Video Module

Classes

struct  RecordingStatus
 Recording structure that contains information about SVO. More...
 
class  InitParameters
 Holds the options used to initialize the Camera object.
Once passed to the Camera::open() function, these settings will be set for the entire execution life time of the Camera.
You can get further information in the detailed description bellow.
. More...
 
class  StreamingParameters
 Sets the streaming parameters. More...
 
class  RecordingParameters
 Sets the recording parameters. More...
 
class  Camera
 This class is the main interface with the camera and the SDK features, such as: video, depth, tracking, mapping, and more.
Find more information in the detailed description below.
. More...
 
struct  DeviceProperties
 Properties of a camera. More...
 
struct  StreamingProperties
 Properties of a streaming device. 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

enum class  SIDE
 defines left,right,both to distinguish between left and right or both sides More...
 
enum  FLIP_MODE : int
 Gives the camera flip mode. More...
 
enum class  RESOLUTION
 Represents the available resolution defined in the cameraResolution list. More...
 
enum class  VIDEO_SETTINGS
 Lists available camera settings for the ZED camera (contrast, hue, saturation, gain...). More...
 
enum class  VIEW
 Lists available views. More...
 
enum class  TIME_REFERENCE
 Lists specific and particular timestamps. More...
 
enum class  SVO_COMPRESSION_MODE
 Lists available compression modes for SVO recording. More...
 
enum class  MODEL
 Lists compatible ZED Camera model. More...
 
enum class  INPUT_TYPE
 Lists available input type in SDK. More...
 
enum class  CAMERA_STATE
 List of possible camera state. More...
 
enum class  STREAMING_CODEC
 List of possible camera state. More...
 

Functions

sl::Resolution getResolution (RESOLUTION resolution)
 Returns the actual size of the given resolution. More...
 
String toVerbose (const ERROR_CODE &errorCode)
 Return a text explaining how to fix the given ERROR_CODE. More...
 

Enumeration Type Documentation

◆ SIDE

enum SIDE
strong

defines left,right,both to distinguish between left and right or both sides

Enumerator
LEFT 

Left side only.

RIGHT 

Right side only.

BOTH 

Left and Right side.

◆ FLIP_MODE

enum FLIP_MODE : int

Gives the camera flip mode.

Enumerator
OFF 

default behavior.

ON 

Images and camera sensors data are flipped useful when your camera is mounted upside down.

AUTO 

Live mode: use the camera orientation (if an IMU is available) to set the flip mode. SVO mode: read the state of this enum when recorded.

◆ RESOLUTION

enum RESOLUTION
strong

Represents the available resolution defined in the cameraResolution list.

Note
The VGA resolution does not respect the 640*480 standard to better fit the camera sensor (672*376 is used).
Enumerator
HD2K 

2208*1242 (x2), available framerates: 15 fps.

HD1080 

1920*1080 (x2), available framerates: 15, 30 fps.

HD720 

1280*720 (x2), available framerates: 15, 30, 60 fps.

VGA 

672*376 (x2), available framerates: 15, 30, 60, 100 fps.

◆ VIDEO_SETTINGS

enum VIDEO_SETTINGS
strong

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

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

Each enum defines one of those settings.

Enumerator
BRIGHTNESS 

Defines the brightness control. Affected value should be between 0 and 8.

CONTRAST 

Defines the contrast control. Affected value should be between 0 and 8.

HUE 

Defines the hue control. Affected value should be between 0 and 11.

SATURATION 

Defines the saturation control. Affected value should be between 0 and 8.

SHARPNESS 

Defines the digital sharpening control. Affected value should be between 0 and 8.

GAMMA 

Defines the ISP gamma control. Affected value should be between 1 and 9.

GAIN 

Defines the gain control. Affected value should be between 0 and 100 for manual control.

EXPOSURE 

Defines the 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 the setExposure(0) that corresponds to 0.17072ms.
The conversion to milliseconds depends on the framerate:

  • 15fps setExposure(100) -> 19.97ms
  • 30fps setExposure(100) -> 19.97ms
  • 60fps setExposure(100) -> 10.84072ms
  • 100fps setExposure(100) -> 10.106624ms
AEC_AGC 

Defines if the Gain and Exposure are in automatic mode or not. Setting a Gain or Exposure through @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 functions.

WHITEBALANCE_TEMPERATURE 

Defines the color temperature value. Setting a value will automatically set @WHITEBALANCE_AUTO to 0. Affected value should be between 2800 and 6500 with a step of 100.

WHITEBALANCE_AUTO 

Defines if the White balance is in automatic mode or not

LED_STATUS 

Defines the status of the camera front LED. Set to 0 to disable the light, 1 to enable the light. Default value is on. Requires Camera FW 1523 at least.

◆ VIEW

enum VIEW
strong

Lists available views.

Enumerator
LEFT 

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

RIGHT 

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

LEFT_GRAY 

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

RIGHT_GRAY 

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

LEFT_UNRECTIFIED 

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

RIGHT_UNRECTIFIED 

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

LEFT_UNRECTIFIED_GRAY 

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

RIGHT_UNRECTIFIED_GRAY 

Right GRAY unrectified image. Each pixel contains 1 unsigned char. 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). sl::MAT_TYPE::U8_C4.

DEPTH 

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

NORMALS 

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

DEPTH_RIGHT 

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

NORMALS_RIGHT 

Color rendering of the normals mapped on right sensor. Each pixel contains 4 unsigned char (B,G,R,A). sl::MAT_TYPE::U8_C4.

◆ TIME_REFERENCE

enum TIME_REFERENCE
strong

Lists specific and particular timestamps.

Enumerator
IMAGE 

Defines the timestamp at the time the frame has been extracted from USB stream.

CURRENT 

Defines the timestamp at the time of the function call.

◆ SVO_COMPRESSION_MODE

enum SVO_COMPRESSION_MODE
strong

Lists available compression modes for SVO recording.

sl::SVO_COMPRESSION_MODE::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 : avg size = 42% (of RAW).

H264 

H264(AVCHD) GPU based compression : avg size = 1% (of RAW). Requires a NVIDIA GPU

H265 

H265(HEVC) GPU based compression: avg size = 1% (of RAW). Requires a NVIDIA GPU, Pascal architecture or newer

H264_LOSSLESS 

H264 Lossless GPU/Hardware based compression: avg size = 25% (of RAW). Provides a SSIM/PSNR result (vs RAW) >= 99.9%. Requires a NVIDIA GPU

H265_LOSSLESS 

H265 Lossless GPU/Hardware based compression: avg size = 25% (of RAW). Provides a SSIM/PSNR result (vs RAW) >= 99.9%. Requires a NVIDIA GPU

◆ MODEL

enum MODEL
strong

Lists compatible ZED Camera model.

Enumerator
ZED 

Defines ZED Camera model

ZED_M 

Defines ZED Mini (ZED-M) Camera model

ZED2 

Defines ZED 2 Camera model

ZED2i 

Defines ZED 2i Camera model

◆ 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)

◆ CAMERA_STATE

enum CAMERA_STATE
strong

List of possible camera state.

Enumerator
AVAILABLE 

Defines if the camera can be opened by the SDK

NOT_AVAILABLE 

Defines if the camera is already opened and unavailable

◆ STREAMING_CODEC

enum STREAMING_CODEC
strong

List of possible camera state.

Enumerator
H264 

AVCHD/H264 encoding used in image streaming.

H265 

HEVC/H265 encoding used in image streaming.

Function Documentation

◆ getResolution()

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

Returns the actual size of the given resolution.

◆ toVerbose()

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.