP or Link Local IP Network Configuration - Camera

  • Link Local IP Network Configuration - PC

• GPU Requirements

• Install Zivid on Ubuntu

  • AMD Driver Ubuntu

  • NVIDIA Driver Ubuntu

• Control Panel

• Quick Reference Index

Academy

• Getting the Right Exposure for Good Point Clouds

• Adjusting Filters

• Optimizing Color Image

• How to Get Good 3D Data on a Pixel of Interest

• Dealing with Highlights and Shiny Objects

• Guidelines for Performing Infield Correction

• Warm-up

• Firmware Update

• Multiple Zivid Cameras

• Cautions and Recommendations for Hand-Eye Calibration

• Hand-Eye Calibration Process

• How To Use the Result of Hand-Eye Calibration

• UR5 Robot + Python: Generate Dataset and perform Hand-Eye Calibration

• Calibration

• Stitch point cloud

Software

• Build a C++ “Zivid Hello World” Application in Visual Studio on Windows

• HALCON

  • Install Zivid + HALCON for LINUX

Reference Articles

• Projector Brightness

• Reflection Filter

• Color Mode

• Default Settings

• Vision Engine

Support

• FAQ

• clinfo Does Not Print Anything

• OpenGL issue: GL_INVALID_OPERATION

• Blooming

• Color Inconsistency from HDR

v2.6 (Released: January 2022)

New Pages

Getting Started

• Robot Mounting

• Stationary Mounting

• Tripod Mounting

Academy

• Optimizing Color Image

• Adjusting Color Balance

• Gamma Correction

• 2D Image Capture Process

• Point Cloud Tutorial

• Transform Point Cloud from Millimeters to Meters

• Visualization Tutorial

Software

• C# Installation Instructions

• Python Installation Instructions

• Halcon Installation Instructions

• MATLAB Installation Instructions

Reference Articles

• Color Mode

• Diagnostics

• Status LED Indication

• Factory Reset Button

• Mechanical Considerations for Robot Mounting

• Protective Housing

• Power Supply and Cables

• Data Cables

• Downsampling Theory

Support

• Complete Zivid Errata

• Failed to Load Frame from File

• Limitation when performing captures in a sequence while switching between 2D and 3D capture calls

• Connection Issues and Timeouts, and Variable Capture Speed With Zivid camera

• OpenGL issue: GL_INVALID_OPERATION

• Same Cameras, Settings, and Scene, Different Point Clouds

Modified Pages

Academy

• Infield Correction

  • Running Infield Correction

  • Guidelines for Performing Infield Correction

• Capture Tutorial

• Working Distance and Camera Positioning

• Getting the Right Exposure for Good Point Clouds

• Adjusting Filters

• Downsample

• Transform

• Normals

• Hand-Eye Calibration

  • Zivid CLI Tool for Hand-Eye Calibration

• Multi-Camera Calibration

Getting Started

• Unboxing

• System Requirements

• Mounting

• Mechanical Interface

• Positioning Correctly

• Connectivity and Power Supply

• GPU Requirements

• Studio Guide

  • Control Panel

  • Quick Reference Index

• Network Configuration

Software

• Samples

  • C++

  • C#

  • Python

  • HALCON

Reference Articles

• Approved Zivid One+ USB Cables

• Point Cloud Structure and Output Formats

• Camera Settings

  • Exposure Time

  • Aperture

  • Projector Brightness

  • Gain

  • Noise Filter

  • Outlier Filter

  • Reflection Filter

  • Contrast Distortion Filter

  • Gaussian Smoothing

  • Color Balance

  • Gamma

• Detectable Light Intensity in a Camera Capture

• Introduction to Stops

• Depth of Focus

Support

• FAQ

• Zivid 2 Errata

• Zivid One+ Errata

• clinfo Does Not Print Anything

• OpenCL Device Memory Problem - Instructions

• Blooming

• Color Inconsistency from HDR

• Contact Us

v2.5 (Released: October 2021)

New Pages

Academy

• Normals

• Transform

• Transform via ArUco marker

• ROI Box via ArUco Marker

• Point Cloud Capture Process

Reference Articles

• Camera Coordinate System

Modified Pages

Getting Started

• Studio Guide

  • Control Panel

  • Available Views

  • Toolbar

  • Quick Reference Index

• Select Specific GPU for Zivid Software

• Network Configuration

Academy

• Infield Correction

• Running Infield Correction

• Warm-up

• Downsample

• Transform

• Hand-Eye Calibration

• Zivid CLI Tool for Hand-Eye Calibration

• Multi-Camera Calibration

• Capture Tutorial

Reference Articles

• Default Settings

• Point Cloud Structure and Output Formats

• Vision Engine