Attributes
std::set< sl::SensorDeviceIdentifier >	sensors_ids = {}
	List of sensor id that will be used By default empty which means all available sensors in Sensors when the module is started. More...

STREAMING_CODEC	codec = STREAMING_CODEC::H265
	Encoding used for streaming. More...

unsigned short	port = 30000
	Port used for streaming. More...

unsigned int	bitrate = 0
	Streaming bitrate (in Kbits/s) used for streaming. More...

int	gop_size = -1
	GOP size in number of frames. More...

bool	adaptative_bitrate = false
	Defines whether the adaptive bitrate is enabled. More...

unsigned short	chunk_size = 16084
	Size of a single chunk. More...

unsigned int	target_framerate = 0
	Framerate for the streaming output. More...

Variables

◆ sensors_ids

std::set<sl::SensorDeviceIdentifier> sensors_ids = {}

List of sensor id that will be used By default empty which means all available sensors in Sensors when the module is started.

◆ codec

STREAMING_CODEC codec = STREAMING_CODEC::H265

Encoding used for streaming.

◆ port

unsigned short port = 30000

Port used for streaming.

Warning: Port must be an even number. Any odd number will be rejected.; Port must be opened.

◆ bitrate

unsigned int bitrate = 0

Streaming bitrate (in Kbits/s) used for streaming.

sl::STREAMING_CODEC	sl::RESOLUTION	FPS	Bitrate (kbps)
H264	HD2K	15	8500
H264	HD1080	30	12500
H264	HD720	60	7000
H265	HD2K	15	7000
H265	HD1080	30	11000
H265	HD720	60	6000

Default: 0 (it will be set to the best value depending on your resolution/FPS)

Note: Available range: [1000 - 60000]

◆ gop_size

int gop_size = -1

GOP size in number of frames.

Default: -1 (the GOP size will last at maximum 2 seconds, depending on camera FPS)

Note: The GOP size determines the maximum distance between IDR/I-frames. Very high GOP size will result in slightly more efficient compression, especially on static scenes. But latency will increase.; Maximum value: 256

◆ adaptative_bitrate

bool adaptative_bitrate = false

Defines whether the adaptive bitrate is enabled.

Default: false

Note: Bitrate will be adjusted depending the number of packet dropped during streaming.; If activated, the bitrate can vary between [bitrate/4, bitrate].

Warning: Currently, the adaptive bitrate only works when "sending" device is a NVIDIA Jetson (X1, X2, Xavier, Nano).

◆ chunk_size

unsigned short chunk_size = 16084

Size of a single chunk.

Default: 16084

Note: Stream buffers are divided into X number of chunks where each chunk is chunk_size bytes long.; You can lower chunk_size value if network generates a lot of packet loss: this will generate more chunks for a single image, but each chunk sent will be lighter to avoid corruption within the chunk.; Increasing this value can decrease latency.

Note: Available range: [1024 - 65000]

◆ target_framerate

unsigned int target_framerate = 0

Framerate for the streaming output.

Default: 0 (camera framerate will be taken)

Warning: This framerate must be below or equal to the camera framerate.; Allowed framerates are 15, 30, 60 or 100 if possible.; Any other values will be discarded and camera FPS will be taken.

Attributes