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

Python code samples for Zivid
https://github.com/zivid/zivid-python-samples

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Python code samples for Zivid

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README 

          
# Python samples



This repository contains python 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-python-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



  - [quick\_capture\_tutorial](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/basic/quick_capture_tutorial.md)

  - [capture\_tutorial](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/basic/capture_tutorial.md)

  - [point\_cloud\_tutorial](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/point_cloud_tutorial.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-python-samples/tree/master/source/camera/basic/capture.py) - Capture colored point cloud, save 2D image, save 3D ZDF,

            and export PLY, using the Zivid camera.

          - [capture\_from\_file\_camera](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/basic/capture_from_file_camera.py) - Capture point clouds, with color, with the Zivid file

            camera.

          - [capture\_hdr\_complete\_settings](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/basic/capture_hdr_complete_settings.py) - Capture point clouds, with color, from the Zivid camera

            with fully configured settings.

          - [capture\_with\_settings\_from\_yml](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/basic/capture_with_settings_from_yml.py) - Capture images and point clouds, with and without color,

            from the Zivid camera with settings from YML file.

      - **advanced**

          - [capture\_2d\_and\_3d](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/advanced/capture_2d_and_3d.py) - Capture 2D and 3D with the Zivid camera.

          - [capture\_and\_print\_normals](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/advanced/capture_and_print_normals.py) - Capture Zivid point clouds, compute normals and print a

            subset.

      - **info\_util\_other**

          - [adapt\_settings\_for\_flickering\_ambient\_light](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/info_util_other/adapt_settings_for_flickering_ambient_light.py) - Adapt camera acquisition settings based on known ambient

            light conditions.

          - [automatic\_network\_configuration\_for\_cameras](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/info_util_other/automatic_network_configuration_for_cameras.py) - Automatically configure the IP addresses of connected

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

          - [camera\_info](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/info_util_other/camera_info.py) - Print version information for Python, zivid-python and

            Zivid SDK, then list cameras and print camera info and state

            for each connected camera.

          - [camera\_user\_data](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/info_util_other/camera_user_data.py) - Store user data on the Zivid camera.

          - [capture\_with\_diagnostics](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/info_util_other/capture_with_diagnostics.py) - Capture point clouds, with color, from the Zivid camera,

            with default settings and diagnostics enabled.

          - [context\_manager\_with\_zivid](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/info_util_other/context_manager_with_zivid.py) - Sample showing how to use a context manager with Zivid

            Application and safely return processed data.

          - [firmware\_updater](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/info_util_other/firmware_updater.py) - Update firmware on the Zivid camera.

          - [frame\_info](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/info_util_other/frame_info.py) - Read frame info from the Zivid camera.

          - [get\_camera\_intrinsics](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/info_util_other/get_camera_intrinsics.py) - Read intrinsic parameters from the Zivid camera (OpenCV

            model) or estimate them from the point cloud.

          - [measure\_scene\_conditions](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/info_util_other/measure_scene_conditions.py) - Measure ambient light conditions in the scene and output

            the measured flickering frequency of the ambient light if

            flickering is detected.

          - [network\_configuration](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/info_util_other/network_configuration.py) - Uses Zivid API to change the IP address of the Zivid

            camera.

          - [warmup](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/info_util_other/warmup.py) - Short example of a basic way to warm up the camera with

            specified time and capture cycle.

      - **maintenance**

          - [correct\_camera\_in\_field](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/maintenance/correct_camera_in_field.py) - Correct the dimension trueness of a Zivid camera.

          - [reset\_camera\_in\_field](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/maintenance/reset_camera_in_field.py) - Reset infield correction on a camera.

          - [verify\_camera\_in\_field](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/maintenance/verify_camera_in_field.py) - Check the dimension trueness of a Zivid camera.

          - [verify\_camera\_in\_field\_from\_zdf](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/maintenance/verify_camera_in_field_from_zdf.py) - Check the dimension trueness of a Zivid camera from a ZDF

            file.

  - **applications**

      - **basic**

          - **visualization**

              - [capture\_and\_visualize\_normals](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/basic/visualization/capture_and_visualize_normals.py) - Capture Zivid point clouds, compute normals and

                convert to color map and display.

              - [capture\_from\_file\_camera\_vis\_3d](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/basic/visualization/capture_from_file_camera_vis_3d.py) - Capture point clouds, with color, with the Zivid file

                camera.

              - [capture\_vis\_3d](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/basic/visualization/capture_vis_3d.py) - Capture point clouds, with color, from the Zivid

                camera, and visualize it.

              - [project\_image\_start\_and\_stop](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/basic/visualization/project_image_start_and_stop.py) - Start the Image Projection and Stop it.

              - [read\_zdf\_vis\_3d](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/basic/visualization/read_zdf_vis_3d.py) - Read point cloud data from a ZDF file and visualize

                it.

