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https://github.com/zivid/zivid-cpp-samples

Code samples for the usage of a Zivid 3D camera in C++
https://github.com/zivid/zivid-cpp-samples

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Code samples for the usage of a Zivid 3D camera in C++

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README 

          
# C++ samples



This repository contains cpp code samples for Zivid SDK v2.17.2. For

tested compatibility with earlier SDK versions, please check out

[accompanying

releases](https://github.com/zivid/zivid-cpp-samples/tree/master/../../releases).



![image](https://www.zivid.com/hubfs/softwarefiles/images/zivid-generic-github-header.png)



---



*Contents:*

[**Tutorials**](#Tutorials-list) |

[**Samples**](#Samples-list) |

[**Installation**](#Installation) |

[**Support**](#Support) |

[**License**](#License) |

[**Development**](#Development)



---



## Tutorials list



  - [QuickCaptureTutorial](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/Basic/QuickCaptureTutorial.md)

  - [CaptureTutorial](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/Basic/CaptureTutorial.md)

  - [PointCloudTutorial](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/PointCloudTutorial.md)



## 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](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/Basic/Capture/Capture.cpp) - Capture colored point cloud, save 2D image, save 3D ZDF,

            and export PLY, using the Zivid camera.

          - [CaptureFromFileCamera](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/Basic/CaptureFromFileCamera/CaptureFromFileCamera.cpp) - Capture point clouds, with color, with the Zivid file

            camera.

          - [CaptureHDRCompleteSettings](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/Basic/CaptureHDRCompleteSettings/CaptureHDRCompleteSettings.cpp) - Capture point clouds, with color, from the Zivid camera

            with fully configured settings.

          - [CaptureWithSettingsFromYML](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/Basic/CaptureWithSettingsFromYML/CaptureWithSettingsFromYML.cpp) - Capture images and point clouds, with and without color,

            from the Zivid camera with settings from YML file.

      - **Advanced**

          - [AllocateMemoryForPointCloudData](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/Advanced/AllocateMemoryForPointCloudData/AllocateMemoryForPointCloudData.cpp) - Two methods to copy point cloud data from GPU memory to

            CPU memory, to be consumed by OpenCV.

          - [Capture2DAnd3D](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/Advanced/Capture2DAnd3D/Capture2DAnd3D.cpp) - Capture 2D and 3D with the Zivid camera.

          - [CaptureAndPrintNormals](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/Advanced/CaptureAndPrintNormals/CaptureAndPrintNormals.cpp) - Capture Zivid point clouds, compute normals and print a

            subset.

          - [CaptureHalconViaGenICam](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/Advanced/CaptureHalconViaGenICam/CaptureHalconViaGenICam.cpp) - Capture and save a point cloud, with colors, using GenICam

            interface and Halcon C++ SDK.

          - [CaptureHalconViaZivid](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/Advanced/CaptureHalconViaZivid/CaptureHalconViaZivid.cpp) - Capture a point cloud, with colors, using Zivid SDK,

            transform it to a Halcon point cloud and save it using

            Halcon C++ SDK.

          - [CaptureViaGenICam](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/Advanced/CaptureViaGenICam/CaptureViaGenICam.cpp) - Capture using the GenICam interface.

          - [MultiCameraCaptureInParallel](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/Advanced/MultiCameraCaptureInParallel/MultiCameraCaptureInParallel.cpp) - Capture point clouds with multiple cameras in parallel.

          - [MultiCameraCaptureSequentially](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/Advanced/MultiCameraCaptureSequentially/MultiCameraCaptureSequentially.cpp) - Capture point clouds with multiple cameras sequentially.

          - [MultiCameraCaptureSequentiallyWithInterleavedProcessing](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/Advanced/MultiCameraCaptureSequentiallyWithInterleavedProcessing/MultiCameraCaptureSequentiallyWithInterleavedProcessing.cpp) - Capture point clouds with multiple cameras sequentially

            with interleaved processing.

      - **InfoUtilOther**

          - [AutomaticNetworkConfigurationForCameras](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/InfoUtilOther/AutomaticNetworkConfigurationForCameras/AutomaticNetworkConfigurationForCameras.cpp) - \* Automatically configure the IP addresses of connected

            cameras to match the network of the user's PC.

          - [CameraInfo](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/InfoUtilOther/CameraInfo/CameraInfo.cpp) - List connected cameras and print camera version and state

            information for each connected camera.

          - [CameraUserData](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/InfoUtilOther/CameraUserData/CameraUserData.cpp) - Store user data on the Zivid camera.

          - [CaptureWithDiagnostics](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/InfoUtilOther/CaptureWithDiagnostics/CaptureWithDiagnostics.cpp) - Capture point clouds, with color, from the Zivid camera,

            with settings from YML file and diagnostics enabled.

