Zivid.NET Namespace

Manager class for Zivid cameras. Handles connection to cameras and configuration of the log system. Creating an instance of `Application` allocates memory which won't be collected until you manually invoke `Dispose()` (or use `using`). Creating a second `Application` instance before the previous `Application` instance has been manually disposed will trigger an exception.

Interface to one Zivid camera

Information about camera model, serial number etc.

The hardware revision of the camera

Information about user data capabilities of the camera

Information about the intrinsic parameters of the camera (OpenCV model)

The camera matrix K (=[fx,0,cx;0,fy,cy;0,0,1])

The radial and tangential distortion parameters

Information about camera connection state, temperatures, etc.

Current temperature(s)

Contains information about the ComputeDevice used by Application.

A frame captured by a Zivid camera

A 2D frame captured by a Zivid camera

Various information for a frame

The version information for installed software at the time of image capture

Information about the system that captured this frame

Compute device

CPU

Abstract base-class for all images

A BGRA image with 8 bits per channel

An RGBA image with 8 bits per channel

A single precision floating points 4x4 matrix, stored in row major order

Point cloud with x, y, z, RGB color and SNR laid out on a 2D grid

Class describing a range of values for a given type T

Settings used when capturing with a Zivid camera

Settings for a single acquisition

List of Acquisition objects

When Diagnostics is enabled, extra diagnostic information is recorded during capture. This extra information is included when saving the frame to a .zdf file, and will help Zivid's support team to provide better assistance. Enabling Diagnostics increases the capture time and the RAM usage. It will also increase the size of the .zdf file. It is recommended to enable Diagnostics only when reporting issues to Zivid's support team.

Experimental features. These settings may be changed, renamed, moved or deleted in the future.

Settings related to processing of a capture, including filters and color balance

Color settings

Color balance settings

Experimental color settings. These may be renamed, moved or deleted in the future.

Filters

Removes floating points and small isolated clusters from the point cloud.

Removal

Experimental filters. These may be renamed, moved or deleted in the future.

Corrects artifacts that appear when imaging scenes with large texture gradients or high contrast. These artifacts are caused by blurring in the lens. The filter works best when aperture values are chosen such that the camera has quite good focus. The filter also supports removing the points that experience a large correction.

Correction

Removal

Fills missing points considering a circular neighborhood.

Contains a filter that removes points with low signal-to-noise ratio (SNR)

Discard points with signal-to-noise ratio (SNR) values below a threshold

Contains a filter that removes points with large Euclidean distance to neighboring points

Discard point if Euclidean distance to neighboring points is above a threshold

Contains a filter that removes points likely introduced by reflections (useful for shiny materials)

Discard points likely introduced by reflections (useful for shiny materials)

Experimental reflection filter related settings

Smoothing filters

Gaussian smoothing of the point cloud

Removes points outside the region of interest.

Removes the points outside the box. The box is defined by three points: O, A and B. These points define two vectors, OA that goes from PointO to PointA, and OB that goes from PointO to PointB. This gives 4 points O, A, B and (O + OA + OB), that together form a parallelogram in 3D. Two extents can be provided, to extrude the parallelogram along the surface normal vector of the parallelogram plane. This creates a 3D volume (parallelepiped). The surface normal vector is defined by the cross product OA x OB.

Removes points that reside outside of a depth range, meaning that their Z coordinate falls above a given maximum or below a given minimum.

Settings used when capturing 2D images with a Zivid camera

Settings for a single acquisition

List of acquisitions. Note that the Zivid SDK only supports a single acquisition per capture in 2D mode.

Processing related settings

Color settings

Color balance settings

Color with 8-bit blue, green, red and alpha channels

Color with 8-bit red, green, blue and alpha channels

Hi-resolution time span. Valid range is 1 nanosecond to 292 years.

Point with three coordinates as float

Struct which contains XYZ point and BGRA color packed together

Struct which contains XYZ point and RGBA color packed together

Delegate function for updating settings

The model of the camera

Option for downsampling

Set the Zivid Vision Engine to use. The Phase Engine is the current default Zivid Vision Engine. The Stripe Engine uses anti-reflection technology to suppress interreflection artifacts and improve data quality on shiny objects like cylinders and chrome-plated parts. Additional acquisition and processing time are required for the Stripe Engine. The Stripe Engine is currently experimental, and may be changed and improved in the future.

This setting controls how the color image is computed. `automatic` is the default option. `automatic` is identical to `useFirstAcquisition` for single-acquisition captures and multi-acquisition captures when all the acquisitions have identical (duplicated) acquisition settings. `automatic` is identical to `toneMapping` for multi-acquisition HDR captures with differing acquisition settings. `useFirstAcquisition` uses the color data acquired from the first acquisition provided. If the capture consists of more than one acquisition, then the remaining acquisitions are not used for the color image. No tone mapping is performed. This option provides the most control of the color image, and the color values will be consistent over repeated captures with the same settings. `toneMapping` uses all the acquisitions to create one merged and normalized color image. For HDR captures the dynamic range of the captured images is usually higher than the 8-bit color image range. `toneMapping` will map the HDR color data to the 8-bit color output range by applying a scaling factor. `toneMapping` can also be used for single-acquisition captures to normalize the captured color image to the full 8-bit output. Note that when using `toneMapping` mode the color values can be inconsistent over repeated captures if you move, add or remove objects in the scene. For the most control over the colors, select the `useFirstAcquisition` mode.

The reflection filter has two modes: Local and Global. Local mode preserves more 3D data on thinner objects, generally removes more reflection artifacts and processes faster than the Global filter. The Global filter is generally better at removing outlier points in the point cloud. It is advised to use the Outlier filter together with the Local Reflection filter. Global mode was introduced in SDK 1.0 and Local mode was introduced in SDK 2.7.