          - **file\_formats**

              - [convert\_zdf](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/basic/file_formats/convert_zdf.py) - Convert point cloud data from a ZDF file to your

                preferred format

              - [read\_iterate\_zdf](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/basic/file_formats/read_iterate_zdf.py) - Read point cloud data from a ZDF file, iterate through

                it, and extract individual points.

      - **advanced**

          - [auto\_2d\_settings](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/auto_2d_settings.py) - Automatically find 2D settings for a 2D capture by using a

            Zivid calibration board.

          - [barcode\_detector](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/barcode_detector.py) - Detect and decode linear and matrix barcodes from a 2D

            capture.

          - [color\_balance](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/color_balance.py) - Balance color of a 2D image by using a Zivid calibration

            board.

          - [create\_depth\_map](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/create_depth_map.py) - Read point cloud data from a ZDF file, convert it to

            OpenCV format, then extract and visualize depth map.

          - [downsample](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/downsample.py) - Downsample point cloud from a ZDF file.

          - [gamma\_correction](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/gamma_correction.py) - Capture 2D image with gamma correction.

          - [get\_checkerboard\_pose\_from\_zdf](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/get_checkerboard_pose_from_zdf.py) - Read point cloud data of a Zivid calibration board from a

            ZDF file, estimate the

          - [hand\_eye\_calibration](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/hand_eye_calibration/hand_eye_calibration.py) - Perform Hand-Eye calibration.

          - [mask\_point\_cloud](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/mask_point_cloud.py) - Read point cloud data from a ZDF file, apply a binary

            mask, and visualize it.

          - [project\_and\_find\_marker](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/project_and_find_marker.py) - Show a marker using the projector, capture a set of 2D

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

          - [read\_project\_and\_capture\_image](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/read_project_and_capture_image.py) - Read a 2D image from file and project it using the camera

            projector.

          - [reproject\_points](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/reproject_points.py) - Illuminate checkerboard (Zivid Calibration Board) centers

            by getting the checkerboard feature points

          - [roi\_box\_via\_aruco\_marker](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/roi_box_via_aruco_marker.py) - Filter the point cloud based on a ROI box given relative

            to the ArUco marker on a Zivid Calibration Board.

          - [roi\_box\_via\_checkerboard](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/roi_box_via_checkerboard.py) - Filter the point cloud based on a ROI box given relative

            to the Zivid Calibration Board.

          - [stitch\_continuously\_rotating\_object](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/stitch_continuously_rotating_object.py) - Stitch point clouds from a continuously rotating object

            without pre-alignment using Local Point Cloud Registration

            and apply Voxel Downsample.

          - [stitch\_using\_robot\_mounted\_camera](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/stitch_using_robot_mounted_camera.py) - Stitch multiple point clouds captured with a robot mounted

            camera.

          - [stitch\_via\_local\_point\_cloud\_registration](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/stitch_via_local_point_cloud_registration.py) - Stitch two point clouds using a transformation estimated

            by Local Point Cloud Registration and apply Voxel

            Downsample.

          - [transform\_point\_cloud\_from\_millimeters\_to\_meters](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/transform_point_cloud_from_millimeters_to_meters.py) - Transform point cloud data from millimeters to meters.

          - [transform\_point\_cloud\_via\_aruco\_marker](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/transform_point_cloud_via_aruco_marker.py) - Transform a point cloud from camera to ArUco marker

            coordinate frame by estimating the marker's pose from the

            point cloud.

          - [transform\_point\_cloud\_via\_checkerboard](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/transform_point_cloud_via_checkerboard.py) - Transform a point cloud from camera to checkerboard (Zivid

            Calibration Board) coordinate frame by getting checkerboard

            pose from the API.

          - **hand\_eye\_calibration**

              - [hand\_eye\_gui](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/hand_eye_calibration/hand_eye_gui.py) - Hand-Eye Calibration GUI

              - [pose\_conversion\_gui](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/hand_eye_calibration/pose_conversion_gui.py) - Convert between different rotation formats with a GUI:

              - [pose\_conversions](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/hand_eye_calibration/pose_conversions.py) - Convert to/from Transformation Matrix (Rotation Matrix

                + Translation Vector).

              - [robodk\_hand\_eye\_calibration](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/hand_eye_calibration/robodk_hand_eye_calibration/robodk_hand_eye_calibration.py) - Generate a dataset and perform hand-eye calibration

                using the Robodk interface.

              - [utilize\_hand\_eye\_calibration](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/hand_eye_calibration/utilize_hand_eye_calibration.py) - Transform single data point or entire point cloud from

                camera to robot base reference frame using Hand-Eye

                calibration

              - [verify\_hand\_eye\_with\_visualization](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/hand_eye_calibration/verify_hand_eye_with_visualization.py) - Verify hand-eye calibration by transforming all

                dataset point clouds and

              - **ur\_hand\_eye\_calibration**

                  - [universal\_robots\_perform\_hand\_eye\_calibration](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/hand_eye_calibration/ur_hand_eye_calibration/universal_robots_perform_hand_eye_calibration.py) - Script to generate a dataset and perform hand-eye

                    calibration using a Universal Robot UR5e robot.

