Classes
class	Camera
	This class serves as the primary interface between the camera and the various features provided by the SDK. More...

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

struct	RecordingParameters
	Structure containing the options used to record. More...

struct	StreamingParameters
	Structure containing the options used to stream with the ZED SDK. More...

struct	DeviceProperties
	Structure containing information about the properties of a camera. More...

struct	StreamingProperties
	Structure containing information about the properties of a streaming device. More...

struct	HealthStatus
	Structure containing the self-diagnostic results of the camera (image, depth, sensor health). Retrieved via Camera.GetHealthStatus. More...

struct	RecordingStatus
	Structure containing information about the status of the recording. More...

struct	InputType
	Structure defining the input type used in the ZED SDK. More...

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

enum class	BUS_TYPE
	Lists available LIVE input type in the ZED SDK. More...

enum class	CAMERA_STATE
	Lists possible camera states. More...

enum class	RESOLUTION
	Lists available resolutions. More...

enum class	FLIP_MODE
	Lists possible flip modes of the camera. More...

enum class	MODEL
	Lists ZED camera model. SL_MODEL in C wrapper. More...

enum class	VIEW
	Lists available views. More...

enum class	VIDEO_SETTINGS
	Lists available camera settings for the camera (contrast, hue, saturation, gain, ...). More...

enum class	TIME_REFERENCE
	Lists possible time references for timestamps or data. More...

enum class	TIMESTAMP_CLOCK
	Lists available clock sources for SDK timestamps. More...

enum class	SVO_COMPRESSION_MODE
	Lists available compression modes for SVO recording. More...

enum class	SVO_ENCODING_PRESET
	Lists available encoding presets for SVO recording. Controls the speed/quality tradeoff of the GPU hardware encoder. More...

enum class	STREAMING_CODEC
	Lists the different encoding types for image streaming. More...

Enumeration Type Documentation

◆ INPUT_TYPE

enum INPUT_TYPE

strong

Lists available input types in the ZED SDK.

Enumerator
USB	USB input mode
SVO	SVO file input mode
STREAM	STREAM input mode (requires to use EnableStreaming() / DisableStreaming() on the "sender" side)
GMSL	GMSL input mode

◆ BUS_TYPE

enum BUS_TYPE

strong

Lists available LIVE input type in the ZED SDK.

Enumerator

USB

USB input mode

GMSL

GMSL input mode

Note: Only on NVIDIA Jetson.

AUTO

Automatically select the input type.
Trying first for available USB cameras, then GMSL.

◆ CAMERA_STATE

enum CAMERA_STATE

strong

Lists possible camera states.

Enumerator
AVAILABLE	The camera can be opened by the ZED SDK.
NOT_AVAILABLE	The camera is already opened and unavailable.

◆ RESOLUTION

enum RESOLUTION

strong

Lists available resolutions.

Note: The VGA resolution does not respect the 640*480 standard to better fit the camera sensor (672*376 is used).

Warning: All resolutions are not available for every camera.; You can find the available resolutions for each camera in our documentation.

Enumerator
HD4K	3856x2180 for imx678 mono Available FPS: 15
QHDPLUS	3800x1800
HD2K	2208*1242 (x2) Available FPS: 15
HD1536	19201536 (x2) Available FPS: 15, 30‍/
HD1080	1920*1080 (x2) Available FPS: 15, 30
HD1200	1920*1200 (x2) Available FPS: 15, 30, 60
HD720	1280*720 (x2) Available FPS: 15, 30, 60
HDSVGA	960*600 (x2) Available FPS: 15, 30, 60, 120
VGA	672*376 (x2) Available FPS: 15, 30, 60, 100
XVGA	960*768 (x2) Available FPS: 30 Only supported with ZED-X HDR lineup (One/Stereo)
TXGA	640*512 (x2) Available FPS: 30 Only supported with ZED-X HDR lineup (One/Stereo)
AUTO	Select the resolution compatible with the camera: ZED X/X Mini: HD1200 other cameras: HD720

◆ FLIP_MODE

enum FLIP_MODE

strong

Lists possible flip modes of the camera.

