Video classes

Classes

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  Camera
 This class is the main interface with the camera and the SDK features, suche as: video, depth, tracking, mapping, and more.
Find more information in the detailed description below.
. More...
 
struct  CameraInformation
 Structure containing information of a signle camera (serial number, model, calibration, etc.) More...
 
struct  RecordingState
 Recording structure that contains information about SVO. More...
 

Enumerations

Functions

String toString (const RESOLUTION &resolution)
 Converts the given enumerated value into readable text. More...
 
String toString (const CAMERA_SETTINGS &camSettings)
 Converts the given enumerated value into readable text. More...
 
String toString (const SELF_CALIBRATION_STATE &selfCalibState)
 Converts the given enumerated value into readable text. More...
 
String toString (const VIEW &view)
 Converts the given enumerated value into readable text. More...
 
String toString (const TIME_REFERENCE &time_reference)
 Converts the given enumerated value into readable text. More...
 
String toString (const SVO_COMPRESSION_MODE &svo_compression)
 Converts the given enumerated value into readable text. More...
 
String resolution2str (RESOLUTION res)
 Converts the given RESOLUTION into a string. More...
 
String statusCode2str (SELF_CALIBRATION_STATE state)
 Converts the given SELF_CALIBRATION_STATE into a string. More...
 

ZED Camera Resolution

static const std::vector< std::pair< int, int > > cameraResolution
 Lists available video modes for the ZED camera. std::vector<std::pair(width, height)> More...
 

Enumeration Type Documentation

enum RESOLUTION

Represents the available resolution defined in the cameraResolution list.

Note
The VGA resolution does respect the 640*480 standard to better fit the camera sensor (672*376 is used).
Warning
NVIDIA Jetson X1 only supports RESOLUTION_HD1080@15, RESOLUTION_HD720@30/15, and RESOLUTION_VGA@60/30/15.
Enumerator
RESOLUTION_HD2K 

2208*1242, available framerates: 15 fps.

RESOLUTION_HD1080 

1920*1080, available framerates: 15, 30 fps.

RESOLUTION_HD720 

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

RESOLUTION_VGA 

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

RESOLUTION_LAST 
enum CAMERA_SETTINGS

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

Warning
CAMERA_SETTINGS_GAIN and CAMERA_SETTINGS_EXPOSURE are linked in auto/default mode (see sl::Camera::setCameraSettings). Each enum defines one of those settings.
Enumerator
CAMERA_SETTINGS_BRIGHTNESS 

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

CAMERA_SETTINGS_CONTRAST 

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

CAMERA_SETTINGS_HUE 

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

CAMERA_SETTINGS_SATURATION 

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

CAMERA_SETTINGS_GAIN 

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

CAMERA_SETTINGS_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
CAMERA_SETTINGS_WHITEBALANCE 

Defines the color temperature control. Affected value should be between 2800 and 6500 with a step of 100.

CAMERA_SETTINGS_AUTO_WHITEBALANCE 

Defines the status of white balance (automatic or manual). A value of 0 disable the AWB, while 1 activate it.

CAMERA_SETTINGS_LAST 
enum SELF_CALIBRATION_STATE

Status for asynchrnous self-calibration.

See also
Camera::open()
Enumerator
SELF_CALIBRATION_STATE_NOT_STARTED 

Self calibration has not run yet (no sl::Camera::open or sl::Camera::resetSelfCalibration called).

SELF_CALIBRATION_STATE_RUNNING 

Self calibration is currently running.

SELF_CALIBRATION_STATE_FAILED 

Self calibration has finished running but did not manage to get accurate values. Old parameters are taken instead.

SELF_CALIBRATION_STATE_SUCCESS 

Self calibration has finished running and did manage to get accurate values. New parameters are set.

SELF_CALIBRATION_STATE_LAST 
enum VIEW

Lists available views.

Enumerator
VIEW_LEFT 

Left RGBA image. Each pixel contains 4 usigned char (R,G,B,A). sl::MAT_TYPE_8U_C4.

VIEW_RIGHT 

Right RGBA image. Each pixel contains 4 usigned char (R,G,B,A). sl::MAT_TYPE_8U_C4.

VIEW_LEFT_GRAY 

Left GRAY image. Each pixel contains 1 usigned char. sl::MAT_TYPE_8U_C1.

VIEW_RIGHT_GRAY 

Right GRAY image. Each pixel contains 1 usigned char. sl::MAT_TYPE_8U_C1.