              - **robodk\_hand\_eye\_calibration**

                  - [robodk\_verify\_hand\_eye\_calibration](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/hand_eye_calibration/robodk_hand_eye_calibration/robodk_verify_hand_eye_calibration.py) - Perform a touch test with a robot to verify

                    Hand-Eye Calibration using the RoboDK interface.

          - **multi\_camera**

              - [multi\_camera\_calibration](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/multi_camera/multi_camera_calibration.py) - Use captures of a calibration object to generate

                transformation matrices to a single coordinate frame,

                from connected cameras.

              - [multi\_camera\_calibration\_from\_zdf](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/multi_camera/multi_camera_calibration_from_zdf.py) - Use captures of a calibration object to generate

                transformation matrices to a single coordinate frame,

                from ZDF files.

              - [stitch\_by\_transformation](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/multi_camera/stitch_by_transformation.py) - Use transformation matrices from Multi-Camera

                calibration to transform point clouds into a single

                coordinate frame, from connected cameras.

              - [stitch\_by\_transformation\_from\_zdf](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/multi_camera/stitch_by_transformation_from_zdf.py) - Use transformation matrices from Multi-Camera

                calibration to transform point clouds into single

                coordinate frame, from a ZDF files.

          - **robot\_guidance**

              - [robodk\_robot\_guidance](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/robot_guidance/robodk_robot_guidance.py) - Guide the robot to follow a path on the Zivid

                Calibration Board.

  - **modules**

      - **zividsamples**

          - [calibration\_board\_utils](https://github.com/zivid/zivid-python-samples/tree/master/modules/zividsamples/calibration_board_utils.py) - Utility functions for the Zivid calibration board.

          - [camera\_verification](https://github.com/zivid/zivid-python-samples/tree/master/modules/zividsamples/camera_verification.py) - def capture\_and\_measure\_from\_frame(frame: zivid.Frame)

            -\> VerificationAndState:

          - [color\_to\_grayscale](https://github.com/zivid/zivid-python-samples/tree/master/modules/zividsamples/color_to_grayscale.py) - if rgba\_image.ndim \!= 3 or rgba\_image.shape\[2\] \!= 4: - [display](https://github.com/zivid/zivid-python-samples/tree/master/modules/zividsamples/display.py) - Display relevant data for Zivid Samples.

          - [paths](https://github.com/zivid/zivid-python-samples/tree/master/modules/zividsamples/paths.py) - Get relevant paths for Zivid Samples.

          - [robodk\_tools](https://github.com/zivid/zivid-python-samples/tree/master/modules/zividsamples/robodk_tools.py) - Robot Control Module

          - [save\_load\_matrix](https://github.com/zivid/zivid-python-samples/tree/master/modules/zividsamples/save_load_matrix.py) - Save and load Zivid 4x4 transformation matrices from and

            to YAML files.

          - [save\_load\_transformation\_matrix](https://github.com/zivid/zivid-python-samples/tree/master/modules/zividsamples/save_load_transformation_matrix.py) -

            assert\_affine\_matrix\_and\_save(transformation\_matrix.as\_matrix(),

            yaml\_path)

          - [settings\_utils](https://github.com/zivid/zivid-python-samples/tree/master/modules/zividsamples/settings_utils.py) - categories = zivid.presets.categories2d(camera.info.model)

          - [transformation\_matrix](https://github.com/zivid/zivid-python-samples/tree/master/modules/zividsamples/transformation_matrix.py) - Convenience functions and a class for 4x4 transformation

            matrices.

          - [white\_balance\_calibration](https://github.com/zivid/zivid-python-samples/tree/master/modules/zividsamples/white_balance_calibration.py) - Balance color for 2D capture using white surface as

            reference.



## Installation



-----



Note:



The recommended Python version for these samples is 3.7 - 3.9.



Note that Open3D is not available for Python 3.13 and later.



-----



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).



3.  Check out the Zivid Python samples repository:

    

    ``` sourceCode bash

    git clone http://github.com/zivid/zivid-python-samples.git

    ```



4.  Install the runtime requirements using IDE or command line:



> 

> 

> ``` sourceCode bash

> cd zivid-python-samples

> pip install -r requirements.txt

> ```

> 

> -----

> 

> Note:

> 

> If Open3D fails to install, ensure you are using a Python version

> supported by Open3D. Alternatively, you can install only dependencies

> required for non-Open3D samples by running:

> 

> ``` sourceCode bash

> pip install ./modules

> ```

> 

> -----



5.  Open and run one of the samples.

    

    -----

    

    Note:

    

    Running GUI samples on Windows should be done via `pythonw`.

    

    -----



## 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-python-samples/tree/master/LICENSE).