          - [FirmwareUpdater](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/InfoUtilOther/FirmwareUpdater/FirmwareUpdater.cpp) - Update firmware on the Zivid camera.

          - [FrameInfo](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/InfoUtilOther/FrameInfo/FrameInfo.cpp) - Read frame info from the Zivid camera.

          - [GetCameraIntrinsics](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/InfoUtilOther/GetCameraIntrinsics/GetCameraIntrinsics.cpp) - Read intrinsic parameters from the Zivid camera (OpenCV

            model) or estimate them from the point cloud.

          - [MeasureSceneConditions](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/InfoUtilOther/MeasureSceneConditions/MeasureSceneConditions.cpp) - Measure ambient light conditions in the scene and output

            the measured flickering frequency of the ambient light if

            flickering is detected.

          - [NetworkConfiguration](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/InfoUtilOther/NetworkConfiguration/NetworkConfiguration.cpp) - Uses Zivid API to change the IP address of the Zivid

            camera.

          - [SettingsInfo](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/InfoUtilOther/SettingsInfo/SettingsInfo.cpp) - Read settings info from the Zivid camera.

          - [Warmup](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/InfoUtilOther/Warmup/Warmup.cpp) - Short example of a basic way to warm up the camera with

            specified time and capture cycle.

          - [ZividBenchmark](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/InfoUtilOther/ZividBenchmark/ZividBenchmark.cpp) - Zividbenchmark is a sample that will test the average

            speed of different operations on your computer.

      - **Maintenance**

          - [CorrectCameraInField](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/Maintenance/CorrectCameraInField/CorrectCameraInField.cpp) - Correct the dimension trueness of a Zivid camera.

          - [ResetCameraInField](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/Maintenance/ResetCameraInField/ResetCameraInField.cpp) - Reset infield correction on a camera.

          - [VerifyCameraInField](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/Maintenance/VerifyCameraInField/VerifyCameraInField.cpp) - Check the dimension trueness of a Zivid camera.

          - [VerifyCameraInFieldFromZDF](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Camera/Maintenance/VerifyCameraInFieldFromZDF/VerifyCameraInFieldFromZDF.cpp) - Check the dimension trueness of a Zivid camera from a ZDF

            file.

  - **Applications**

      - **Basic**

          - **Visualization**

              - [CaptureAndVisualizeNormals](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Basic/Visualization/CaptureAndVisualizeNormals/CaptureAndVisualizeNormals.cpp) - Capture Zivid point clouds, with color and normals,

                and visualize it in 3D and as a normal map.

              - [CaptureFromFileCameraVis3D](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Basic/Visualization/CaptureFromFileCameraVis3D/CaptureFromFileCameraVis3D.cpp) - Capture point clouds, with color, with the Zivid file

                camera and visualize them.

              - [CaptureVis3D](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Basic/Visualization/CaptureVis3D/CaptureVis3D.cpp) - Capture point clouds, with color, from the Zivid

                camera, and visualize it.

              - [CaptureWritePCLVis3D](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Basic/Visualization/CaptureWritePCLVis3D/CaptureWritePCLVis3D.cpp) - Capture point clouds, with color, from the Zivid

                camera, save it to PCD file format, and visualize it.

              - [ProjectImageStartAndStop](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Basic/Visualization/ProjectImageStartAndStop/ProjectImageStartAndStop.cpp) - Start the Image Projection and Stop it.

              - [ReadPCLVis3D](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Basic/Visualization/ReadPCLVis3D/ReadPCLVis3D.cpp) - Read point cloud from PCL file and visualize it.

          - **FileFormats**

              - [ReadIterateZDF](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Basic/FileFormats/ReadIterateZDF/ReadIterateZDF.cpp) - Read point cloud data from a ZDF file, iterate through

                it, and extract individual points.

      - **Advanced**

          - [BarcodeDetector](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Advanced/BarcodeDetector/BarcodeDetector.cpp) - Detect and decode linear and matrix barcodes from a 2D

            capture.

          - [CaptureUndistort2D](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Advanced/CaptureUndistort2D/CaptureUndistort2D.cpp) - Use camera intrinsics to undistort a 2D image.

          - [CreateDepthMap](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Advanced/CreateDepthMap/CreateDepthMap.cpp) - Convert point cloud from a ZDF file to OpenCV format,

            extract depth map and visualize it.

          - [Downsample](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Advanced/Downsample/Downsample.cpp) - Downsample point cloud from a ZDF file.

          - [GammaCorrection](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Advanced/GammaCorrection/GammaCorrection.cpp) - Capture 2D image with gamma correction.

