Class containing the options used to initialize the sl.Camera object. More...

Functions
	InitParameters ()
	Default constructor. More...

Attributes
sl.INPUT_TYPE	inputType
	Defines the input source to initialize and open an sl.Camera object from. More...

sl.RESOLUTION	resolution
	Desired camera resolution. More...

int	cameraFPS
	Requested camera frame rate. More...

int	cameraDeviceID
	Id for identifying which camera to use from the connected cameras. More...

string	pathSVO = ""
	Path to a recorded SVO file to play, including filename. More...

bool	svoRealTimeMode
	Defines if sl.Camera object return the frame in real time mode. More...

UNIT	coordinateUnits
	Unit of spatial data (depth, point cloud, tracking, mesh, etc.) for retrieval. More...

COORDINATE_SYSTEM	coordinateSystem
	sl.COORDINATE_SYSTEM to be used as reference for positional tracking, mesh, point clouds, etc. More...

sl.DEPTH_MODE	depthMode
	sl.DEPTH_MODE to be used. More...

float	depthMinimumDistance
	Minimum depth distance to be returned, measured in the sl.UNIT defined in coordinateUnits. More...

float	depthMaximumDistance
	Maximum depth distance to be returned, measured in the sl.UNIT defined in coordinateUnits. More...

FLIP_MODE	cameraImageFlip
	Defines if a flip of the images is needed. More...

bool	enableRightSideMeasure
	Enable the measurement computation on the right images. More...

bool	cameraDisableSelfCalib
	Disables the self-calibration process at camera opening. More...

int	sdkVerbose
	Enable the ZED SDK verbose mode. More...

int	sdkGPUId
	NVIDIA graphics card id to use. More...

string	sdkVerboseLogFile = ""
	File path to store the ZED SDK logs (if sdkVerbose is enabled). More...

int	depthStabilization
	Defines whether the depth needs to be stabilized and to what extent. More...

string	optionalSettingsPath = ""
	Optional path where the ZED SDK has to search for the settings file (SN<XXXX>.conf file). More...

bool	sensorsRequired
	Requires the successful opening of the motion sensors before opening the camera. More...

string	ipStream = ""
	IP address of the streaming sender to connect to. More...

ushort	portStream = 30000
	Port of the streaming sender to connect to. More...

bool	enableImageEnhancement = true
	Enable the Enhanced Contrast Technology, to improve image quality. More...

string	optionalOpencvCalibrationFile
	Optional path where the ZED SDK can find a file containing the calibration information of the camera computed by OpenCV. More...

float	openTimeoutSec
	Define a timeout in seconds after which an error is reported if the sl.Camera.Open() method fails. More...

bool	asyncGrabCameraRecovery
	Define the behavior of the automatic camera recovery during sl.Camera.Grab() method call. More...

float	grabComputeCappingFPS = 0
	Define a computation upper limit to the grab frequency. More...

bool	enableImageValidityCheck
	Enable or disable the image validity verification. This will perform additional verification on the image to identify corrupted data.This verification is done in the grab function and requires some computations. If an issue is found, the grab function will output a warning as sl.ERROR_CODE.CORRUPTED_FRAME. This version doesn't detect frame tearing currently. default: disabled More...

Detailed Description

Class containing the options used to initialize the sl.Camera object.

This class allows you to select multiple parameters for the sl.Camera such as the selected camera, resolution, depth mode, coordinate system, and units of measurement.
Once filled with the desired options, it should be passed to the sl.Camera.Open() method.

Note: For more info, read about the ZED SDK C++ class it mirrors: InitParameters

Constructor and Destructor

◆ InitParameters()

InitParameters ( )

inline

Default constructor.

All the parameters are set to their default and optimized values.

Variables

◆ inputType

sl.INPUT_TYPE inputType

Defines the input source to initialize and open an sl.Camera object from.

The SDK can handle different input types:

Select a camera by its ID (/dev/videoX on Linux, and 0 to N cameras connected on Windows)
Select a camera by its serial number
Open a recorded sequence in the SVO file format
Open a streaming camera from its IP address and port

Note: Available cameras and their id/serial number can be listed using sl.Camera.GetDeviceList() and sl.Camera.GetStreamingDeviceList().; Each sl.Camera will create its own memory (CPU and GPU), therefore the number of cameras used at the same time can be limited by the configuration of your computer (GPU/CPU memory and capabilities).

