Zivid One+ S User manual

Zivid One+
User Guide
Zivid One+ S (ZVD1P-S)
Zivid One+ M (ZVD1P-M)
Zivid One+ L (ZVD1P-L)

Table of Contents
1 Start Guide 3
1.1 Zividboxcontents ................................... 3
1.2 TargetApplications .................................. 4
1.3 Robustness, Safety and IP rating . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.4 Connectivity and Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.5 SystemRequirements................................. 6
1.6 Mechanical and Electrical Installation . . . . . . . . . . . . . . . . . . . . . . . 7
1.7 ServiceandMaintenance............................... 11
1.8 Technical Specification Sheet . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2 Zivid Studio 13
2.1 Introduction ....................................... 13
2.2 Toolbar.......................................... 13
2.3 AvailableViews..................................... 15
2.3.1 PointCloud................................... 15
2.3.2 Color....................................... 16
2.3.3 Depth ...................................... 16
2.4 ControlPanel ...................................... 17
2.4.1 Camera ..................................... 17
2.4.2 Capture ..................................... 18
2.5 QuickReferenceIndex................................. 23

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Start Guide
1.1 Zivid box contents
In the Zivid box you should find:
•Zivid 3D camera
•Power supply
•5 m USB 3.0 Cable (Machine Vision Certified)
Optional: 10 / 25 m optical cable.
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1.2 Target Applications
Zivid One+ 3D cameras are primarily targeted for industrial automation in the manufac-
turing, automotive, and logistic industries. Typical 3D machine vision applications for
industrial and collaborative robots are:
•Pick and place
•Machine tending
•Assembly
•Palletization
•Inspection
The cameras are factory calibrated. There is a one-to-one correspondence between color
and depth because Zivid cameras acquire XYZ point cloud data and RGB colors with
the same sensor chip. Zivid technology provides high-quality images of objects made
of materials with different optical properties, and of various shapes, dimensions, and
colors. Due to the high dynamic range, Zivid One+ cameras are suitable for imaging dark
absorptive parts and shiny metal parts. The following cases do not work well with Zivid
cameras:
•Transparent objects (e.g., plastic bottles)
•Highly specular surfaces (e.g., mirrors)
•Imaging for precision less than 0.03 mm
•Moving objects
Mounting can be stationary or on a robot.
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1.3 Robustness, Safety and IP rating
Robustness
Zivid One+ cameras have a robust aluminum casing. Cooling ribs are integrated into the
design in a way that makes Zivid look and stay cool!
Safety
Zivid One+ cameras are compliant with EN60950, FCC class A, CE, and CB environmental
standards.
Zivid One+ cameras use a white light source, which is tested against IEC62471 and is
classified as Risk Group 2.
Connections, assembly, and settings must be performed by competent technicians.
Do not connect external I/O signals to the device while it is powered; this may damage
the device.
IP rating
Zivid One+ cameras are water and dust resistant and are rated IP65. Zivid One+ cameras
can handle vibrations and shocks without being damaged according to the following
shock/vibration standards:
•5 G Random
•15 G Shock
1.4 Connectivity and Power Supply
Available ports
A) USB3: Data SuperSpeed USB3 type-B receptacle for PC connection. Note: PC must
support USB 3.0 SuperSpeed. Cables need to be “USB3 Vision” compliant.
B) M12-5: Power Connector 24V, 5A DC
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Power supply interface
Exceeding the limit values may cause permanent damage. Please note the power ratings
if power is provided from other sources than the supplied AC/DC converter.
The Zivid unit is protected against reverse polarity and against overheating by a thermis-
tor that physically removes the power.
Pinout Pin Purpose
1 24V DC +/- 20% (Max 4A)
2 24V DC +/- 20% (Max 4A)
3 GND
4 GND
5 SENSE SIGNAL (optional)
Optional mating connector: TE Connectivity AMP 1838275-3 (Digikey: A97645-ND)
1.5 System Requirements
OS Windows 7/8/10 or Linux Ubuntu 16.04/18.04
GPU CPU with integrated GPU
This is the most cost-efficient and preferred solution for Zivid. The benefit
of an integrated GPU is that the copying of data from GPU to CPU is fast.
A high-end integrated GPU with 3GB of memory available is required for
optimal performance.
Recommendations:
•AMD Ryzen 5 2400G or better
•Intel i7 with HD630 or better
GPU Dedicated GPU
This solution may be best if the GPU is planned to be used for more than
Zivid computations. A medium to high-end AMD or NVIDIA GPU with 3GB
of memory is required for optimal performance.
Recommendations:
•NVIDIA GeForce GTX 1060 or better
•NVIDIA GeForce MX150 or better
•AMD Radeon RX 550 or better
USB SuperSpeed USB3 port
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1.6 Mechanical and Electrical Installation
Working Distance and Field of View
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Mounting Specifications and Dimensions
Use the threaded holes on the bottom side of the device to mount it to a bracket. Zivid
cameras can be fixed on most standard photography tripods.
