Camera classes

Classes

struct  DeviceProperties
 Properties of a camera. More...
 
class  InputType
 Defines the input type used in the ZED SDK. Can be used to select a specific camera with ID or serial number, or a svo file. More...
 

Enumerations

Functions

String toString (const UNIT &unit)
 Converts the given enum to a readable string. More...
 
String toString (const COORDINATE_SYSTEM &coord_system)
 Converts the given enum to a readable string. More...
 
String toString (const ERROR_CODE &errorCode)
 Converts the given enum to a readable string. More...
 
String toVerbose (const ERROR_CODE &errorCode)
 Return a text explaining how to fix the given ERROR_CODE. More...
 
String toString (const MODEL &model)
 Converts the given enum to a readable string. More...
 
String toString (const CAMERA_STATE &camera_state)
 Converts the given enum to a readable string. More...
 
String toString (const DeviceProperties &properties)
 Converts the given struct to a readable string. More...
 

Enumeration conversion

String model2str (MODEL model)
 Converts the given MODEL into a string. More...
 
String errorCode2str (ERROR_CODE errorCode)
 Converts the given ERROR_CODE into a string. More...
 
String unit2str (UNIT unit)
 Converts the given UNIT into a string. More...
 
UNIT str2unit (String unit)
 Converts the given string into a UNIT. More...
 

Enumeration Type Documentation

enum UNIT

Lists available unit for measures.

Enumerator
UNIT_MILLIMETER 

International System, 1/1000 METER.

UNIT_CENTIMETER 

International System, 1/100 METER.

UNIT_METER 

International System, 1 METER

UNIT_INCH 

Imperial Unit, 1/12 FOOT

UNIT_FOOT 

Imperial Unit, 1 FOOT

UNIT_LAST 
enum COORDINATE_SYSTEM

Lists available coordinates systems for positional tracking and 3D measures.

CoordinateSystem.png
Enumerator
COORDINATE_SYSTEM_IMAGE 

Standard coordinates system in computer vision. Used in OpenCV : see here : http://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html

COORDINATE_SYSTEM_LEFT_HANDED_Y_UP 

Left-Handed with Y up and Z forward. Used in Unity with DirectX.

COORDINATE_SYSTEM_RIGHT_HANDED_Y_UP 

Right-Handed with Y pointing up and Z backward. Used in OpenGL.

COORDINATE_SYSTEM_RIGHT_HANDED_Z_UP 

Right-Handed with Z pointing up and Y forward. Used in 3DSMax.

COORDINATE_SYSTEM_LEFT_HANDED_Z_UP 

Left-Handed with Z axis pointing up and X forward. Used in Unreal Engine.

COORDINATE_SYSTEM_RIGHT_HANDED_Z_UP_X_FWD 

Right-Handed with Z pointing up and X forward. Used in ROS (REP 103).

COORDINATE_SYSTEM_LAST 
enum ERROR_CODE

Lists error codes in the ZED SDK.

Enumerator
SUCCESS 

Standard code for successful behavior.

ERROR_CODE_FAILURE 

Standard code for unsuccessful behavior.

ERROR_CODE_NO_GPU_COMPATIBLE 

No GPU found or CUDA capability of the device is not supported.

ERROR_CODE_NOT_ENOUGH_GPUMEM 

Not enough GPU memory for this depth mode, try a different mode (such as PERFORMANCE).

ERROR_CODE_CAMERA_NOT_DETECTED 

The ZED camera is not plugged or detected.

ERROR_CODE_SENSOR_NOT_DETECTED 

a ZED-M camera is detected but the sensor (imu) cannot be opened. Only for ZED-M device

ERROR_CODE_INVALID_RESOLUTION 

For Nvidia Jetson X1 only, resolution not yet supported (USB3.0 bandwidth).

ERROR_CODE_LOW_USB_BANDWIDTH 

This issue can occurs when you use multiple ZED or a USB 2.0 port (bandwidth issue).

ERROR_CODE_CALIBRATION_FILE_NOT_AVAILABLE 

ZED calibration file is not found on the host machine. Use ZED Explorer or ZED Calibration to get one.

ERROR_CODE_INVALID_CALIBRATION_FILE 

ZED calibration file is not valid, try to download the factory one or recalibrate your camera using 'ZED Calibration'.

ERROR_CODE_INVALID_SVO_FILE 

The provided SVO file is not valid.

ERROR_CODE_SVO_RECORDING_ERROR 

An recorder related error occurred (not enough free storage, invalid file).

ERROR_CODE_SVO_UNSUPPORTED_COMPRESSION 

An SVO related error when NVIDIA based compression cannot be loaded.

