Class defining the input type used in the ZED SDK. More...

Types
enum class	INPUT_TYPE
	Lists input types in the ZED SDK. More...

Functions
	InputType ()
	Default constructor. More...

	InputType (const InputType &type)=default
	Copy constructor. More...

void	setFromCameraID (int id=-1, sl::BUS_TYPE bus_type=sl::BUS_TYPE::AUTO)
	Set the input as the camera with specified id. More...

void	setFromSerialNumber (unsigned int camera_serial_number)
	Set the input as the camera with specified serial number. More...

void	setFromSVOFile (sl::String svo_input_filename)
	Set the input as the SVO specified with the filename. More...

void	setFromStream (sl::String sender_ip, unsigned short port=30000)
	Set the input as the stream defined by the IP address and the port of the sending device. More...

INPUT_TYPE	getType () const
	Returns the current input type. More...

sl::String	getConfiguration () const
	Returns the current input configuration as a string e.g: SVO name, serial number, streaming ip, etc. More...

bool	isInit () const
	Check whether the input is set. More...

bool	setVirtualStereoFromCameraIDs (int id_left, int id_right, unsigned int virtual_serial_number)
	Set the input as the ZED Ones with specified ids for a virtual stereo rig. More...

bool	setVirtualStereoFromSerialNumbers (unsigned int camera_left_serial_number, unsigned int camera_right_serial_number, unsigned int virtual_serial_number)
	Set the input as the ZED Ones with specified serial numbers for a virtual stereo rig. More...

bool	save (String filename) const
	Saves the current set of parameters into a file to be reloaded with the load() method. More...

bool	load (String filename)
	Loads a set of parameters from the values contained in a previously saved file. More...

bool	encode (String &serialized_content) const
	Generate a JSON Object (with the struct type as a key) containing the serialized struct, converted into a string. More...

bool	decode (const String &serialized_content)
	Fill the structure from the serialized json object contained in the input string. More...

bool	operator== (const InputType &param1) const
	Comparison operator ==. More...

bool	operator!= (const InputType &param1) const
	Comparison operator !=. More...

Detailed Description

Class defining the input type used in the ZED SDK.

It can be used to select a specific camera with an id or serial number, or from a SVO file.

Enumeration

◆ INPUT_TYPE

enum INPUT_TYPE

strong

Lists input types in the ZED SDK.

Enumerator
USB_ID	USB input from an id
USB_SERIAL	USB input from a serial number
SVO_FILE	SVO file input
STREAM	STREAM input (requires to use enableStreaming() / disableStreaming()" on the "sender" side)
GMSL_ID	GMSL input from an id (only on NVIDIA Jetson)
GMSL_SERIAL	GMSL input from a serial number (only on NVIDIA Jetson)
AUTO	AUTO input type, automatically selects the right input type between USB and GMSL

Constructor and Destructor

◆ InputType() [1/2]

InputType ( )

Default constructor.

◆ InputType() [2/2]

InputType ( const InputType & type )

default

Copy constructor.

Functions

◆ setFromCameraID()

void setFromCameraID	(	int	id = `-1`,
		sl::BUS_TYPE	bus_type = `sl::BUS_TYPE::AUTO`
	)

Set the input as the camera with specified id.

Note: The id is not related to the serial number of the camera. The id is assigned by the OS depending on the order the cameras are plugged.

Warning: Using id is not recommended if you have multiple cameras plugged in the system, prefer using the serial number instead.

Parameters

id	: Id of the camera to open. The default, -1, will open the first available camera. A number >= 0 will try to open the camera with the corresponding id.
bus_type	: Whether the camera is a USB or a GMSL camera.

◆ setFromSerialNumber()

void setFromSerialNumber ( unsigned int camera_serial_number )

Set the input as the camera with specified serial number.

Parameters

camera_serial_number : Serial number of the camera to open.

◆ setFromSVOFile()

void setFromSVOFile ( sl::String svo_input_filename )

Set the input as the SVO specified with the filename.

Parameters

svo_input_filename : Path of the SVO file to open.

◆ setFromStream()

void setFromStream	(	sl::String	sender_ip,
		unsigned short	port = `30000`
	)

Set the input as the stream defined by the IP address and the port of the sending device.

Parameters

sender_ip	: IP address of the streaming sender.
port	: Port on which to listen. Default: 30000

Note: The protocol used for the streaming module is based on RTP/RTCP.

Warning: Port must be even number, since the port+1 is used for control data.

