Free Demo
Order
Menu
Free Demo
Order

Zivid Studio User Guide

An easy tool designed to help you get started using Zivid One

Introduction

Overview of the Zivid Studio
User Interface 

In-Depth

A comprehensive guide
to Zivid Studio.

Examples

Learn how to capture images of dark, colored, and shiny objects.

An Introduction to Zivid Studio

Zivid Studio is a Windows application that provides a simple graphical user interface (GUI) which enables you to explore the functionality of Zivid, our advanced and exceptionally accurate 3D camera. Zivid Studio can be used to perform different 3D measurements, visualize the point clouds in 3D and save them to disk, and adjust settings such as iris, exposure time etc.

 

x1

Fig.1.1 The image below displays a screenshot of Zivid Studio in use.

 

 

Overview of User interface elements in Zivid Studio

1.1 Toolbar

ICON

 

DESCRIPTION

 

 

Loads a previously captured 3D image from disk

 

Saves the 3D image to disk

 

Capture a single 3D image (using the current settings)

 

Capture a high dynamic range (HDR) 3D image. Zivid will perform the specified number of captures with specified settings and combine them into one HDR 3D image.

 

Starts live mode. Will continuously capture and visualize 3D images

 

 

Stops live mode

 

Toggles on or off display of colors in the 3D point cloud window. This feature can be used during live mode or after a single or HDR capture.

 

 

Toggles on or off a primitive meshing mode (will make triangles out of neighboring pixels)

 

 

Allows for customization of the background color

 

Resets the 3D view (resets values for zoom, rotation and panning so that the point cloud fits in the 3D view)

 

 

Shows the capturing dialog (adjust iris, exposure time and LED power, configure HDR imaging & capture 3D images)

 

 

Displays the preferences dialog

Table 1.1 Zivid Studio Toolbar description

 

1.2 3D Point Cloud

You can view point clouds captured with Zivid in the 3D Point Cloud view. Use left click on mouse to rotate the point cloud and right click on mouse to pan the view. You can zoom in or out by rolling the mouse wheel, or by a middle click (if available) followed by dragging the mouse.

x2 Fig.1.2 A 3D point cloud in color

 

1.3 Capture Dialog

The Capture dialog allows you to capture an image with specified settings as per requirement.

 

Image 1Fig.1.3 Capture Dialog

 

Before you start capturing images, the following settings should be specified to give you the best possible point cloud.

 

Iris Control: This setting specifies the active iris (or multiple active irises for HDR) that will be used for capturing images. The active iris needs to be set according to the nature of objects (dark/shiny/colored) being captured to get a high-quality image. Do not select the iris randomly or in increments as this will reduce data quality.

 

Exposure Control: The active iris and exposure control settings go hand-in -hand to determine the amount of light that gets through. Increasing the active iris is a faster approach to achieving the desired result, but in cases where you would like to retain depth of focus, and in the case of very dark objects- it is helpful to minimize the active iris and increase the exposure time instead.

 

Brightness: Generally, set the brightness parameter to 1.0. The brightness of the camera needs to be more than the ambient lighting. The brightness can be reduced to below 1 if operating the camera in darker conditions.

 

Once all the settings have been defined, you can select the mode of capture that you wish to choose. There are three modes within Zivid Studio- Grab, HDR and Live mode.

 

  • Grab allows for a single capture of the objects in the camera’s field of view with one iris setting. HDR or High Dynamic Range mode is used when a single iris setting does not give you a high-quality point cloud. This mode requires you to specify at least two active iris settings. An individual capture is done with each specified active iris and all the images are then combined into one HDR image for optimal results.

 

  • The HDR mode is especially useful when you use dark and shiny objects or a combination of different materials. Using more than the necessary number of iris settings will result in increased acquisition time and can burden GPUs that are not sufficiently powerful, leading to a time-out error. If the active iris settings are chosen correctly, two to three iris settings will render high quality results for most objects. For a detailed explanation on determining the best active iris settings for different objects, go to topic III. Capturing images examples.