VIEW_LEFT_UNRECTIFIED 

Left RGBA unrectified image. Each pixel contains 4 usigned char (R,G,B,A). sl::MAT_TYPE_8U_C4.

VIEW_RIGHT_UNRECTIFIED 

Right RGBA unrectified image. Each pixel contains 4 usigned char (R,G,B,A). sl::MAT_TYPE_8U_C4.

VIEW_LEFT_UNRECTIFIED_GRAY 

Left GRAY unrectified image. Each pixel contains 1 usigned char. sl::MAT_TYPE_8U_C1.

VIEW_RIGHT_UNRECTIFIED_GRAY 

Right GRAY unrectified image. Each pixel contains 1 usigned char. sl::MAT_TYPE_8U_C1.

VIEW_SIDE_BY_SIDE 

Left and right image (the image width is therefore doubled). Each pixel contains 4 usigned char (R,G,B,A). sl::MAT_TYPE_8U_C4.

VIEW_DEPTH 

Color rendering of the depth. Each pixel contains 4 usigned char (R,G,B,A). sl::MAT_TYPE_8U_C4. Use MEASURE_DEPTH with Camera::retrieveMeasure() to get depth values.

VIEW_CONFIDENCE 

Color rendering of the depth confidence. Each pixel contains 4 usigned char (R,G,B,A). sl::MAT_TYPE_8U_C4.

VIEW_NORMALS 

Color rendering of the normals. Each pixel contains 4 usigned char (R,G,B,A). sl::MAT_TYPE_8U_C4.

VIEW_DEPTH_RIGHT 

Color rendering of the right depth mapped on right sensor, sl::MAT_TYPE_8U_C4.

VIEW_NORMALS_RIGHT 

Color rendering of the normals mapped on right sensor. Each pixel contains 4 usigned char (R,G,B,A). sl::MAT_TYPE_8U_C4.

VIEW_LAST 
enum TIME_REFERENCE

Lists specific and particular timestamps.

Enumerator
TIME_REFERENCE_IMAGE 

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

TIME_REFERENCE_CURRENT 

Defines the timestamp at the time of the function call.

TIME_REFERENCE_LAST 
enum SVO_COMPRESSION_MODE

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
SVO_COMPRESSION_MODE_RAW 

RAW images, no compression.

Deprecated:
This compresion is deprecated asit doesn't support timestamp and IMU data. Only playback is allowed in the mode.
SVO_COMPRESSION_MODE_LOSSLESS 

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

SVO_COMPRESSION_MODE_LOSSY 

JPEG (lossy) CPU based compression : avg size = 22% (of RAW). More compressed but can introduce compression artifacts.

SVO_COMPRESSION_MODE_AVCHD 

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

SVO_COMPRESSION_MODE_HEVC 

H265(HEVC) GPU based compression : avg size = 1% (of raw). Requires a NVIDIA GPU

SVO_COMPRESSION_MODE_LAST 

Function Documentation

String sl::toString ( const RESOLUTION resolution)

Converts the given enumerated value into readable text.

Returns
The enumerated value as a string.
String sl::toString ( const CAMERA_SETTINGS camSettings)

Converts the given enumerated value into readable text.

Returns
The enumerated value as a string.
String sl::toString ( const SELF_CALIBRATION_STATE selfCalibState)

Converts the given enumerated value into readable text.

Returns
The enumerated value as a string.
String sl::toString ( const VIEW view)

Converts the given enumerated value into readable text.

Returns
The enumerated value as a string.
String sl::toString ( const TIME_REFERENCE time_reference)

Converts the given enumerated value into readable text.

Returns
The enumerated value as a string.
String sl::toString ( const SVO_COMPRESSION_MODE svo_compression)

Converts the given enumerated value into readable text.

Returns
The enumerated value as a string.
String sl::resolution2str ( RESOLUTION  res)

Converts the given RESOLUTION into a string.

Parameters
res: a specific RESOLUTION
Returns
The corresponding string
Deprecated:
See toString.
String sl::statusCode2str ( SELF_CALIBRATION_STATE  state)

Converts the given SELF_CALIBRATION_STATE into a string.

Parameters
state: a specific SELF_CALIBRATION_STATE
Returns
The corresponding string
Deprecated:
See toString.

Variable Documentation

const std::vector<std::pair<int, int> > cameraResolution
static
Initial value:
= {
std::make_pair(2208, 1242),
std::make_pair(1920, 1080),
std::make_pair(1280, 720),
std::make_pair(672, 376)
}

Lists available video modes for the ZED camera. std::vector<std::pair(width, height)>