Default : (empty)

Note: See sl.InputType for complementary information.

Referenced by InitParameters.InitParameters().

◆ resolution

sl.RESOLUTION resolution

Desired camera resolution.

Note: Small resolutions offer higher framerate and lower computation time.; In most situations, sl.RESOLUTION.HD720 at 60 FPS is the best balance between image quality and framerate.

Default:

ZED X/X Mini: sl.RESOLUTION.HD1200
other cameras: sl.RESOLUTION.HD720

Note: Available resolutions are listed here: sl.RESOLUTION.

Referenced by InitParameters.InitParameters().

◆ cameraFPS

int cameraFPS

Requested camera frame rate.

If set to 0, the highest FPS of the specified camera_resolution will be used.
Default: 0

See sl.RESOLUTION for a list of supported frame rates.

Note: If the requested cameraFPS is unsupported, the closest available FPS will be used.

◆ cameraDeviceID

int cameraDeviceID

Id for identifying which camera to use from the connected cameras.

Referenced by Camera.GetInitParameters().

◆ pathSVO

string pathSVO = ""

Path to a recorded SVO file to play, including filename.

◆ svoRealTimeMode

bool svoRealTimeMode

Defines if sl.Camera object return the frame in real time mode.

When playing back an SVO file, each call to sl.Camera.Grab() will extract a new frame and use it.
However, it ignores the real capture rate of the images saved in the SVO file.
Enabling this parameter will bring the SDK closer to a real simulation when playing back a file by using the images' timestamps.
Default: false

Note: sl.Camera.Grab() will return an error when trying to play too fast, and frames will be dropped when playing too slowly.

◆ coordinateUnits

UNIT coordinateUnits

Unit of spatial data (depth, point cloud, tracking, mesh, etc.) for retrieval.

Default: sl.UNIT.MILLIMETER

◆ coordinateSystem

COORDINATE_SYSTEM coordinateSystem

sl.COORDINATE_SYSTEM to be used as reference for positional tracking, mesh, point clouds, etc.

This parameter allows you to select the sl.COORDINATE_SYSTEM used by the sl.Camera object to return its measures.
This defines the order and the direction of the axis of the coordinate system.
Default: sl.COORDINATE_SYSTEM.IMAGE

◆ depthMode

sl.DEPTH_MODE depthMode

sl.DEPTH_MODE to be used.

The ZED SDK offers several sl.DEPTH_MODE, offering various levels of performance and accuracy.
This parameter allows you to set the sl.DEPTH_MODE that best matches your needs.
Default: sl.DEPTH_MODE.PERFORMANCE

Note: Available depth mode are listed here: sl.DEPTH_MODE.

Referenced by InitParameters.InitParameters().

◆ depthMinimumDistance

float depthMinimumDistance

Minimum depth distance to be returned, measured in the sl.UNIT defined in coordinateUnits.

This parameter allows you to specify the minimum depth value (from the camera) that will be computed.

In stereovision (the depth technology used by the camera), looking for closer depth values can have a slight impact on performance and memory consumption.
On most of modern GPUs, performance impact will be low. However, the impact of memory footprint will be visible.
In cases of limited computation power, increasing this value can provide better performance.
Default: -1 (corresponding values are available here)

Note: depthMinimumDistance value cannot be greater than 3 meters.; 0 will imply that depthMinimumDistance is set to the minimum depth possible for each camera (those values are available here).

◆ depthMaximumDistance

float depthMaximumDistance

Maximum depth distance to be returned, measured in the sl.UNIT defined in coordinateUnits.

When estimating the depth, the ZED SDK uses this upper limit to turn higher values into inf ones.

Note: Changing this value has no impact on performance and doesn't affect the positional tracking nor the spatial mapping.; It only change values the depth, point cloud and normals.

◆ cameraImageFlip

FLIP_MODE cameraImageFlip

Defines if a flip of the images is needed.