 

  • Live mode allows you to view the cameras field of view in real time. You can specify the active iris setting to be used for the live mode. The live mode can be especially useful when you want to determine the best active iris settings for HDR. Click ‘Stop’ when you wish to exit live mode.

 

If you wish to start capturing images with your Zivid camera before reading through the comprehensive guide, we recommend you refer to 'section III. Capturing Images: Examples' for a more detailed explanation on choosing the best settings for optimal results.

A Comprehensive Guide to Zivid Studio

1. File
 

Load

Allows you to load a file into Zivid Studio

 

Save

Allows you to save the current file

 

Load Settings

Allows you to load a saved setting into Zivid Studio

 

Save Settings

Allows you to save the current settings on Zivid Studio

 

Recent files

Displays files that were recently viewed on Zivid Studio

 

Exit (Alt+F4)

Allows you to exit Zivid Studio

 

2. Edit

 

2.1 Preferences

The Preferences dialog allows you to specify and apply the following additional settings to achieve high quality images with Zivid Studio.

 

Mode

This setting allows you to choose between normal or bidirectional mode. The bidirectional mode projects the light patterns projected onto the objects to be imaged in two different directions (both horizontally and vertically). This mode is particularly useful when used in combination with the reflection filter to eliminate noise points. Note that the bidirectional mode requires you to set the exposure time to 33000 microseconds or above and capturing images will take that much longer with this mode. Always try capturing images with the normal mode and reflection filter first. If you observe that the resulting point cloud has a lot of noise points, proceed to using the bidirectional mode.

 

Mask Off Saturated Pixels

This function allows you to eliminate all pixels that are overly saturated in the image. Pixels that are saturated will usually lead to noisy 3D points.

 

Reflection filter

This filter allows you to take optimal images of shiny objects which would otherwise have been marred by noise points due to overly reflective surfaces. Note, however, that the reflection filter is computationally intensive. It takes added time for capturing images and should be turned off when not required. It is not recommended to use the reflection filter in combination with live mode.

 

Mask Disconnected

This filter is helpful to eliminate outlier points which are points that are very different in values compared to the general points (mostly noise). It searches for small clusters of isolated points and eliminates them from the point cloud. Threshold This function allows the user to specify the max distance in millimeters between neighboring points in the point cloud. If the distance between a point and its neighbors is larger than this threshold, it will be considered an outlier and eliminated. The default value is 5.0 millimeters.

 

Minimum Contrast

This feature allows you to specify the minimum contrast for a point to be considered valid. Typically, the contrast will be low in areas in the image that lies in the shadow of the projector light. The contrast will also be low if the iris or the exposure time is set too low, resulting in a dark image. The contrast is defined as the standard deviation for the intensity observed in each pixel as different bright and dark patterns are projected onto it. The default value for the minimum contrast is 5.0 gray levels. Note that the contrast is directly related to the signal-to-noise ratio. Please try to set the iris and exposure time to get a color image that is as bright as possible without being saturated.

 

Red Color Balance

This value affects the white balance of the camera. The minimum value is 1.0 and the maximum value is 8.0. Strong ambient lighting may affect the appearance of the color image, and it may require these settings to be altered.

 

Blue Color Balance

This value affects the white balance of the camera. The minimum value is 1.0 and the maximum value is 8.0. Strong ambient lighting may affect the white balance. Strong ambient lighting may affect the appearance of the color image, and it may require these settings to be altered.

 

Log Threshold

This function allows you to select which log messages appear in the log window of Zivid Studio. Setting this to ‘Error’ will display only error messages. Setting this to “warning” will display both errors and warnings. Setting this to “Info” will display all critical messages: severity information, warnings and errors.

 

Expert Settings

This feature is included to be used for help & diagnostics purposes by the software team at Zivid.

 

Restore Defaults

This setting allows you to revert to the original settings.