ERROR_CODE_INVALID_COORDINATE_SYSTEM 

The requested coordinate system is not available.

ERROR_CODE_INVALID_FIRMWARE 

The firmware of the ZED is out of date. Update to the latest version.

ERROR_CODE_INVALID_FUNCTION_PARAMETERS 

An invalid parameter has been set for the function.

ERROR_CODE_NOT_A_NEW_FRAME 

In grab() only, the current call return the same frame as last call. Not a new frame.

ERROR_CODE_CUDA_ERROR 

In grab() only, a CUDA error has been detected in the process. Activate verbose in sl::Camera::open for more info.

ERROR_CODE_CAMERA_NOT_INITIALIZED 

In grab() only, ZED SDK is not initialized. Probably a missing call to sl::Camera::open.

ERROR_CODE_NVIDIA_DRIVER_OUT_OF_DATE 

Your NVIDIA driver is too old and not compatible with your current CUDA version.

ERROR_CODE_INVALID_FUNCTION_CALL 

The call of the function is not valid in the current context. Could be a missing call of sl::Camera::open.

ERROR_CODE_CORRUPTED_SDK_INSTALLATION 

The SDK wasn't able to load its dependencies, the installer should be launched.

ERROR_CODE_INCOMPATIBLE_SDK_VERSION 

The installed SDK is incompatible SDK used to compile the program.

ERROR_CODE_INVALID_AREA_FILE 

The given area file does not exist, check the path.

ERROR_CODE_INCOMPATIBLE_AREA_FILE 

The area file does not contain enought data to be used or the sl::DEPTH_MODE used during the creation of the area file is different from the one currently set.

ERROR_CODE_CAMERA_FAILED_TO_SETUP 

Failed to open the camera at the proper resolution. Try another resolution or make sure that the UVC driver is properly installed.

ERROR_CODE_CAMERA_DETECTION_ISSUE 

Your ZED can not be opened, try replugging it to another USB port or flipping the USB-C connector.

ERROR_CODE_CAMERA_ALREADY_IN_USE 

The Camera is already used by another process.

ERROR_CODE_NO_GPU_DETECTED 

No GPU found, CUDA is unable to list it. Can be a driver/reboot issue.

ERROR_CODE_PLANE_NOT_FOUND 

Plane not found, either no plane is detected in the scene, at the location or corresponding to the floor, or the floor plane doesn't match the prior given

ERROR_CODE_LAST 
enum MODEL

Lists compatible ZED Camera model.

Enumerator
MODEL_ZED 

Defines ZED Camera model

MODEL_ZED_M 

Defines ZED Mini (ZED-M) Camera model

MODEL_LAST 
enum CAMERA_STATE

List of possible camera state.

Enumerator
CAMERA_STATE_AVAILABLE 

Defines if the camera can be opened by the SDK

CAMERA_STATE_NOT_AVAILABLE 

Defines if the camera is already opened and unavailable

CAMERA_STATE_LAST 

Function Documentation

String sl::toString ( const UNIT unit)

Converts the given enum to a readable string.

Returns
The enum value as a string.

Referenced by Camera::isOpened().

String sl::toString ( const COORDINATE_SYSTEM coord_system)

Converts the given enum to a readable string.

Returns
The enum value as a string.
String sl::toString ( const ERROR_CODE errorCode)

Converts the given enum to a readable string.

Returns
The enum value as a string.
String sl::toVerbose ( const ERROR_CODE errorCode)

Return a text explaining how to fix the given ERROR_CODE.

Returns
A string of advice for the user.
String sl::toString ( const MODEL model)

Converts the given enum to a readable string.

Returns
The enum value as a string.
String sl::toString ( const CAMERA_STATE camera_state)

Converts the given enum to a readable string.

Returns
The enum value as a string.
String sl::toString ( const DeviceProperties properties)

Converts the given struct to a readable string.

Returns
The struct informations as a string.
String sl::model2str ( MODEL  model)

Converts the given MODEL into a string.

Parameters
model: a specific MODEL
Returns
The corresponding string
Deprecated:
See toString.
String sl::errorCode2str ( ERROR_CODE  errorCode)

Converts the given ERROR_CODE into a string.

Parameters
err: a specific ERROR_CODE
Returns
The corresponding string
Deprecated:
See toString.
String sl::unit2str ( UNIT  unit)

Converts the given UNIT into a string.

Parameters
unit: a specific UNIT
Returns
The corresponding string
Deprecated:
See toString.
UNIT sl::str2unit ( String  unit)

Converts the given string into a UNIT.

Parameters
unit: a specific unit string
Returns
The corresponding UNIT