If you are using the camera upside down, setting this parameter to sl.FLIP_MODE.ON will cancel its rotation.
The images will be horizontally flipped.
Default: sl.FLIP_MODE.AUTO

Note: From ZED SDK 3.2 a new sl.FLIP_MODE enum was introduced to add the automatic flip mode detection based on the IMU gravity detection.; This does not work on sl.MODEL.ZED cameras since they do not have the necessary sensors.

◆ enableRightSideMeasure

bool enableRightSideMeasure

Enable the measurement computation on the right images.

By default, the ZED SDK only computes a single depth map, aligned with the left camera image.
This parameter allows you to enable sl.MEASURE.DEPTH_RIGHT and other sl.MEASURE.XXX_RIGHT at the cost of additional computation time.
For example, mixed reality pass-through applications require one depth map per eye, so this parameter can be activated.
Default: False

◆ cameraDisableSelfCalib

bool cameraDisableSelfCalib

Disables the self-calibration process at camera opening.

At initialization, sl.Camera runs a self-calibration process that corrects small offsets from the device's factory calibration.
A drawback is that calibration parameters will slightly change from one (live) run to another, which can be an issue for repeatability.
If set to true, self-calibration will be disabled and calibration parameters won't be optimized, raw calibration parameters from the configuration file will be used.
Default: false

Note: In most situations, self calibration should remain enabled.; You can also trigger the self-calibration at anytime after sl.Camera.Open() by calling sl.Camera.UpdateSelfCalibration(), even if this parameter is set to true.

◆ sdkVerbose

int sdkVerbose

Enable the ZED SDK verbose mode.

This parameter allows you to enable the verbosity of the ZED SDK to get a variety of runtime information in the console.
When developing an application, enabling verbose (sdkVerbose >= 1) mode can help you understand the current ZED SDK behavior.
However, this might not be desirable in a shipped version.
Default: 0 (no verbose message)

Note: The verbose messages can also be exported into a log file.; See sdkVerboseLogFile for more.

◆ sdkGPUId

int sdkGPUId

NVIDIA graphics card id to use.

By default the SDK will use the most powerful NVIDIA graphics card found.
However, when running several applications, or using several cameras at the same time, splitting the load over available GPUs can be useful.
This parameter allows you to select the GPU used by the sl.Camera using an ID from 0 to n-1 GPUs in your PC.
Default: -1

Note: A non-positive value will search for all CUDA capable devices and select the most powerful.

◆ sdkVerboseLogFile

string sdkVerboseLogFile = ""

File path to store the ZED SDK logs (if sdkVerbose is enabled).

The file will be created if it does not exist.
Default: ""

Note: Setting this parameter to any value will redirect all standard output print calls of the entire program.; This means that your own standard output print calls will be redirected to the log file.; This parameter can be particularly useful for creating a log system, and with Unreal or Unity applications that don't provide a standard console output.

Warning: The log file won't be cleared after successive executions of the application.; This means that it can grow indefinitely if not cleared.

◆ depthStabilization

int depthStabilization

Defines whether the depth needs to be stabilized and to what extent.

Regions of generated depth map can oscillate from one frame to another.
These oscillations result from a lack of texture (too homogeneous) on an object and by image noise.
This parameter controls a stabilization filter that reduces these oscillations.
In the range [0-100]:

0 disable the depth stabilization (raw depth will be return)
stabilization smoothness is linear from 1 to 100

Default: 1

Note: The stabilization uses the positional tracking to increase its accuracy, so the positional tracking module will be enabled automatically when set to a value different from 0.; Note that calling sl.Camera.EnablePositionalTracking() with your own parameters afterwards is still possible.

◆ optionalSettingsPath

string optionalSettingsPath = ""

Optional path where the ZED SDK has to search for the settings file (SN<XXXX>.conf file).

This file contains the calibration information of the camera.
Default: ""

Note

The settings file will be searched in the default directory:

Linux: /usr/local/zed/settings/
Windows: C:/ProgramData/stereolabs/settings

If a path is specified and no file has been found, the ZED SDK will search the settings file in the default directory.

An automatic download of the settings file (through ZED Explorer or the installer) will still download the files on the default path.

◆ sensorsRequired

bool sensorsRequired

Requires the successful opening of the motion sensors before opening the camera.

Default: false.

Note: If set to false, the ZED SDK will try to open and use the IMU (second USB device on USB2.0) and will open the camera successfully even if the sensors failed to open.