 

 

3. Image

3.1 Capture dialog

The Capture dialog allows you to specify settings as explained in 1.3 under An Introduction to Zivid Studio.

 

4. View

4.1 Log Window

This selection allows you to view logs that could be useful for debugging purposes. The logs include a timestamp, type and the message.

 

4.2 Settings

The Settings allow you to view in detail all the current settings that have been set so far.

 

4.3 Camera Image

A measurement result from Zivid is a matrix consisting of 1920 x 1200 cells, where each cell contains the following values: x, y, z, quality, r, g, b. Enable ‘Camera Image’ under ‘View’ to display the 2D color image in the upper right window. When you move the cursor over the image, the row, column and RGB value of the current cursor position is displayed in the status bar below the window. The camera also has a toolbar as shown in Fig.2.1.

 

image 2

x

Fig.2.1 Camera Image and Toolbar

 

ICON

DESCRIPTION

 

 Saves the displayed image to disk (as for e.g. PNG or BMP)

 

Selects a starting and ending point of a line in the image (used in combination with the cross-section tool)

 

Displays a cross section of the selected line (plot of intensity along the line)

 

Creates a rectangular selection

 

 

Creates a polygonal selection

 

Toggles overlay of a mask in the image (indicates with colors whether points are out of range or if they are invalid due to low contrast or saturation)

 

Inverts the selection.

E.g. If you select a rectangle, clicking this button will select all the pixels in the image falling outside of the rectangle

 

Masks the selection as invalid pixels. Invalid pixels will be removed from the point cloud and disappear from the 3D view

 

Clears the mask and start over (all pixels will be marked as valid)

 

Displays saturated pixels in magenta. This is helpful to adjust the camera settings to obtain good contrast, while avoiding saturation

Table 2.1 Camera Image Toolbar description

 

4.4 Depth Image

The depth image displays the Z-values of the result. The Z-values are colored according to the scale displayed on the left. You can alter the ‘Range’ values on the toolbar to specify the minimum and maximum values (corresponding to the colors blue and red respectively).

 

The depth image has the same toolbar as the camera image, which allows you to for example, mask away areas of the image that are outside the region of interest.

 

You can plot a line with the line tool and then use the cross-section tool to get a plot that displays the Z-value in the 3D image along the selected line.

 

5.Help

5.1 About

Displays an overview of the graphical user interface for your Zivid camera.

 

5.2 Update

Displays the current version installed on your camera and the latest available update. You can check this feature periodically to ensure that you have the latest software with all the new and improved features to keep your Zivid camera up-to-date. All newly available updates will also show in a dialog box upon starting Zivid Studio. If you choose to ignore the update at a point, you can still find these in this setting. As a valued Zivid customer, you will also receive emails from us to ensure that you are immediately notified of all new features and updates.

Capturing Images: Examples

To help you understand how to take optimal images with your new 3D camera, we have compiled a few case scenarios with different types of materials.

Case 1: Dark objects

For this example, we choose our very own Zivid One camera! The outer body is entirely black in color. Note that the background color also influences the iris settings used for the capture.

 

3.1.1

 Fig.3.1.1 Zivid camera in 2D

 

To determine the amount of light that passes through the iris, you can choose a higher iris setting or an increased exposure time, or a combination of the two. A simple capture will not suffice for this object. Parts of the object will lack points when you try to capture with a single iris setting, as shown in Fig.3.1.2 and 3.1.3.

 

This is where Zivid’s unique HDR functionality becomes valuable. Multiple active iris settings can be selected to optimize the quality of data and ensure that the point cloud covers the complete surface of the object. In Zivid Studio, you can enter live mode to easily determine the active iris settings that will give you high-quality data. For the Zivid camera, the combination of iris settings 15 and 36 along with exposure time of 10000 produces a good point cloud.

 

To illustrate the need for both active iris points for this object, we first do a single capture with the ‘Grab’ mode using iris settings 15 and 36.

