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

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

csharp samples zivid

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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 csharp 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-csharp-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)



---



## Tutorials list



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

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

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

            and export PLY, using the Zivid camera.

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

            camera.

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

            with fully configured settings.

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

            from the Zivid camera with settings from YML file.

      - **Advanced**

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

            subset.

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

            interface and Halcon C++ SDK.

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

            transform it to a Halcon point cloud and save it using

            Halcon C++ SDK.

      - **InfoUtilOther**

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

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

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

            information for each connected camera.

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

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

            with settings from YML file and diagnostics enabled.

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

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

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

            model) or estimate them from the point cloud.

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

            camera.

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

            specified time and capture cycle.

      - **Maintenance**

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

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

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

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

            file.

  - **Applications**

      - **Basic**

          - **Visualization**

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

                camera and visualize them.

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

                camera, and visualize them.

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

          - **FileFormats**

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

                it, and extract individual points.

              - [ZDF2PLY](https://github.com/zivid/zivid-csharp-samples/tree/master/source/Applications/Basic/FileFormats/ZDF2PLY/ZDF2PLY.cs) - Convert point cloud from a ZDF file to a PLY file.

      - **Advanced**

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

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

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

            transformation matrices to a single coordinate frame.

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

            projector.

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

            to the Zivid Calibration Board.

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

            camera.

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

            by Local Point Cloud Registration and apply Voxel

            Downsample.

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

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

                + Translation Vector)

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

                camera to robot base reference frame using Hand-Eye

                calibration



## 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)



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-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](https://support.zivid.com/latest/api-reference/samples/csharp/build-c-sharp-samples-using-visual-studio.html).



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](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-csharp-samples/tree/master/LICENSE).