# zivid-python-samples **Repository Path**: xfzhou95/zivid-python-samples ## Basic Information - **Project Name**: zivid-python-samples - **Description**: No description available - **Primary Language**: Unknown - **License**: BSD-3-Clause - **Default Branch**: master - **Homepage**: None - **GVP Project**: No ## Statistics - **Stars**: 0 - **Forks**: 0 - **Created**: 2025-07-25 - **Last Updated**: 2025-07-25 ## Categories & Tags **Categories**: Uncategorized **Tags**: None ## README # Python samples This repository contains python code samples for Zivid SDK v2.16.0. 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\_hdr\_loop](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/advanced/capture_hdr_loop.py) - Cover the same dynamic range in a scene with different acquisition settings to optimize for quality, speed, or to find a compromise. - [capture\_hdr\_print\_normals](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/advanced/capture_hdr_print_normals.py) - Capture Zivid point clouds, compute normals and print a subset. - **info\_util\_other** - [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 settings from YML file 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\_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\_hdr\_vis\_normals](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/basic/visualization/capture_hdr_vis_normals.py) - Capture Zivid point clouds, compute normals and convert to color map and display. - [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\_and\_project\_image](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/basic/visualization/read_and_project_image.py) - Read a 2D image from file and project it using the camera projector. - [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. - [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). - [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\_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. - [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. ----- 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 > ``` 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).