This can be used for example when using a USB3.0 only extension cable (some fiber extension for example).

Note: This parameter only impacts the LIVE mode.; If set to true, sl.Camera.Open() will fail if the sensors cannot be opened.; This parameter should be used when the IMU data must be available, such as object detection module or when the gravity is needed.

Note: This setting is not taken into account for sl.MODEL.ZED camera since it does not include sensors.

◆ ipStream

string ipStream = ""

IP address of the streaming sender to connect to.

◆ portStream

ushort portStream = 30000

Port of the streaming sender to connect to.

◆ enableImageEnhancement

bool enableImageEnhancement = true

Enable the Enhanced Contrast Technology, to improve image quality.

Default: True.

If set to true, image enhancement will be activated in camera ISP. Otherwise, the image will not be enhanced by the IPS.

Note: This only works for firmware version starting from 1523 and up.

◆ optionalOpencvCalibrationFile

string optionalOpencvCalibrationFile

Optional path where the ZED SDK can find a file containing the calibration information of the camera computed by OpenCV.

Note: Using this will disable the factory calibration of the camera.; The file must be in a XML/YAML/JSON formatting provided by OpenCV.; It also must contain the following keys: Size, K_LEFT (intrinsic left), K_RIGHT (intrinsic right), D_LEFT (distortion left), D_RIGHT (distortion right), R (extrinsic rotation), T (extrinsic translation).

Warning: Erroneous calibration values can lead to poor accuracy in all ZED SDK modules.

◆ openTimeoutSec

float openTimeoutSec

Define a timeout in seconds after which an error is reported if the sl.Camera.Open() method fails.

Set to '-1' to try to open the camera endlessly without returning error in case of failure.
Set to '0' to return error in case of failure at the first attempt.
Default: 5.0

Note: This parameter only impacts the LIVE mode.

◆ asyncGrabCameraRecovery

bool asyncGrabCameraRecovery

Define the behavior of the automatic camera recovery during sl.Camera.Grab() method call.

When async is enabled and there's an issue with the communication with the sl.Camera object, sl.Camera.Grab() will exit after a short period and return the sl.ERROR_CODE.CAMERA_REBOOTING warning.
The recovery will run in the background until the correct communication is restored.
When asyncGrabCameraRecovery is false, the sl.Camera.Grab() method is blocking and will return only once the camera communication is restored or the timeout is reached.
Default: false

◆ grabComputeCappingFPS

float grabComputeCappingFPS = 0

Define a computation upper limit to the grab frequency.

This can be useful to get a known constant fixed rate or limit the computation load while keeping a short exposure time by setting a high camera capture framerate.
The value should be inferior to the sl.InitParameters.camera_fps and strictly positive.

Note: It has no effect when reading an SVO file.

This is an upper limit and won't make a difference if the computation is slower than the desired compute capping FPS.

Note: Internally the sl.Camera.grab() method always tries to get the latest available image while respecting the desired FPS as much as possible.

◆ enableImageValidityCheck

bool enableImageValidityCheck

Enable or disable the image validity verification. This will perform additional verification on the image to identify corrupted data.This verification is done in the grab function and requires some computations. If an issue is found, the grab function will output a warning as sl.ERROR_CODE.CORRUPTED_FRAME. This version doesn't detect frame tearing currently.
default: disabled

Functions

Attributes

Detailed Description

Constructor and Destructor

◆ InitParameters()

Variables

◆ inputType

◆ resolution

◆ cameraFPS

◆ cameraDeviceID

◆ pathSVO

◆ svoRealTimeMode

◆ coordinateUnits

◆ coordinateSystem

◆ depthMode

◆ depthMinimumDistance

◆ depthMaximumDistance

◆ cameraImageFlip

◆ enableRightSideMeasure

◆ cameraDisableSelfCalib

◆ sdkVerbose

◆ sdkGPUId

◆ sdkVerboseLogFile

◆ depthStabilization

◆ optionalSettingsPath

◆ sensorsRequired

◆ ipStream

◆ portStream

◆ enableImageEnhancement

◆ optionalOpencvCalibrationFile

◆ openTimeoutSec

◆ asyncGrabCameraRecovery

◆ grabComputeCappingFPS

◆ enableImageValidityCheck