Classes
class	AccuracyEstimate
	A dimension accuracy estimate for a specific working volume. More...
class	CameraCorrection
	An in-field correction that may be written to a camera. More...
class	CameraVerification
	An assessment of the current dimension trueness of a camera at a specific location. More...
class	DetectionResult
	A result returned by the detectCalibrationBoard(...) call. More...
class	DetectionResultFiducialMarkers
	Stores the result returned by a detectMarkers(const Frame &frame, const std::vector<int> &markerIds, const MarkerDictionary &markerDictionary) call. More...
class	HandEyeInput
	Binds together a robot pose and the detection result acquired from the pose. More...
class	HandEyeOutput
	The hand-eye calibration result containing the computed pose and reprojection errors for all the input poses. More...
class	HandEyeResidual
	Representation of the estimated errors of a calibrated hand-eye transform. More...
class	InfieldCorrectionInput
	Container for input-data needed by in-field verification and correction functions. More...
class	MarkerDictionary
	Holds information about fiducial markers such as ArUco or AprilTag for detection. More...
class	MarkerShape
	Holds physical (3D) and image (2D) properties of a detected fiducial marker. More...
class	MultiCameraOutput
	The results from a multi-camera calibration process. More...
class	MultiCameraResidual
	Representation of the estimated errors of a multi-camera calibration. More...
class	Pose
	Describes a rigid transform (rotation+translation), such as a robot pose. More...

Enumerations
enum class	CalibrationBoardDetectionStatus { ok , noValidFiducialMarkerDetected , multipleValidFiducialMarkersDetected , boardDetectionFailed , insufficient3DQuality }
enum class	InfieldCorrectionDetectionStatus { ok , detectionFailed , invalidAlignment }

Functions
ZIVID_CORE_EXPORT std::string	toString (const CalibrationBoardDetectionStatus &status)
	Get string representation of the status.
ZIVID_CORE_EXPORT std::ostream &	operator<< (std::ostream &stream, const CalibrationBoardDetectionStatus &status)
	Serialize the value to a stream.
ZIVID_CORE_EXPORT std::ostream &	operator<< (std::ostream &stream, const DetectionResult &result)
	Serialize the value to a stream.
ZIVID_CORE_EXPORT std::ostream &	operator<< (std::ostream &stream, const DetectionResultFiducialMarkers &result)
	Serialize the value to a stream.
ZIVID_CORE_EXPORT DetectionResult	detectCalibrationBoard (Zivid::Camera &camera)
	Detects feature points from a calibration board using the given camera.
ZIVID_CORE_EXPORT DetectionResult	detectCalibrationBoard (const Frame &frame)
	Detects feature points from a calibration board in a frame.
ZIVID_CORE_EXPORT DetectionResultFiducialMarkers	detectMarkers (const Frame &frame, const std::vector< int > &allowedMarkerIds, const MarkerDictionary &markerDictionary)
	Detects fiducial markers such as ArUco markers in a frame.
ZIVID_CORE_EXPORT Frame	captureCalibrationBoard (Zivid::Camera &camera)
	Capture calibration board with the given camera.
ZIVID_CORE_EXPORT DetectionResult	detectFeaturePoints (const PointCloud &cloud)
	Detects feature points from a calibration board in a point cloud.
ZIVID_CORE_EXPORT std::ostream &	operator<< (std::ostream &stream, const HandEyeInput &handEyeInput)
	Serialize the value to a stream.
ZIVID_CORE_EXPORT std::ostream &	operator<< (std::ostream &stream, const HandEyeResidual &residual)
	Serialize the value to a stream.
ZIVID_CORE_EXPORT std::ostream &	operator<< (std::ostream &stream, const HandEyeOutput &handEyeOutput)
	Serialize the value to a stream.
ZIVID_CORE_EXPORT HandEyeOutput	calibrateEyeInHand (const std::vector< HandEyeInput > &inputs)
	Performs eye-in-hand calibration.
ZIVID_CORE_EXPORT HandEyeOutput	calibrateEyeToHand (const std::vector< HandEyeInput > &inputs)
	Performs eye-to-hand calibration.
ZIVID_CORE_EXPORT std::ostream &	operator<< (std::ostream &stream, const InfieldCorrectionInput &input)
	Serialize the value to a stream.
ZIVID_CORE_EXPORT std::ostream &	operator<< (std::ostream &stream, const CameraVerification &cameraVerification)
	Serialize the value to a stream.
ZIVID_CORE_EXPORT std::ostream &	operator<< (std::ostream &stream, const AccuracyEstimate &accuracyEstimate)
	Serialize the value to a stream.
ZIVID_CORE_EXPORT std::ostream &	operator<< (std::ostream &stream, const CameraCorrection &cameraCorrection)
	Serialize the value to a stream.
ZIVID_CORE_EXPORT CameraVerification	verifyCamera (const InfieldCorrectionInput &input)
	Verify the current camera trueness based on a single measurement.
ZIVID_CORE_EXPORT CameraCorrection	computeCameraCorrection (const std::vector< InfieldCorrectionInput > &dataset)
	Calculate new in-field camera correction.
ZIVID_CORE_EXPORT void	writeCameraCorrection (Camera &camera, const CameraCorrection &cameraCorrection)
	Write the in-field correction on a camera.
ZIVID_CORE_EXPORT void	resetCameraCorrection (Camera &camera)
	Reset the in-field correction on a camera to factory settings.
ZIVID_CORE_EXPORT bool	hasCameraCorrection (const Camera &camera)
	Check if the camera has an in-field correction written to it.
ZIVID_CORE_EXPORT std::chrono::time_point< std::chrono::system_clock >	cameraCorrectionTimestamp (const Camera &camera)
	Get the UTC time at which the camera's in-field correction was created.
ZIVID_CORE_EXPORT std::string	toString (InfieldCorrectionDetectionStatus status)
	Get string representation of the status.
ZIVID_CORE_EXPORT std::ostream &	operator<< (std::ostream &stream, const InfieldCorrectionDetectionStatus &status)
	Serialize the value to a stream.
ZIVID_CORE_EXPORT std::ostream &	operator<< (std::ostream &os, const MarkerDictionary &dictionary)
	Serialize the dictionary to a stream.
ZIVID_CORE_EXPORT std::ostream &	operator<< (std::ostream &stream, const MarkerShape &shape)
	Serialize the value to a stream.
ZIVID_CORE_EXPORT std::ostream &	operator<< (std::ostream &stream, const MultiCameraResidual &residual)
	Serialize the value to a stream.
ZIVID_CORE_EXPORT std::ostream &	operator<< (std::ostream &stream, const MultiCameraOutput &multiCameraOutput)
	Serialize the value to a stream.
ZIVID_CORE_EXPORT MultiCameraOutput	calibrateMultiCamera (const std::vector< DetectionResult > &detectionResults)
	Performs multi-camera calibration.
ZIVID_UTILS_EXPORT std::ostream &	operator<< (std::ostream &stream, const Pose &pose)
	Serialize the value to a stream.

