Video Module

Classes

class  Camera
 This class is the main interface with the camera and the SDK features, such as: video, depth, tracking, mapping, and more. More...
 
class  InitParameters
 Struct containing all parameters passed to the SDK when initializing the ZED. These parameters will be fixed for the whole execution life time of the camera. More...
 
struct  RecordingParameters
 Sets the recording parameters. More...
 
struct  StreamingParameters
 Sets the streaming parameters. More...
 
struct  RecordingStatus
 Container for information about the current SVO recording process. More...
 

Enumerations

enum class  INPUT_TYPE
 Lists available input type in SDK. More...
 
enum class  RESOLUTION
 Represents the available resolution options. More...
 
enum class  FLIP_MODE
 brief Lists available compression modes for SVO recording. More...
 
enum class  MODEL
 Types of compatible ZED cameras. More...
 
enum class  VIEW
 Lists available view types retrieved from the camera, used for creating human-viewable (Image-type) textures. More...
 
enum class  VIDEO_SETTINGS
 Lists available camera settings for the ZED camera (contrast, hue, saturation, gain, etc.) More...
 
enum class  TIME_REFERENCE
 Categories indicating when a timestamp is captured. More...
 
enum class  SVO_COMPRESSION_MODE
 SVO compression modes. More...
 
enum class  STREAMING_CODEC
 Streaming codecs More...
 

Enumeration Type Documentation

◆ INPUT_TYPE

enum INPUT_TYPE
strong

Lists available input type in SDK.

Enumerator
USB 

USB input mode

SVO 

SVO file input mode

STREAM 

STREAM input mode (requires to use enableStreaming()/disableStreaming() on the "sender" side)

◆ RESOLUTION

enum RESOLUTION
strong

Represents the available resolution options.

Enumerator
HD2K 

2208*1242. Supported frame rate: 15 FPS.

HD1080 

1920*1080. Supported frame rates: 15, 30 FPS.

HD720 

1280*720. Supported frame rates: 15, 30, 60 FPS.

VGA 

672*376. Supported frame rates: 15, 30, 60, 100 FPS.

◆ FLIP_MODE

enum FLIP_MODE
strong

brief Lists available compression modes for SVO recording.

Enumerator
OFF 

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

Types of compatible ZED cameras.

Enumerator
ZED 

ZED(1)

ZED_M 

ZED Mini.

ZED2 

ZED2.

◆ VIEW

enum VIEW
strong

Lists available view types retrieved from the camera, used for creating human-viewable (Image-type) textures.

Based on the VIEW enum in the ZED C++ SDK. For more info, see: https://www.stereolabs.com/docs/api/group__Video__group.html#ga77fc7bfc159040a1e2ffb074a8ad248c

Enumerator
LEFT 

Left RGBA image. As a Mat, MAT_TYPE is set to MAT_TYPE_8U_C4.

RIGHT 

Right RGBA image. As a Mat, MAT_TYPE is set to sl::MAT_TYPE_8U_C4.

LEFT_GREY 

Left GRAY image. As a Mat, MAT_TYPE is set to sl::MAT_TYPE_8U_C1.

RIGHT_GREY 

Right GRAY image. As a Mat, MAT_TYPE is set to sl::MAT_TYPE_8U_C1.

LEFT_UNRECTIFIED 

Left RGBA unrectified image. As a Mat, MAT_TYPE is set to sl::MAT_TYPE_8U_C4.

RIGHT_UNRECTIFIED 

Right RGBA unrectified image. As a Mat, MAT_TYPE is set to sl::MAT_TYPE_8U_C4.

LEFT_UNRECTIFIED_GREY 

Left GRAY unrectified image. As a ZEDMat, MAT_TYPE is set to sl::MAT_TYPE_8U_C1.

RIGHT_UNRECTIFIED_GREY 

Right GRAY unrectified image. As a Mat, MAT_TYPE is set to sl::MAT_TYPE_8U_C1.

SIDE_BY_SIDE 

Left and right image. Will be double the width to hold both. As a Mat, MAT_TYPE is set to MAT_8U_C4.

