C# samples

This repository contains csharp code samples for Zivid SDK v2.13.1. For tested compatibility with earlier SDK versions, please check out accompanying releases.

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Contents: Tutorials | Samples | Installation | Support | License

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Tutorials list

• QuickCaptureTutorial
• CaptureTutorial
• PointCloudTutorial

Samples list

There are two main categories of samples: Camera and Applications. The samples in the Camera category focus only on how to use the camera. The samples in the Applications category use the output generated by the camera, such as the 3D point cloud, a 2D image or other data from the camera. These samples shows how the data from the camera can be used.

• Camera
  • Basic
    • Capture - Capture point clouds, with color, from the Zivid camera.
    • Capture2D - Capture 2D images from the Zivid camera.
    • CaptureAssistant - Use Capture Assistant to capture point clouds, with color, from the Zivid camera.
    • CaptureFromFileCamera - Capture point clouds, with color, with the Zivid file camera.
    • CaptureHDR - Capture point clouds, with color, from the Zivid camera.
    • CaptureHDRCompleteSettings - Capture point clouds, with color, from the Zivid camera with fully configured settings.
    • CaptureWithSettingsFromYML - Capture point clouds, with color, from the Zivid camera, with settings from YML file.
  • Advanced
    • CaptureHalconViaGenICam - Capture and save a point cloud, with colors, using GenICam interface and Halcon C++ SDK.
    • CaptureHalconViaZivid - Capture a point cloud, with colors, using Zivid SDK, transform it to a Halcon point cloud and save it using Halcon C++ SDK.
    • CaptureHDRLoop - Cover the same dynamic range in a scene with different acquisition settings to optimize for quality, speed, or to find a compromise.
    • CaptureHDRPrintNormals - Capture Zivid point clouds, compute normals and print a subset.
  • InfoUtilOther
    • AutomaticNetworkConfigurationForCameras - Automatically set the IP addresses of any number of cameras to be in the same subnet as the provided IP address of the network interface.
    • 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 point clouds, with color, from the Zivid camera, with settings from YML file and diagnostics enabled.
    • FirmwareUpdater - Update firmware on the Zivid camera.
    • GetCameraIntrinsics - Read intrinsic parameters from the Zivid camera (OpenCV model) or estimate them from the point cloud.
    • NetworkConfiguration - Uses Zivid API to change the IP address of the Zivid camera.
    • Warmup - A basic warm-up method for a Zivid camera with specified time and capture cycle.
  • 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.
      • ReadAndProjectImage - Read a 2D image from file and project it using the camera projector.
    • 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.
    • HandEyeCalibration - Perform Hand-Eye calibration.
    • MultiCameraCalibration - Use captures of a calibration object to generate transformation matrices to a single coordinate frame.
    • 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.
    • TransformPointCloudFromMillimetersToMeters - Transform point cloud data from millimeters to meters.
    • TransformPointCloudViaArucoMarker - Transform a point cloud from camera to ArUco marker coordinate frame by estimating the marker's pose from the point cloud.
    • TransformPointCloudViaCheckerboard - Transform a point cloud from camera to checkerboard (Zivid Calibration Board) coordinate frame by getting checkerboard pose from the API.
    • HandEyeCalibration
      • PoseConversions - Convert to/from Transformation Matrix (Rotation Matrix
        • Translation Vector)
      • UtilizeHandEyeCalibration - Transform single data point or entire point cloud from camera to robot base reference frame using Hand-Eye calibration

Installation

1. Install Zivid Software
2. Download Zivid Sample Data

Launch the Command Prompt by pressing Win + R keys on the keyboard, then type cmd and press Enter.

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

git clone https://github.com/zivid/zivid-csharp-samples

Open ZividNETSamples.sln in Visual Studio, build it and run it. If you are uncertain about doing this, check out Build C# Samples using Visual Studio.

Some of the samples depend on external libraries, in particular MathNet.Numerics and System.ValueTuple. These libraries will be installed automatically through NuGet when building the sample.

Support

For more information about the Zivid cameras, please visit our Knowledge Base. If you run into any issues please check out Troubleshooting.

License

Zivid Samples are distributed under the BSD license.