 

3.1.2Fig.3.1.2 Single capture with Iris 15

 

 

3.1.3Fig.3.1.3 Single capture with Iris 36

 

3.1.4Fig.3.1.4 High quality point cloud using HDR mode with Iris 15 and 36

 

The point cloud with iris 15 in Fig.3.1.2 covers highlights that resulted in missing data with iris 36 in Fig. 3.1.3. With the HDR mode, both iris settings together produce a high-quality point cloud as shown in Fig.3.1.4.

 

When choosing irises for HDR, the goal is to use the least number of irises to get a complete point cloud. For case 1, a high-quality point cloud was achieved by using just 2 irises. Increasing the number of irises used or increasing exposure time, increases the overall acquisition time.

 

Note that the number of iris settings used, and the resulting quality of data should be based on the needs of your application.

 

For example, using only iris 36 renders a point cloud that is more than sufficient for bin-picking applications. Adding iris 15 is not necessary in this case, and choosing just 1 iris ensures faster acquisition time, and enables the application to run quicker. For quality inspections, on the other hand, it is important to include all irises that ensure a complete point cloud because of the nature of the application. In this case, ensure that you have chosen the iris settings correctly to avoid higher acquisition time.

Case 2: Colored objects

In the case of colored objects, you need to determine the active iris settings required to obtain a good point cloud that includes all the different colors of the object. For this example, we choose a Meffert's cube.

 

3.2.1Fig.3.2.1 Image of a Meffert's cube in 2D

 

Live mode is used to determine that the combination of iris settings 21 and 30 renders points on the whole surface of the cube.

 

3.2.2

 Iris 21

3.2.3

Iris 30 

 

 Fig.3.2.3 Point cloud with Iris setting 21 and 30

 

Using the HDR mode to combine these images renders a high quality and dense point cloud with no missing areas as shown in Fig.3.2.4

 

3.2.4

 3.2.4a

 

 Fig.3.2.4 High quality point cloud using HDR mode with iris 21 and 30

Case 3: Shiny metallic parts

For this example, we have selected a shiny, metallic, hollow part. This object is a shiny metallic part with a reflective surface.

 

3.3.1Fig.3.3.1 Image of the object in 2D

 

A simple capture using the ‘Grab’ function will not suffice for such an object. Parts of the object will lack points when you try to capture with a single iris setting, as shown in Fig.3.3.2.

3.3.2-1

Fig.3.3.2 Bad point cloud of shiny object

 

In Zivid Studio, enter live mode to determine the active iris settings that will give you the best quality of data. The aim is to find the minimum number of iris settings that produces a point cloud over the whole object. For this object, five iris settings are required- 10, 14, 20, 29 and 37. Each of these active iris points were tested individually and confirmed to be the best combination of settings required for this object.

 

Note that setting active iris points randomly or in distributed increments will reduce data quality and add to the overall acquisition time. Fig.3.3.3 illustrates the result of these different iris settings individually, and the final output with the use of Zivids unique HDR feature.

 

 

 Iris 373.3.3a-1  Iris 293.3.3b-1  Iris 203.3.3c-1
 Iris 143.3.3d-1  Iris 103.3.3e-1  HDR3.3.3f-1

Fig.3.3.3 Capturing HDR image of a shiny object

Note: For case 3, we have optimized settings to get the best possible data. We have used 5 irises here to ensure a dense point cloud. For a bin picking application, you could choose to remove one iris setting (e.g. iris 10). This would lower the acquisition time without any compromise on the application. Choosing the irises correctly with the help of the live mode will ensure that you get high quality data with the least number of active iris settings, thereby reducing acquisition time.

 

In cases where you’re aiming for the highest possible data quality, note that simply adding more irises does not produce better data. For example, the HDR image in Fig.3.3.3 is already the best possible point cloud for the target object. Adding any more active iris settings does not further optimize the image. The output image will be the same, with added compute time. Unnecessary iris settings increase processing time and can burden systems without a sufficiently powerful GPU. For example, including an additional iris setting of 11 to the illustration in Fig.3.3.3 adds no value because the iris settings 10 and 14 already include the points covered by iris setting 11. This is explained in Fig.3.3.4.