DEPTH 

Normalized depth image. As a Mat, MAT_TYPE is set to sl::MAT_TYPE_8U_C4.

Use an Image texture for viewing only. For measurements, use a Measure type instead (ZEDCamera.RetrieveMeasure()) to preserve accuracy.

CONFIDENCE 

Normalized confidence image. As a Mat, MAT_TYPE is set to MAT_8U_C4.

Use an Image texture for viewing only. For measurements, use a Measure type instead (ZEDCamera.RetrieveMeasure()) to preserve accuracy.

NORMALS 

Color rendering of the normals. As a Mat, MAT_TYPE is set to MAT_8U_C4.

Use an Image texture for viewing only. For measurements, use a Measure type instead (ZEDCamera.RetrieveMeasure()) to preserve accuracy.

DEPTH_RIGHT 

Color rendering of the right depth mapped on right sensor. As a Mat, MAT_TYPE is set to MAT_8U_C4.

Use an Image texture for viewing only. For measurements, use a Measure type instead (ZEDCamera.RetrieveMeasure()) to preserve accuracy.

NORMALS_RIGHT 

Color rendering of the normals mapped on right sensor. As a Mat, MAT_TYPE is set to MAT_8U_C4.

Use an Image texture for viewing only. For measurements, use a Measure type instead (ZEDCamera.RetrieveMeasure()) to preserve accuracy.

DEPTH_U16_MM 

Depth map in millimeter. Each pixel contains 1 unsigned short. As a Mat, MAT_TYPE is set to MAT_U16_C1.

DEPTH_U16_MM_RIGHT 

Depth map in millimeter for right sensor. Each pixel contains 1 unsigned short. As a Mat, MAT_TYPE is set to MAT_U16_C1.

◆ VIDEO_SETTINGS

enum VIDEO_SETTINGS
strong

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

Enumerator
BRIGHTNESS 

Brightness control. Value should be between 0 and 8.

CONTRAST 

Contrast control. Value should be between 0 and 8.

HUE 

Hue control. Value should be between 0 and 11.

SATURATION 

Saturation control. Value should be between 0 and 8.

SHARPNESS 

Sharpness control. Value should be between 0 and 8.

GAMMA 

Gamma control. Value should be between 1 and 9

GAIN 

Gain control. Value should be between 0 and 100 for manual control. If ZED_EXPOSURE is set to -1 (automatic mode), then gain will be automatic as well.

EXPOSURE 

Exposure control. Value can be between 0 and 100. Setting to -1 enables auto exposure and auto gain. Setting to 0 disables auto exposure but doesn't change the last applied automatic values. Setting to 1-100 disables auto mode and sets exposure to the chosen value.

AEC_AGC 

Auto-exposure and auto gain. Setting this to true switches on both. Assigning a specifc value to GAIN or EXPOSURE will set this to 0.

AEC_AGC_ROI 

ROI for auto exposure/gain. ROI defines the target where the AEC/AGC will be calculated Use overloaded function for this enum

WHITEBALANCE 

Color temperature control. Value should be between 2800 and 6500 with a step of 100.

AUTO_WHITEBALANCE 

Defines if the white balance is in automatic mode or not.

LED_STATUS 

front LED status (1==enable, 0 == disable)

◆ TIME_REFERENCE

enum TIME_REFERENCE
strong

Categories indicating when a timestamp is captured.

Enumerator
IMAGE 

Timestamp from when the image was received over USB from the camera, defined by when the entire image was available in memory.

CURRENT 

Timestamp from when the relevant function was called.

◆ SVO_COMPRESSION_MODE

enum SVO_COMPRESSION_MODE
strong

SVO compression modes.

Enumerator
LOSSLESS_BASED 

Lossless compression based on png/zstd. Average size = 42% of RAW.

H264_BASED 

AVCHD Based compression (H264). Available since ZED SDK 2.7

H265_BASED 

HEVC Based compression (H265). Available since ZED SDK 2.7

◆ STREAMING_CODEC

enum STREAMING_CODEC
strong

Streaming codecs

Enumerator
H264_BASED 

AVCHD/H264 Based compression

H265_BASED 

HEVC/H265 Based compression