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Angle the camera
The imaging sensor inside Zivid cameras is offset at a slight pan angle in the azimuth
direction (y-axis). This should be considered if it is desired to have the camera perpen-
dicular to the scene.
Although the most intuitive, this is not the best way to mount the camera. If possible,
mount the camera at a slight tilt angle to avoid reflections from the background. This
also frees up space above the scene for easier access for tools and robots.
Camera tilting is more important if the scene contains specular surfaces.
Note
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In bin-picking applications
For bin-picking applications, place the Zivid camera projector above the back edge or
above the rear corner of the bin (see images below). Pan and tilt it so that the 2D camera
is looking at the bin center. The projector rays should not fall on the inner surfaces of
the two walls closest to the projector; they should almost be parallel to those two walls.
Mounting the camera this way minimizes interreflections from the bin walls.
Connect the camera to a computer
1. Plug the power supply into the “24V” port and into a power outlet.
2. Plug the USB cable into the “DATA” port and into a USB 3.0 port on your PC.
Ensure that all connections are screwed tightly in.
Note
Using a direct cable from the PC to the Zivid camera works better than connecting the
camera via a USB hub.
Use only Zivid approved cables and extenders.
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1.7 Service and Maintenance
The device contains no user-serviceable parts inside. The product warranty will be void
if opened.
Follow the below instructions to ensure that your Zivid camera is well maintained:
•Check screw connections and connectors at regular intervals.
•Do not block the air opening on the front and rear sides of the product.
•Use a small vacuum cleaner or a small canister of compressed air to remove dust
or other accumulated particles from the glasses or in between the ribs of the heat
sink.
1.8 Technical Specification Sheet
Zivid One+ Small Zivid One+ Medium Zivid One+ Large
Key applications Tiny and small ob-
jects, trays/boxes
Small and medium
objects, totes/bins
Medium and large objects,
standard EU/US pallets
Optimal working distance (mm) 300 - 800 600 - 1600 1200 - 2600
Max working distance (mm) 1000 2000 3000
Field of View (mm) 164 x 132 @ 0.3 m 420 x 270 @ 0.6 m 850 x 530 @ 1.2 m
650 x 480 @ 1.0 m 1370 x 900 @ 2.0 m 2110 x 1360 @ 3.0 m
Spatial resolution (mm) 0.12 @ 0.3 m 0.23 @ 0.6 m 0.45 @ 1.2 m
0.40 @ 1.0 m 0.75 @ 2.0 m 1.11 @ 3.0 m
Point precision (um) 0.03 @ 0.3 m 0.07 @ 0.6 m 0.3 @ 1.2 m
<0.2 @ 1.0 m <1.0 @ 2.0 m <2.0 @ 3.0 m
3D technology Structured light
Imaging 1920 x 1200 (2.3 Mpixel)
Native Color
Point cloud output 3D (XYZ) + Color (RGB) + Contrast (C) for each pixel
Aperture f/1.4 to f/32
Shutter (S) 1/154 s to 1/10 s
Gain 1x to 16x
Projector Brightness 1/4x to 1.8x
1x = 400 lumens
Exposures per 3D frame 12
Min acquisition time 80 ms at S =1/154 s single frame capture
Calibration Factory calibrated
Data interface USB 3.0 SuperSpeed
Power 24 V DC
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Software APIs C++, C#, .NET, Python, ROS, GenICam/HALCON
OS Windows 7 / 8 / 10
Ubuntu 16.04 / Ubuntu 18.04
Operating temperature 10 to 40°C
Storage temperature -20 to 60°C
Safety and EMC CE / CB / EN60950 / FCC class A
Size and weight
Aluminium body
226 mm x 86 mm x 165 mm
2 kg
Environmental
IP65
5 G Random
15 G Shock
Power connector M12-5
USB data connector USB type B
Jack screw M2
External power adapter 24V5A
EU, US and UK power plug options
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help.zivid.com Zivid Studio
Zivid Studio
2.1 Introduction
Zivid Studio is an application within the Zivid SDK which provides a graphical user inter-
face (GUI) for exploring the functionality of Zivid One+ 3D cameras and capturing high-
definition 3D point clouds.
Use Zivid Studio to learn and understand how the majority of functions available in the
Zivid SDK works. This is useful when developing your application. You can:
•Capture point clouds.
•Visualize point clouds, color images (2D), and depth maps (Z axis).
•Analyze and evaluate 3D data quality.
•Determine correct settings and filters for your target objects and scenes.
•Save point clouds and color images to disk.
2.2 Toolbar
The toolbar is located at the top of the Zivid Studio GUI. It consists of drop-down menus
to handle files, control the GUI, and get information about the Zivid Software.
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File Shortcut Function
Open Ctrl+O Load a ZDF file. .zdf is the native Zivid file format that includes point
cloud, color image, and depth image data.
Save Ctrl+S Save a point cloud, color image, and depth image data to a ZDF file, the
native Zivid file format.