Enumeration Type Documentation

◆ CalibrationBoardDetectionStatus

enum class Zivid::Calibration::CalibrationBoardDetectionStatus

strong

Enumerator
ok
noValidFiducialMarkerDetected
multipleValidFiducialMarkersDetected
boardDetectionFailed
insufficient3DQuality

◆ InfieldCorrectionDetectionStatus

enum class Zivid::Calibration::InfieldCorrectionDetectionStatus

strong

Enumerator
ok
detectionFailed
invalidAlignment

Function Documentation

◆ calibrateEyeInHand()

ZIVID_CORE_EXPORT HandEyeOutput Zivid::Calibration::calibrateEyeInHand ( const std::vector< HandEyeInput > & inputs )

Performs eye-in-hand calibration.

The procedure requires all robot poses to be different. At least 2 poses are required when using a calibration board, or 6 poses when using fiducial markers. For fiducial markers, each marker must be detected across 2 poses at minimum. An exception will be thrown if the preceding requirements are not fulfilled.

Note: the units of the input robot poses must be consistent with the units of the point clouds used to create the detection results. Zivid point clouds are, by default, in millimeters.

Parameters

inputs Vector of HandEyeInput instances.

Returns: Instance of HandEyeOutput.

◆ calibrateEyeToHand()

ZIVID_CORE_EXPORT HandEyeOutput Zivid::Calibration::calibrateEyeToHand ( const std::vector< HandEyeInput > & inputs )

Performs eye-to-hand calibration.

The procedure requires all robot poses to be different. At least 2 poses are required when using a calibration board, or 6 poses when using fiducial markers. For fiducial markers, each marker must be detected across 2 poses at minimum. An exception will be thrown if the preceding requirements are not fulfilled.

Note: the units of the input robot poses must be consistent with the units of the point clouds used to create the detection results. Zivid point clouds are, by default, in millimeters.

Parameters

inputs Vector of HandEyeInput instances.

Returns: Instance of HandEyeOutput.

◆ calibrateMultiCamera()

ZIVID_CORE_EXPORT MultiCameraOutput Zivid::Calibration::calibrateMultiCamera ( const std::vector< DetectionResult > & detectionResults )

Performs multi-camera calibration.

Multi-camera calibration is used in a multi-camera setup to find the pose of secondary cameras in the frame of a designated primary camera, e.g. to combine points clouds into a single frame of reference.

The input is generated by imaging the same checkerboard from each camera and inserting the resulting frame into Zivid::Calibration::detectCalibrationBoard(const Zivid::Frame &frame). Add the resulting DetectionResult objects to a vector with the first element corresponding to the primary camera.

The returned object contains a vector of transforms, which provides the pose of camera[i] in the frame of camera[0]. Apply transform[i] to the points from camera[i] to get the same points in the frame of camera[0]. The returned object also contains a vector of residuals corresponding to each transform.

Parameters

detectionResults Vector of DetectionResult instances.

Returns: A MultiCameraOutput instance.

◆ cameraCorrectionTimestamp()

ZIVID_CORE_EXPORT std::chrono::time_point< std::chrono::system_clock > Zivid::Calibration::cameraCorrectionTimestamp ( const Camera & camera )

Get the UTC time at which the camera's in-field correction was created.

