Video Module

Classes

struct  RecordingStatus
 Recording structure that contains information about SVO. 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...
 
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  CameraInformation
 Structure containing information of a signle camera (serial number, model, calibration, etc.) More...
 

Enumerations

enum  SVO_COMPRESSION_MODE
 Lists available compression modes for SVO recording. More...
 
enum  MODEL
 Lists compatible ZED Camera model. More...
 
enum  INPUT_TYPE
 Lists available input type in SDK. More...
 
enum  CAMERA_STATE
 List of possible camera state. More...
 
enum  STREAMING_CODEC
 List of possible camera state. More...
 
enum  RESOLUTION
 Represents the available resolution defined in the cameraResolution list. More...
 
enum  VIDEO_SETTINGS
 Lists available camera settings for the ZED camera (contrast, hue, saturation, gain...). More...
 
enum  VIEW
 Lists available views. More...
 
enum  TIME_REFERENCE
 Lists specific and particular timestamps. More...
 

Functions

String toVerbose (const ERROR_CODE &errorCode)
 Return a text explaining how to fix the given ERROR_CODE. More...
 

Enumeration Type Documentation

◆ 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

LAST 

◆ 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

LAST 

◆ 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)

LAST 

◆ 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

LAST 

◆ 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.

LAST 

◆ RESOLUTION

enum RESOLUTION
strong

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).
Enumerator
HD2K 

2208*1242, available framerates: 15 fps.

HD1080 

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

HD720 

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

VGA 

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

LAST 

◆ 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 betwwen 0 and 8.

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 or values will automatically set this value to 0.

WHITEBALANCE_TEMPERATURE 

Defines the color temperature value. Setting a value will automatically set 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.

LAST 

◆ VIEW

enum VIEW
strong

Lists available views.

Enumerator
LEFT 

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

RIGHT 

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

LEFT_GRAY 

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

RIGHT_GRAY 

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

LEFT_UNRECTIFIED 

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

RIGHT_UNRECTIFIED 

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

LEFT_UNRECTIFIED_GRAY 

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

RIGHT_UNRECTIFIED_GRAY 

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

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::U8_C4.

DEPTH 

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

NORMALS 

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

DEPTH_RIGHT 

Color rendering of the right depth mapped on right sensor, sl::MAT_TYPE::U8_C4.

NORMALS_RIGHT 

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

LAST 

◆ 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.

LAST 

Function Documentation

◆ 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.