Export Ctrl+E Export a point cloud data to a file in unordered or ordered Polygon (PLY),
ASCII (XYZ), or Point Cloud Data (PCD) file format.
Save Color Image Save a color image to a file in PNG, BMG, or JPG file format.
Exit Alt+F4 Exit Zivid Studio.
View Shortcut Function
Histogram H Open the Histogram, a tool for analyzing pixel intensity distribution on
an image.
Reset 3D View Reset the point cloud, color image, and depth image view back to the
default view.
Color C Enable/disable point cloud colors.
Mesh Generate surfaces in the point cloud. Creates a 3D mesh appearance.
Reset UI Layout Reset the layout of the Zivid Studio window.
Enter / Exit
Full Screen Mode F11 Toggle between full and regular screen mode.
Help Function
View help online URL to the Zivid Knowledge Base.
Legal Notice Detailed information on Zivid and third-party software licenses.
System Info Information on the system used by the Zivid software.
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2.3 Available Views
There are three available views to choose from at the bottom of the Zivid Studio GUI.
2.3.1 Point Cloud
This view displays the point cloud of the scene after a capture or after loading a ZDF file.
•Use the left mouse button to rotate the point cloud
•Use the right mouse button to pan.
•Zoom in or out by rolling the mouse wheel or, if available, by the middle mouse
button followed by dragging the mouse.
Turning color and mesh on and off in this view helps evaluate the point cloud quality.
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2.3.2 Color
This view displays the color image of the scene after a capture or after loading a ZDF file.
•Position the mouse pointer over a pixel in the image to get image coordinates, RGB,
and contrast values. The pixel values are displayed in the status bar in the bottom
left corner of the window.
•Zoom in or out by rolling the mouse wheel or, if available, by the middle mouse
button followed by dragging the mouse.
•Use the right mouse button to pan the view.
2.3.3 Depth
This view displays the depth image of the scene after a capture or after loading a ZDF
file.
•Position the mouse pointer over a pixel in the image to get image coordinates, XYZ,
and contrast values. The pixel values are displayed in the status bar in the bottom
left corner of the window.
•Use the drop-down menu located at the top left corner of the view to modify the Z
range.
The color scale represents the distance variation along the z-axis from the camera to the
surfaces of the imaged objects.
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2.4 Control Panel
The control panel is located on the right side in the Zivid Studio GUI. It contains two
sections:
This view displays the depth image of the scene after a capture or after loading a ZDF
file.
•Camera
•Capture
2.4.1 Camera
This section is used to scan for, connect to, and disconnect from available cameras.
Camera Function
Scan for connected
cameras
Show all cameras plugged into the PC and list them by model and serial
number.
Connect Connect to the camera selected in the drop-down menu. Zivid Studio can
connect to a single camera at a time.
Disconnect from
active camera Disconnect from the active camera.
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2.4.2 Capture
This section is used to capture 3D images. Here you can control and configure the cam-
era settings. This section has two modes:
•Assisted Mode
•Manual Mode
Assisted Mode
This mode is the easiest to use.
•Specify the maximum capture time
•Click “Analyze & Capture”
This triggers the camera to analyze the scene and output the camera settings required
to cover as much of the dynamic range in the scene as possible. Immediately after this,
the camera performs a second capture using these settings.
•The “Capture” button performs a capture with the settings suggested by the as-
sisted capture, without additional scene analysis.
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“Ambient Light Adaptation” is used when ambient light (AC powered) is mixed with the
camera’s projector.
•Select your power grid frequency from the drop-down menu. 60 Hz is typically used
in Japan, Americas, Taiwan, South Korea, and the Philippines. 50 Hz is the normal
in rest of the world.
Frame and filter settings appear at the bottom right corner of the “Capture” section after
camera captures. It is possible to save all settings to disk.
•Click on the three dots next to Capture
•Then click Save settings to folder
The folder needs to be empty. Settings can be loaded using the Zivid SDK.
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Manual Mode
In the manual mode, users must configure all settings and filters manually.
Settings and Filters
Setting Function
Exposure Time The duration a single camera image is exposed to light.
Iris/Aperture Step The opening that controls the amount of light to the camera sensor through
the lens.
Brightness The output power (the amount of light) emitted by the LED projector.
Gain The amplification of the signal from the camera sensor.
Turning on the “Bidirectional Patterns” configures pattern projection both horizontally and
vertically. Use this function when the reflection filter alone is not sufficient. “Bidirectional
Patterns” are enabled per frame.
Filters
Setting Function
Contrast Remove points where the projected pattern signal-to-noise-ratio is below the specified
threshold.
Gaussian Perform Gaussian smoothing on the point cloud.
Outlier Remove points if the distance to their neighboring pixels within the small local region
is larger than the threshold specified in mm.
Reflection Remove points impacted by reflections and thus erroneous.
Saturated Remove points whose light intensity readout value is at the maximum (saturated).
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