          - [HandEyeCalibration](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Advanced/HandEyeCalibration/HandEyeCalibration/HandEyeCalibration.cpp) - Perform Hand-Eye calibration.

          - [MaskPointCloud](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Advanced/MaskPointCloud/MaskPointCloud.cpp) - Mask point cloud from a ZDF file and convert to PCL

            format, extract depth map and visualize it.

          - [ProjectAndFindMarker](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Advanced/ProjectAndFindMarker/ProjectAndFindMarker.cpp) - Show a marker using the projector, capture a set of 2D

            images to find the marker coordinates (2D and 3D).

          - [ReadProjectAndCaptureImage](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Advanced/ReadProjectAndCaptureImage/ReadProjectAndCaptureImage.cpp) - Read a 2D image from file and project it using the camera

            projector.

          - [ReprojectPoints](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Advanced/ReprojectPoints/ReprojectPoints.cpp) - Illuminate checkerboard (Zivid Calibration Board) centers

            by getting the checkerboard feature points

          - [ROIBoxViaArucoMarker](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Advanced/ROIBoxViaArucoMarker/ROIBoxViaArucoMarker.cpp) - Filter the point cloud based on a ROI box given relative

            to the ArUco marker on a Zivid Calibration Board.

          - [ROIBoxViaCheckerboard](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Advanced/ROIBoxViaCheckerboard/ROIBoxViaCheckerboard.cpp) - Filter the point cloud based on a ROI box given relative

            to the Zivid Calibration Board.

          - [StitchContinuouslyRotatingObject](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Advanced/StitchContinuouslyRotatingObject/StitchContinuouslyRotatingObject.cpp) - Stitch point clouds from a continuously rotating object

            without pre-alignment using Local Point Cloud Registration

            and apply Voxel Downsample.

          - [StitchUsingRobotMountedCamera](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Advanced/StitchUsingRobotMountedCamera/StitchUsingRobotMountedCamera.cpp) - Stitch multiple point clouds captured with a robot mounted

            camera.

          - [StitchViaLocalPointCloudRegistration](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Advanced/StitchViaLocalPointCloudRegistration/StitchViaLocalPointCloudRegistration.cpp) - Stitch two point clouds using a transformation estimated

            by Local Point Cloud Registration and apply Voxel

            Downsample.

          - [TransformPointCloudFromMillimetersToMeters](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Advanced/TransformPointCloudFromMillimetersToMeters/TransformPointCloudFromMillimetersToMeters.cpp) - Transform point cloud data from millimeters to meters.

          - [TransformPointCloudViaArucoMarker](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Advanced/TransformPointCloudViaArucoMarker/TransformPointCloudViaArucoMarker.cpp) - Transform a point cloud from camera to ArUco marker

            coordinate frame by estimating the marker's pose from the

            point cloud.

          - [TransformPointCloudViaCheckerboard](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Advanced/TransformPointCloudViaCheckerboard/TransformPointCloudViaCheckerboard.cpp) - Transform a point cloud from camera to checkerboard (Zivid

            Calibration Board) coordinate frame by getting checkerboard

            pose from the API.

          - **HandEyeCalibration**

              - [PoseConversions](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Advanced/HandEyeCalibration/PoseConversions/PoseConversions.cpp) - Convert to/from Transformation Matrix (Rotation Matrix

                + Translation Vector)

              - [UtilizeHandEyeCalibration](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Advanced/HandEyeCalibration/UtilizeHandEyeCalibration/UtilizeHandEyeCalibration.cpp) - Transform single data point or entire point cloud from

                camera to robot base reference frame using Hand-Eye

                calibration

          - **MultiCamera**

              - [MultiCameraCalibration](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Advanced/MultiCamera/MultiCameraCalibration/MultiCameraCalibration.cpp) - Use captures of a calibration object to generate

                transformation matrices to a single coordinate frame,

                from connected cameras.

              - [MultiCameraCalibrationFromZDF](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Advanced/MultiCamera/MultiCameraCalibrationFromZDF/MultiCameraCalibrationFromZDF.cpp) - Use captures of a calibration object to generate

                transformation matrices to a single coordinate frame,

                from a ZDF files.

              - [StitchByTransformation](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Advanced/MultiCamera/StitchByTransformation/StitchByTransformation.cpp) - Use transformation matrices from Multi-Camera

                calibration to transform point clouds into single

                coordinate frame, from connected cameras.

              - [StitchByTransformationFromZDF](https://github.com/zivid/zivid-cpp-samples/tree/master/source/Applications/Advanced/MultiCamera/StitchByTransformationFromZDF/StitchByTransformationFromZDF.cpp) - Use transformation matrices from Multi-Camera

                calibration to transform point clouds into single

                coordinate frame, from a ZDF files.