◆ getType()

INPUT_TYPE getType ( ) const

inline

Returns the current input type.

◆ getConfiguration()

sl::String getConfiguration ( ) const

inline

Returns the current input configuration as a string e.g: SVO name, serial number, streaming ip, etc.

◆ isInit()

bool isInit ( ) const

inline

Check whether the input is set.

◆ setVirtualStereoFromCameraIDs()

bool setVirtualStereoFromCameraIDs	(	int	id_left,
		int	id_right,
		unsigned int	virtual_serial_number
	)

Set the input as the ZED Ones with specified ids for a virtual stereo rig.

Parameters

id_left	: Id of the left ZED One camera to open.
id_right	: Id of the right ZED One camera to open.
virtual_serial_number	: Serial number of the virtual stereo rig to load its custom calibration

Note: : The virtual serial number must fall within an interval that reflects the Product ID range.
This is necessary to avoid, for instance, downloading calibration data from an unrelated product.
The valid range is 110000000 to 119999999.
A support function can be used, based on the ZED One serial number, to compute a valid virtual serial number: sl::generateVirtualStereoSerialNumber

Returns: error: true if there's an error

◆ setVirtualStereoFromSerialNumbers()

bool setVirtualStereoFromSerialNumbers	(	unsigned int	camera_left_serial_number,
		unsigned int	camera_right_serial_number,
		unsigned int	virtual_serial_number
	)

Set the input as the ZED Ones with specified serial numbers for a virtual stereo rig.

Parameters

camera_left_serial_number	: Serial number of the left ZED One camera to open.
camera_right_serial_number	: Serial number of the right ZED One camera to open.
virtual_serial_number	: Serial number of the virtual stereo rig to load its custom calibration

Note: : The virtual serial number must fall within an interval that reflects the Product ID range.
This is necessary to avoid, for instance, downloading calibration data from an unrelated product.
The valid range is 110000000 to 119999999.
A support function can be used, based on the ZED One serial number, to compute a valid virtual serial number: sl::generateVirtualStereoSerialNumber

Returns: error: true if there's an error

◆ save()

bool save ( String filename ) const

Saves the current set of parameters into a file to be reloaded with the load() method.

Parameters

filename : Name of the file which will be created to store the parameters (extension '.yml' will be added if not set).

Returns: True if file was successfully saved, otherwise false.

Warning: For security reason, the file must not exist.; In case a file already exists, the method will return false and existing file will not be updated.

◆ load()

bool load ( String filename )

Loads a set of parameters from the values contained in a previously saved file.

Parameters

filename : Path to the file from which the parameters will be loaded (extension '.yml' will be added at the end of the filename if not set).

Returns: True if the file was successfully loaded, otherwise false.

InitParameters init_params; // Set initial parameters

init_params.load("initParameters.yml"); // Load the init_params from a previously exported file

sl::InputType::InitParameters

friend struct InitParameters

Definition: types.hpp:956

Note: As the InitParameters files can be easily modified manually (using a text editor) this function allows you to test various settings without re-compiling your application.

◆ encode()

bool encode ( String & serialized_content ) const

Generate a JSON Object (with the struct type as a key) containing the serialized struct, converted into a string.

Parameters

serialized_content output string containing the JSON Object

Returns: True if file was successfully saved, otherwise false.

◆ decode()

bool decode ( const String & serialized_content )

Fill the structure from the serialized json object contained in the input string.

Parameters

serialized_content input string containing the JSON Object

Returns: True if the decoding was successful, otherwise false.

◆ operator==()

bool operator== ( const InputType & param1 ) const

Comparison operator ==.

Parameters

param1 to compare

Returns: true if the two struct are identical

◆ operator!=()

bool operator!= ( const InputType & param1 ) const

Comparison operator !=.

Parameters

param1 to compare

Returns: true if the two struct are different

Types

Functions

Detailed Description

Enumeration

◆ INPUT_TYPE

Constructor and Destructor

◆ InputType() [1/2]

◆ InputType() [2/2]

Functions

◆ setFromCameraID()

◆ setFromSerialNumber()

◆ setFromSVOFile()

◆ setFromStream()

◆ getType()

◆ getConfiguration()

◆ isInit()

◆ setVirtualStereoFromCameraIDs()

◆ setVirtualStereoFromSerialNumbers()

◆ save()

◆ load()

◆ encode()

◆ decode()

◆ operator==()

◆ operator!=()