Enumerator
OFF	No flip applied. Default behavior.
ON	Images and camera sensors' data are flipped useful when your camera is mounted upside down.
AUTO	In LIVE mode, use the camera orientation (if an IMU is available) to set the flip mode. In SVO mode, read the state of this enum when recorded.

◆ MODEL

enum MODEL

strong

Lists ZED camera model. SL_MODEL in C wrapper.

Enumerator
ZED	ZED camera model
ZED_M	ZED Mini (ZED M) camera model
ZED2	ZED 2 camera model
ZED2i	ZED 2i camera model
ZED_X	ZED X camera model
ZED_XM	ZED X Mini (ZED XM) camera model
ZED_X_NANO	ZED X Nano (18mm baseline) camera model with dual global shutter AR0234 sensor
VIRTUAL_ZED_X	Virtual ZED X generated from 2 ZED X One
ZED_XONE_GS	ZED X One with global shutter AR0234 sensor
ZED_XONE_UHD	ZED X One with 4K rolling shutter IMX678 sensor
ZED_XONE_HDR	ZED X One HDR.

◆ VIEW

enum VIEW

strong

Lists available views.

Note: For more info, read about the ZED SDK C++ enum it mirrors: VIEW

Enumerator
LEFT	Left BGRA image. Each pixel contains 4 unsigned char (B, G, R, A). Type: sl.MAT_TYPE.MAT_8U_C4.
RIGHT	Right BGRA image. Each pixel contains 4 unsigned char (B, G, R, A). Type: sl.MAT_TYPE.MAT_8U_C4.
LEFT_GREY	Left gray image. Each pixel contains 1 unsigned char. Type: sl.MAT_TYPE.MAT_8U_C1.
RIGHT_GREY	Right gray image. Each pixel contains 1 unsigned char. Type: sl.MAT_TYPE.MAT_8U_C1.
LEFT_NV12_UNRECTIFIED	Left NV12 unrectified image.
RIGHT_NV12_UNRECTIFIED	Right NV12 unrectified image.
LEFT_UNRECTIFIED	Left BGRA unrectified image. Each pixel contains 4 unsigned char (B, G, R, A). Type: sl.MAT_TYPE.MAT_8U_C4.
RIGHT_UNRECTIFIED	Right BGRA unrectified image. Each pixel contains 4 unsigned char (B, G, R, A). Type: sl.MAT_TYPE.MAT_8U_C4.
LEFT_UNRECTIFIED_GREY	Left gray unrectified image. Each pixel contains 1 unsigned char. Type: sl.MAT_TYPE.MAT_8U_C1.
RIGHT_UNRECTIFIED_GREY	Right gray unrectified image. Each pixel contains 1 unsigned char. Type: sl.MAT_TYPE.MAT_8U_C1.
SIDE_BY_SIDE	Left and right image (the image width is therefore doubled). Each pixel contains 4 unsigned char (B, G, R, A). Type: sl.MAT_TYPE.MAT_8U_C4.
DEPTH	Color rendering of the depth. Each pixel contains 4 unsigned char (B, G, R, A). Type: sl.MAT_TYPE.MAT_8U_C4. Note Use sl.MEASURE.DEPTH with sl.Camera.RetrieveMeasure() to get depth values.
CONFIDENCE	Color rendering of the depth confidence. Each pixel contains 4 unsigned char (B, G, R, A). Type: sl.MAT_TYPE.MAT_8U_C4. Note Use sl.MEASURE.CONFIDENCE with sl.Camera.RetrieveMeasure() to get confidence values.
NORMALS	Color rendering of the normals. Each pixel contains 4 unsigned char (B, G, R, A). Type: sl.MAT_TYPE.MAT_8U_C4. Note Use sl.MEASURE.NORMALS with sl.Camera.RetrieveMeasure() to get normal values.
DEPTH_RIGHT	Color rendering of the right depth mapped on right sensor. Each pixel contains 4 unsigned char (B, G, R, A). Type: sl.MAT_TYPE.MAT_8U_C4. Note Use sl.MEASURE.DEPTH_RIGHT with sl.Camera.RetrieveMeasure() to get depth right values.