If hasCameraCorrection is false, the returned timestamp will default to beginning of epoch (Jan 1st 1970 UTC).

Parameters

camera The camera to check

Returns: A UTC timestamp indicating when the correction was created

◆ captureCalibrationBoard()

ZIVID_CORE_EXPORT Frame Zivid::Calibration::captureCalibrationBoard ( Zivid::Camera & camera )

Capture calibration board with the given camera.

The functionality is to be exclusively used in combination with Zivid verified calibration boards. For further information please visit Zivid help page.

This function will perform a relatively slow but high-quality point cloud capture with the given camera. This function is necessary for applications that require very high-accuracy captures, such as in-field verification/correction.

The Frame that is returned from this function may be used as input to Zivid::Calibration::detectCalibrationBoard(const Zivid::Frame &frame). You may also use Zivid::Calibration::detectCalibrationBoard(Zivid::Camera &camera) directly, which will invoke this function under the hood and yield a DetectionResult.

◆ computeCameraCorrection()

ZIVID_CORE_EXPORT CameraCorrection Zivid::Calibration::computeCameraCorrection ( const std::vector< InfieldCorrectionInput > & dataset )

Calculate new in-field camera correction.

The purpose of this function is to calculate a new in-field correction for a camera based on a series of calibration object captures taken at varying distances. This function will throw an exception if any of the provided InfieldCorrectionInput have valid()==false.

The quantity and range of data is up to the user, but generally a larger dataset will yield a more accurate and reliable correction. If all measurements were taken at approximately the same distance, the resulting correction will mainly be valid at those distances. If several measurements were taken at significantly different distances, the resulting correction will likely be more suitable for extrapolation to distances beyond where the dataset was collected.

The result of this process is a CameraCorrection object, which will contain information regarding the proposed working range and the accuracy that can be expected within the working range, if the correction is written to the camera. The correction may be written to the camera using void writeCameraCorrection(Zivid::Camera &camera, const CameraCorrection &cameraCorrection).

This function will throw an exception if the input data is extremely inconsistent/noisy.

Parameters

dataset A sequence of in-field correction measurements.

Returns: A new correction that may be written to the camera.

◆ detectCalibrationBoard() [1/2]

ZIVID_CORE_EXPORT DetectionResult Zivid::Calibration::detectCalibrationBoard ( const Frame & frame )

Detects feature points from a calibration board in a frame.

The functionality is to be exclusively used in combination with Zivid verified calibration boards. For further information please visit Zivid help page.

Parameters

frame A frame containing an image of a calibration board

◆ detectCalibrationBoard() [2/2]

ZIVID_CORE_EXPORT DetectionResult Zivid::Calibration::detectCalibrationBoard ( Zivid::Camera & camera )

Detects feature points from a calibration board using the given camera.

The functionality is to be exclusively used in combination with Zivid verified calibration boards. For further information please visit Zivid help page.

This function will perform a relatively slow but high-quality point cloud capture with the given camera. This function is necessary for applications that require very high-accuracy DetectionResult, such as in-field verification/correction.

Parameters

camera Camera to be used to capture the calibration board

◆ detectFeaturePoints()

ZIVID_CORE_EXPORT DetectionResult Zivid::Calibration::detectFeaturePoints ( const PointCloud & cloud )

Detects feature points from a calibration board in a point cloud.

The functionality is to be exclusively used in combination with Zivid verified calibration boards. For further information please visit Zivid help page.

This method is deprecated as of SDK 2.9. Instead you should use Zivid::Calibration::detectCalibrationBoard(const Zivid::Frame &frame) or Zivid::Calibration::detectCalibrationBoard(Zivid::Camera &camera).

Parameters

cloud Point cloud from a frame containing an image of a calibration board

◆ detectMarkers()

ZIVID_CORE_EXPORT DetectionResultFiducialMarkers Zivid::Calibration::detectMarkers	(	const Frame &	frame,
		const std::vector< int > &	allowedMarkerIds,
		const MarkerDictionary &	markerDictionary )

Detects fiducial markers such as ArUco markers in a frame.

Only markers with integer IDs are supported. For further information on fiducial markers see this wikipedia page. For more information on ArUco markers specifically, refer to the OpenCV documentation. The Frame need not contain all markers listed in allowedMarkerIds for a successful detection.

Parameters

frame	A frame containing an image of one or several fiducial markers
allowedMarkerIds	A list of the IDs of markers to be detected
markerDictionary	The marker dictionary that describes the appearance of each marker

◆ hasCameraCorrection()

ZIVID_CORE_EXPORT bool Zivid::Calibration::hasCameraCorrection ( const Camera & camera )

Check if the camera has an in-field correction written to it.

This is false if writeCameraCorrection has never been called using this camera. It will also be false after calling resetCameraCorrection.

Parameters

camera The camera to check

Returns: Boolean indicating whether or not the camera has an in-field correction

◆ operator<<() [1/16]

ZIVID_CORE_EXPORT std::ostream & Zivid::Calibration::operator<<	(	std::ostream &	os,
		const MarkerDictionary &	dictionary )

Serialize the dictionary to a stream.