ptrks / python-samples

Python code samples for Zivid

python-samples

This repository contains Python code samples for Zivid.

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 (quick tutorial / complete tutorial)
    • capture - This example shows how to acquire images from the Zivid camera.
    • capture_2d - This example shows how to acquire only 2D images from the Zivid camera.
    • capture_assistant - This example shows how to use Capture Assistant to acquire HDR images from the Zivid camera.
    • capture_from_file - This example shows how to acquire HDR images from file. This example can be used without access to a physical camera.
    • capture_hdr - This example shows how to acquire HDR images from the Zivid camera.
    • capture_hdr_complete_settings - This example shows how to acquire HDR images from the Zivid camera and configure all settings.
  • info_util_other
    • print_version_info - This example shows how to print version info about connected Zivid cameras and the installed Zivid SDK.

• applications

  • basic
    • capture_hdr_loop - This example shows how to acquire HDR images from the Zivid camera in a loop (while actively changing some HDR settings).
    • capture_hdr_separate_frames - Capture several individual frames and merge them into one HDR
    • visualization
      • read_zdf_vis_3d - This example shows how to read a PCL point cloud and visualize it.
    • file_formats
      • convert_zdf - This example shows how to convert from ZDF to your preferred format (.ply, .csv, .txt, .png, .jpg, .bmp, .tiff).
      • read_iterate_zdf - This example shows how to import and display a Zivid point cloud from a .ZDF file.
  • advanced
    • hand_eye_calibration
      • calibrate_eye_to_hand - This samples shows how to perform a complete Hand to Eye calibration
      • utilize_eye_in_hand_calibration - Transform a 3D point from camera frame to robot base frame using hand-eye calibration matrix.
      • pose_conversions - Convert to/from Transformation Matrix (Rotation Matrix + Translation Vector)
      • universal_robots_hand_eye_calibration
        • universal_robots_perform_hand_eye_calibration - Generate dataset and perform hand-eye calibration on generated dataset.
        • Dependencies:
          • OpenCV version 4.0.1 or newer.
          • RTDE version 1.0 or newer.
          • Scipy version 1.4.0 or newer.
    • downsample - This example shows how to import a Zivid point cloud from a .ZDF file and downsample it.
      • Dependencies:
        • Eigen version 3.3.7 or newer
    • create_depth_map - Import a ZDF point cloud and convert it to OpenCV format, then extract and visualize depth map.
    • [mask_point_cloud][mask_point_cloud-url] - Import ZDF point cloud, apply a binary mask, and visualize it.
      • Dependencies:
        • OpenCV version 4.0.1 or newer
    • gamma_correction - Modify gamma of the 2D image.
      • Dependencies:
        • OpenCV version 4.0.1 or newer
    • color_balance - Balance color for RGB image.

Instructions

1. Install Zivid Software. Note: The version tested with Zivid cameras is 1.8.1.

2. Install Zivid Python.

3. Download Zivid Sample Data.

4. [Optional] Launch the Python IDE of your choice. Read our instructions on setting up Python.

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

   pip install -r requirements.txt
   

6. Open and run one of the samples.

Support

If you need assistance with using Zivid cameras, visit our Knowledge Base at https://help.zivid.com/ or contact us at [e-mail].

Licence

Zivid Samples are distributed under the BSD license.