Video Module

Classes

struct  RecordingStatus
 Structure containing information about the status of the recording. More...
 
struct  StreamingParameters
 Structure containing the options used to stream with the ZED SDK. More...
 
struct  RecordingParameters
 Structure containing the options used to record. 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...
 
class  InitParameters
 Class containing the options used to initialize the sl::Camera object. More...
 
class  Camera
 This class serves as the primary interface between the camera and the various features provided by the SDK. More...
 
class  InputType
 Class defining the input type used in the ZED SDK. More...
 

Enumerations

enum class  SIDE
 Lists possible sides on which to get data from. More...
 
enum  FLIP_MODE : int
 Lists possible flip modes of the camera. More...
 
enum class  RESOLUTION
 Lists available resolutions. More...
 
enum class  VIDEO_SETTINGS
 Lists available camera settings for the camera (contrast, hue, saturation, gain, ...). More...
 
enum class  VIEW
 Lists available views. More...
 
enum class  TIME_REFERENCE
 Lists possible time references for timestamps or data. More...
 
enum class  SVO_COMPRESSION_MODE
 Lists available compression modes for SVO recording. More...
 
enum class  MODEL
 Lists ZED camera model. More...
 
enum class  INPUT_TYPE
 Lists available input types in the ZED SDK. More...
 
enum class  CAMERA_STATE
 Lists possible camera states. More...
 
enum class  STREAMING_CODEC
 Lists the different encoding types for image streaming. More...
 
enum class  BUS_TYPE
 Lists available LIVE input type in the ZED SDK. More...
 

Functions

sl::Resolution getResolution (RESOLUTION resolution)
 Gets the corresponding sl::Resolution from an sl::RESOLUTION. More...
 

Enumeration Type Documentation

◆ SIDE

enum SIDE
strong

Lists possible sides on which to get data from.

Enumerator
LEFT 

Left side only.

RIGHT 

Right side only.

BOTH 

Left and right side.

◆ FLIP_MODE

enum FLIP_MODE : int

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.

◆ 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

HD2K 

2208*1242 (x2)
Available FPS: 15

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

SVGA 

960*600 (x2)
Available FPS: 15, 30, 60, 120

VGA 

672*376 (x2)
Available FPS: 15, 30, 60, 100

AUTO 

Select the resolution compatible with the camera:

  • ZED X/X Mini: HD1200
  • other cameras: HD720

◆ VIDEO_SETTINGS

enum VIDEO_SETTINGS
strong

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

Warning
All VIDEO_SETTINGS are not supported for all camera models. You can find the supported VIDEO_SETTINGS for each ZED camera in our documentation.

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 

Real exposure time control in microseconds.

Note
Only available for ZED X/X Mini cameras.
Replace EXPOSURE setting.
ANALOG_GAIN 

Real analog gain (sensor) control in mDB.
The range is defined by Jetson DTS and by default [1000-16000].

Note
Only available for ZED X/X Mini cameras.
Replace GAIN settings.
DIGITAL_GAIN 

Real digital gain (ISP) as a factor.
The range is defined by Jetson DTS and by default [1-256].

Note
Only available for ZED X/X Mini cameras.
Replace GAIN settings.
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.

◆ VIEW

enum VIEW
strong

Lists available views.

Enumerator
LEFT 

Left BGRA image. Each pixel contains 4 unsigned char (B, G, R, A).
Type: sl::MAT_TYPE::U8_C4

RIGHT 

Right BGRA image. Each pixel contains 4 unsigned char (B, G, R, A).
Type: sl::MAT_TYPE::U8_C4

LEFT_GRAY 

Left gray image. Each pixel contains 1 unsigned char.
Type: sl::MAT_TYPE::U8_C1

RIGHT_GRAY 

Right gray image. Each pixel contains 1 unsigned char.
Type: sl::MAT_TYPE::U8_C1

LEFT_UNRECTIFIED 

Left BGRA unrectified image. Each pixel contains 4 unsigned char (B, G, R, A).
Type: sl::MAT_TYPE::U8_C4

RIGHT_UNRECTIFIED 

Right BGRA unrectified image. Each pixel contains 4 unsigned char (B, G, R, A).
Type: sl::MAT_TYPE::U8_C4

LEFT_UNRECTIFIED_GRAY 

Left gray unrectified image. Each pixel contains 1 unsigned char.
Type: sl::MAT_TYPE::U8_C1

RIGHT_UNRECTIFIED_GRAY 

Right gray unrectified image. Each pixel contains 1 unsigned char.
Type: sl::MAT_TYPE::U8_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::U8_C4

DEPTH 

Color rendering of the depth. Each pixel contains 4 unsigned char (B, G, R, A).
Type: sl::MAT_TYPE::U8_C4

Note
Use MEASURE::DEPTH with 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::U8_C4

Note
Use MEASURE::CONFIDENCE with 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::U8_C4

Note
Use MEASURE::NORMALS with 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::U8_C4

Note
Use MEASURE::DEPTH_RIGHT with 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::U8_C4

Note
Use MEASURE::NORMALS_RIGHT with Camera::retrieveMeasure() to get normal right values.

◆ 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.

◆ SVO_COMPRESSION_MODE

enum SVO_COMPRESSION_MODE
strong

Lists available compression modes for SVO recording.

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

PNG/ZSTD (lossless) CPU based compression.
Average size: 42% of RAW

H264 

H264 (AVCHD) GPU based compression.
Average size: 1% of RAW

Note
Requires a NVIDIA GPU.
H265 

H265 (HEVC) GPU based compression.
Average size: 1% of RAW

Note
Requires a NVIDIA GPU.
H264_LOSSLESS 

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 

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.

◆ MODEL

enum MODEL
strong

Lists ZED camera model.

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

VIRTUAL_ZED_X 

Virtual ZED-X generated from 2 ZED-XOne

ZED_XONE_GS 

ZED XOne with global shutter AR0234 sensor

ZED_XONE_UHD 

ZED XOne with 4K rolling shutter IMX678 sensor

◆ 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 (only on NVIDIA Jetson)

◆ 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.

◆ STREAMING_CODEC

enum STREAMING_CODEC
strong

Lists the different encoding types for image streaming.

Enumerator
H264 

AVCHD/H264 encoding

H265 

HEVC/H265 encoding

◆ 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.

Function Documentation

◆ getResolution()

sl::Resolution sl::getResolution ( RESOLUTION  resolution)

Gets the corresponding sl::Resolution from an sl::RESOLUTION.

Parameters
resolution: The wanted sl::RESOLUTION.
Returns
The sl::Resolution corresponding to sl::RESOLUTION given as argument.