## Installation



1.  [Install Zivid

    Software](https://support.zivid.com/latest//getting-started/software-installation.html)

2.  [Download Zivid Sample

    Data](https://support.zivid.com/latest//api-reference/samples/sample-data.html)



**Windows**



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:



``` sourceCode bat

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

```



Configure the sample solution with CMake, open it in Visual Studio,

build it, run it. For more information see [Configure C++ Samples With

CMake and Build Them in Visual Studio in

Windows](https://support.zivid.com/latest/api-reference/samples/cpp/configure-cpp-samples-with-cmake-and-build-them-in-visual-studio-on-windows.html).



**Ubuntu**



Open the Terminal by pressing `Ctrl` + `Alt` + `T` keys on the keyboard.



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

to following command:



``` sourceCode bash

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

cd zivid-cpp-samples

```



Build the project:



``` sourceCode bash

mkdir build

cd build

cmake  ../source

make -j

```



Some of the samples depend on external libraries, in particular Eigen 3,

OpenCV, PCL or HALCON. If you don't want to install those, you can

disable the samples depending on them by passing the following options,

respectively, to `cmake`: `-DUSE_EIGEN3=OFF`, `-DUSE_OPENCV=OFF`,

`-DUSE_PCL=OFF`, `-DUSE_HALCON=OFF`.



See [Configure C++ Samples With Optional

Dependencies](https://support.zivid.com/latest/api-reference/samples/cpp/configure-cpp-samples-with-optional-dependencies.html)

for instructions on how to install the optional dependencies and

configure the samples to use them.



The samples can now be run from the build directory, for instance like

this:



``` sourceCode bash

./CaptureFromFileCameraVis3D

```



### HALCON



Zivid offers two ways of interfacing with HALCON:



1.  Through the Zivid SDK, utilizing the C++/C\# libraries available for

    HALCON. We provide samples for both

    [C++](https://support.zivid.com/latest//api-reference/samples/cpp.html)

    and

    [C\#](https://support.zivid.com/latest//api-reference/samples/csharp.html).

    (**Recommended**)

2.  Directly through a GenICam GenTL producer that comes with the [Zivid

    Software](https://support.zivid.com/latest//getting-started/software-installation.html).



Zivid and HALCON are compatible with Windows 10 and 11, and Ubuntu

20.04, 22.04, 24.04.



-----



Note:



> Support for Ubuntu 18.04 is removed since SDK 2.10.



-----



To set up and use Zivid in one of these operating systems, please follow

their respective instructions on the following pages:



  - [Install Zivid + HALCON for

    Windows](https://support.zivid.com/latest/api-reference/samples/halcon/install-zivid-halcon-for-windows.html)

  - [Install Zivid + HALCON for

    LINUX](https://support.zivid.com/latest/api-reference/samples/halcon/install-zivid-halcon-for-linux.html)

  - [Create a HALCON "Hello World"

    Program](https://support.zivid.com/latest/api-reference/samples/halcon/create-a-halcon-hello-world.html)

  - [How to Run a HALCON

    Sample](https://support.zivid.com/latest/api-reference/samples/halcon/how-to-run-a-halcon-sample.html)

  - [Debug in

    HALCON](https://support.zivid.com/latest/api-reference/samples/halcon/halcon-debug.html)

  - [HALCON Sample

    Videos](https://support.zivid.com/latest/api-reference/samples/halcon/halcon-sample-videos.html)



The following HALCON versions have been tested and confirmed to work

with Zivid cameras:



  - 19.05 Progress, 20.05 Progress, 21.11 Progress, 24.05 Progress,

    24.11 Progress-Steady, 25.05 Progress



We recommend using one of the HALCON versions we have tested.



## Support



For more information about the Zivid cameras, please visit our

[Knowledge Base](https://support.zivid.com/latest). If you run into any

issues please check out

[Troubleshooting](https://support.zivid.com/latest/support/troubleshooting.html).



## License



Zivid Samples are distributed under the [BSD

license](https://github.com/zivid/zivid-cpp-samples/tree/master/LICENSE).



## Development



To run continuous integration locally, use

[Docker](https://www.docker.com). With Docker installed, run this

command:



``` sourceCode bash

docker run -it -v :/host -w /host/continuous-integration/linux ubuntu:20.04

```



Where `` is the unix-style path to the repo on

your computer. On Linux, use `$PWD` for this. On Windows you need to

translate the windows-style path to a unix-style one (e.g.

`/c/Users/alice/Documents/zivid-cpp-samples`).



Now run `./setup.sh` to install dependencies. Once setup has completed,

you can run `./lint.sh && ./build.sh` repeatedly to check your code.



-----



Tip:



If your build hangs, try to increase the memory available to Docker.