 

Iris 143.3.4a-1 Iris 113.3.4b-1 Iris 103.3.4c-1

 

Expert tip: On rotating the 3D image you may find noise points. These points can be chaotic if recognized as part of the object (e.g. In case of a bin-picking scenario). Zivid’s unique reflection filter solves this problem intelligently. Under Preferences, enable the reflection filter to eliminate noise points and get a noise free image.

 

 

Without Reflection Filter3.3.5a-1 With Reflection filter
3.3.5b-1

Fig.3.3.5 Effect of Zivid's unique reflection filter

 

These tips should help you capture an optimal image with a dense point cloud. Fig.3.3.6 displays the final output of the object used in this example.

 

 HDR without color3.3.6a-1  HDR with color3.3.6b-1

Fig.3.3.6 Final HDR image in 3D

Troubleshooting

 

Here are some initial troubleshooting steps that will most likely resolve any problem you face during set up. Should you encounter any difficulties, email us at support@zivid.com. Also remember to check out our knowledge base at help.zivid.com

 

Error Resolution
No camera found

You’ve powered up Zivid and established physical connection with your computer (ensure that you’ve done this correctly and meet system requirements as stated in the Zivid Quick User Guide) but you do not see a connection and have the No Connection message at the bottom right corner in Zivid Studio.

 

  • Confirm that you have the latest firmware
  • Check that Toshiba Teli is displayed with the correct drivers in Programs and Features
Projector not being detected by Zivid Studio (wrong driver for DLPC350) Contact us for a tool that can resolve this issue for you. 
accelerator_view_removed error

This error message results from memory loss on the GPU. Reboot Zivid Studio, and optimize iris settings. We recommend the use of a DirectX 11 compatible graphics card, with 3GB or more memory and  at least 1000GFLOPS.

Connection loss 

If you have more than one Zivid camera connected to your system, we recommend using a USB3 hub with an external power supply to provide more stability.

 

 

Zivid's inner workings 

Your Zivid camera is the world’s most accurate, real time 3D color camera because it has been developed and put together with much thought from your friends at Zivid to ensure that you have a fantastic 3D experience! So, what makes Zivid tick?

Here is a little background to help you know your camera better.

 

The Zivid camera functions on the principle of structured light. Zivid contains a projector and a camera that is placed at a specific angle to and distance from each other. Light patterns are projected by the projector onto the object and the displacement in the light patterns are used to calculate the depth of the object at every point giving you a 3D model of your object. For every image capture performed by Zivid, several images are captured internally by the camera at a remarkable acquisition rate of 10 Hz to ensure that the captured point cloud gives the most accurate data.

 

structured light-1

Fig. 5.1 Calculating depth with structured light

 

 

time multiplexd

Fig.5.2 Projection of striped light patterns

 

One of Zivid’s most unique features is the HDR capability. ‘Difficult’ objects are made easy with this feature. The HDR mode allows you to choose different iris settings which are best suited for the different colors or areas of your object. The camera captures images internally with each of these specified iris settings and these images are then combined to give you the best possible output with overall accuracy. 

 

Some other features that make Zivid special are the filters that give you added functionality. The Reflection filter for example ensures that you can take images of shiny objects without false, noise points. Consider a picking scenario where the camera mistook false points (points in the point cloud corresponding to reflections) as part of the object.  A robot attempting to perform a pick could aim at these false points instead, resulting in an erroneous and chaotic process!

 

Zivid also functions in the full color spectrum which renders a high quality, 3D point cloud with life-like resemblance.

 

Visit the Zivid One or Zivid One+ product pages for complete specs.

 

 

Support and Assistance

 

For more information about the Zivid One camera please visit www.zivid.com

For software related information and sample codes, visit www.zivid.com/software

For resource articles and the knowledge base, visit help.zivid.com

For assistance, please email support@zivid.com