NORMALS_RIGHT	Color rendering of the normals mapped on right sensor. Each pixel contains 4 unsigned char (B, G, R, A). Type: sl.MAT_TYPE.MAT_8U_C4. Note Use sl.MEASURE.NORMALS_RIGHT with sl.Camera.RetrieveMeasure() to get normal right values.
LEFT_BGRA	Alias of LEFT
LEFT_BGR	Left image. Each pixel contains 3 unsigned char (B, G, R). Type: sl.MAT_TYPE.MAT_8U_C3.
RIGHT_BGRA	Alias of RIGHT
RIGHT_BGR	Right image. Each pixel contains 3 unsigned char (B, G, R). Type: sl.MAT_TYPE.MAT_8U_C3.
LEFT_UNRECTIFIED_BGRA	Alias of LEFT_UNRECTIFIED
LEFT_UNRECTIFIED_BGR	Left unrectified image. Each pixel contains 3 unsigned char (B, G, R). Type: sl.MAT_TYPE.MAT_8U_C3.
RIGHT_UNRECTIFIED_BGRA	Alias of RIGHT_UNRECTIFIED
RIGHT_UNRECTIFIED_BGR	Right unrectified image. Each pixel contains 3 unsigned char (B, G, R). Type: sl.MAT_TYPE.MAT_8U_C3.
SIDE_BY_SIDE_BGRA	Alias of SIDE_BY_SIDE
SIDE_BY_SIDE_BGR	Side by side image. Each pixel contains 3 unsigned char (B, G, R). Type: sl.MAT_TYPE.MAT_8U_C3.
SIDE_BY_SIDE_GRAY	gray scale side by side image. Each pixel contains 1 unsigned char. Type: sl.MAT_TYPE.MAT_8U_C1.
SIDE_BY_SIDE_UNRECTIFIED_BGRA	Unrectified side by side image. Each pixel contains 4 unsigned char (B, G, R, A). Type: sl.MAT_TYPE.MAT_8U_C4.
SIDE_BY_SIDE_UNRECTIFIED_BGR	Unrectified side by side image. Each pixel contains 3 unsigned char (B, G, R). Type: sl.MAT_TYPE.MAT_8U_C3.
SIDE_BY_SIDE_UNRECTIFIED_GRAY	Grayscale unrectified side by side image. Each pixel contains 1 unsigned char. Type: sl.MAT_TYPE.MAT_8U_C1.
DEPTH_BGRA	Alias of DEPTH
DEPTH_BGR	Depth image. Each pixel contains 3 unsigned char (B, G, R). Type: sl.MAT_TYPE.MAT_8U_C3.
DEPTH_GRAY	Grayscale depth image. Each pixel contains 1 unsigned char. Type: sl.MAT_TYPE.MAT_8U_C1.
CONFIDENCE_BGRA	Alias of CONFIDENCE
CONFIDENCE_BGR	Confidence image. Each pixel contains 3 unsigned char (B, G, R). Type: sl.MAT_TYPE.MAT_8U_C3.
CONFIDENCE_GRAY	Grayscale confidence image. Each pixel contains 1 unsigned char. Type: sl.MAT_TYPE.MAT_8U_C1.
NORMALS_BGRA	Alias of NORMALS
NORMALS_BGR	Normals image. Each pixel contains 3 unsigned char (B, G, R). Type: sl.MAT_TYPE.MAT_8U_C3.
NORMALS_GRAY	Grayscale normals image. Each pixel contains 1 unsigned char. Type: sl.MAT_TYPE.MAT_8U_C1.
DEPTH_RIGHT_BGRA	Alias of DEPTH_RIGHT
DEPTH_RIGHT_BGR	Depth right image. Each pixel contains 3 unsigned char (B, G, R). Type: sl.MAT_TYPE.MAT_8U_C3.
DEPTH_RIGHT_GRAY	Grayscale depth right image. Each pixel contains 1 unsigned char. Type: sl.MAT_TYPE.MAT_8U_C1.
NORMALS_RIGHT_BGRA	Alias of NORMALS_RIGHT
NORMALS_RIGHT_BGR	Normals right image. Each pixel contains 3 unsigned char (B, G, R). Type: sl.MAT_TYPE.MAT_8U_C3.
NORMALS_RIGHT_GRAY	Grayscale normals right image. Each pixel contains 1 unsigned char. Type: sl.MAT_TYPE.MAT_8U_C1.

◆ VIDEO_SETTINGS

enum VIDEO_SETTINGS

strong

Lists available camera settings for the camera (contrast, hue, saturation, gain, ...).

Warning: GAIN and EXPOSURE are linked in auto/default mode (see sl.Camera.SetCameraSettings()).

Enumerator
BRIGHTNESS	Brightness control. Affected value should be between 0 and 8. Note Not available for ZED X/X Mini cameras.
CONTRAST	Contrast control Affected value should be between 0 and 8. Note Not available for ZED X/X Mini cameras.
HUE	Hue control Affected value should be between 0 and 11. Note Not available for ZED X/X Mini cameras.
SATURATION	Saturation control Affected value should be between 0 and 8.
SHARPNESS	Digital sharpening control Affected value should be between 0 and 8.
GAMMA	ISP gamma control Affected value should be between 1 and 9.
GAIN	Gain control Affected value should be between 0 and 100 for manual control. Note If EXPOSURE is set to -1 (automatic mode), then GAIN will be automatic as well.
EXPOSURE	Exposure control Affected value should be between 0 and 100 for manual control. The exposition is mapped linearly in a percentage of the following max values. Special case for `EXPOSURE = 0` that corresponds to 0.17072ms. The conversion to milliseconds depends on the framerate: 15fps `EXPOSURE = 100` -> 19.97ms 30fps `EXPOSURE = 100` -> 19.97ms 60fps `EXPOSURE = 100` -> 10.84072ms 100fps `EXPOSURE = 100` -> 10.106624ms
AEC_AGC	Defines if the GAIN and EXPOSURE are in automatic mode or not. Setting GAIN or EXPOSURE values will automatically set this value to 0.
AEC_AGC_ROI	Defines the region of interest for automatic exposure/gain computation. To be used with overloaded SetCameraSettings() / GetCameraSettings() methods.
WHITEBALANCE_TEMPERATURE	Color temperature control Affected value should be between 2800 and 6500 with a step of 100. Note Setting a value will automatically set WHITEBALANCE_AUTO to 0.
WHITEBALANCE_AUTO	Defines if the white balance is in automatic mode or not.
LED_STATUS	Status of the front LED of the camera. Set to 0 to disable the light, 1 to enable the light. Default value is on. Note Requires camera firmware 1523 at least.
EXPOSURE_TIME	Exposure time control in microseconds. Only available for GMSL2-based camera (ZED-X, ZED-X Mini, ZED-Xone,...) . Note Use this value to get the real exposure time in us
ANALOG_GAIN	Analog gain (sensor) control in mDB. Use this value to get the real analog gain in mdB. Note Only available for GMSL2-based camera (ZED-X, ZED-X Mini, ZED-Xone,...)
DIGITAL_GAIN	Digital gain (ISP) as a factor. Note Only available for GMSL2-based camera (ZED-X, ZED-X Mini, ZED-Xone,...)
AUTO_EXPOSURE_TIME_RANGE	Range of exposure auto control in microseconds. Used with SetCameraSettings(). Min/max range between max range defined in DTS. By default : [28000 - fps_time or 19000] us. Note Only available for ZED X/X Mini cameras.
AUTO_ANALOG_GAIN_RANGE	Range of sensor gain in automatic control. Used with SetCameraSettings(). Min/max range between max range defined in DTS. By default: [1000 - 16000] mdB. Note Only available for ZED X/X Mini cameras.
AUTO_DIGITAL_GAIN_RANGE	Range of digital ISP gain in automatic control. Used with SetCameraSettings(). Min/max range between max range defined in DTS. By default: [1 - 256]. Note Only available for ZED X/X Mini cameras.
EXPOSURE_COMPENSATION	Exposure-target compensation made after auto exposure. Reduces the overall illumination target by factor of F-stops. Affected value should be between 0 and 100 (mapped between [-2.0,2.0]). Default value is 50, i.e. no compensation applied. Note Only available for ZED X/X Mini cameras.
DENOISING	Level of denoising applied on both left and right images. Affected value should be between 0 and 100. Default value is 50. Note Only available for ZED X/X Mini cameras.
SCENE_ILLUMINANCE	Level of illuminance of the scene calculated by the ISP. Can be used to determine the level of light in the scene and adjust settings accordingly. Note Read-only control. Available for ZED-X/X mini and ZED-XOne GS or 4K(UHD) cameras only. Value provided in [0.1x]Lux.
AE_ANTIBANDING	AE anti-banding mode. Affected value should be between 0 and 3. 0: OFF, 1: AUTO, 2: 50Hz, 3: 60Hz. Default value is 0 (OFF). Note Only available for non-HDR GMSL cameras (e.g. ZED X, ZED X Mini, ZED X One GS, etc.).

◆ TIME_REFERENCE

enum TIME_REFERENCE

strong

Lists possible time references for timestamps or data.

Enumerator
IMAGE	The requested timestamp or data will be at the time of the frame extraction.
CURRENT	The requested timestamp or data will be at the time of the function call.

◆ TIMESTAMP_CLOCK

enum TIMESTAMP_CLOCK

strong

Lists available clock sources for SDK timestamps.

Selects the clock used internally by the SDK to timestamp images and sensor data. Both image and IMU timestamps always use the same selected clock, ensuring coherent results.

Note: this is a process-wide setting. Use Camera.SetTimestampClock before opening any camera.

Enumerator
SYSTEM_CLOCK	Timestamps use the system (wall-clock) time. Affected by NTP/PTP adjustments.
MONOTONIC_CLOCK	Timestamps use a monotonic clock. Immune to system clock step adjustments (NTP/PTP).

◆ SVO_COMPRESSION_MODE

enum SVO_COMPRESSION_MODE

strong

Lists available compression modes for SVO recording.

Note: LOSSLESS_BASED is an improvement of previous lossless compression (used in ZED Explorer), even if size may be bigger, compression time is much faster.

Enumerator
LOSSLESS_BASED	PNG/ZSTD (lossless) CPU based compression. Average size: 42% of RAW
H264_BASED	H264 (AVCHD) GPU based compression. Average size: 1% of RAW Note Requires a NVIDIA GPU.
H265_BASED	H265 (HEVC) GPU based compression. Average size: 1% of RAW Note Requires a NVIDIA GPU.
H264_LOSSLESS_BASED	H264 Lossless GPU/Hardware based compression. Average size: 25% of RAW Provides a SSIM/PSNR result (vs RAW) >= 99.9%. Note Requires a NVIDIA GPU.
H265_LOSSLESS_BASED	H265 Lossless GPU/Hardware based compression. Average size: 25% of RAW Provides a SSIM/PSNR result (vs RAW) >= 99.9%. Note Requires a NVIDIA GPU.

◆ SVO_ENCODING_PRESET

enum SVO_ENCODING_PRESET

strong

Lists available encoding presets for SVO recording. Controls the speed/quality tradeoff of the GPU hardware encoder.

Note: Only applicable when compression mode is H264 or H265.

Enumerator
DEFAULT	Encoder default. Maps to NVENC P4 / V4L2 default.
ULTRAFAST	Fastest encoding, lowest quality. Maps to NVENC P1 / V4L2 ULTRAFAST.
FAST	Fast encoding. Maps to NVENC P2 / V4L2 FAST.
MEDIUM	Balanced speed/quality. Maps to NVENC P3 / V4L2 MEDIUM.
SLOW	Slow encoding, higher quality. Maps to NVENC P5 / V4L2 SLOW.

◆ STREAMING_CODEC

enum STREAMING_CODEC

strong

Lists the different encoding types for image streaming.

Enumerator
H264_BASED	AVCHD/H264 encoding
H265_BASED	HEVC/H265 encoding

Classes

Enumerations

Enumeration Type Documentation

◆ INPUT_TYPE

◆ BUS_TYPE

◆ CAMERA_STATE

◆ RESOLUTION

◆ FLIP_MODE

◆ MODEL

◆ VIEW

◆ VIDEO_SETTINGS

◆ TIME_REFERENCE

◆ TIMESTAMP_CLOCK

◆ SVO_COMPRESSION_MODE

◆ SVO_ENCODING_PRESET

◆ STREAMING_CODEC