Video Module

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	StreamingParameters
	Sets the streaming parameters. 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
enum	RESOLUTION
	Represents the available resolution defined in the cameraResolution list. More...
enum	CAMERA_SETTINGS
	Lists available camera settings for the ZED camera (contrast, hue, saturation, gain...). More...
enum	SELF_CALIBRATION_STATE
	Status for asynchrnous self-calibration. More...
enum	VIEW
	Lists available views. More...
enum	TIME_REFERENCE
	Lists specific and particular timestamps. More...
enum	SVO_COMPRESSION_MODE
	Lists available compression modes for SVO recording. More...

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

RESOLUTION

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

CAMERA_SETTINGS

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_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.
CAMERA_SETTINGS_LAST

SELF_CALIBRATION_STATE

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

VIEW

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

TIME_REFERENCE

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

SVO_COMPRESSION_MODE

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

toString() [1/6]

String sl::toString

(

const RESOLUTION &

resolution

)

Converts the given enumerated value into readable text.

Returns

The enumerated value as a string.

toString() [2/6]

String sl::toString

(

const CAMERA_SETTINGS &

camSettings

)

Converts the given enumerated value into readable text.

Returns

The enumerated value as a string.

toString() [3/6]

String sl::toString

(

const SELF_CALIBRATION_STATE &

selfCalibState

)

Converts the given enumerated value into readable text.

Returns

The enumerated value as a string.

toString() [4/6]

String sl::toString

(

const VIEW &

view

)

Converts the given enumerated value into readable text.

Returns

The enumerated value as a string.

toString() [5/6]

String sl::toString

(

const TIME_REFERENCE &

time_reference

)

Converts the given enumerated value into readable text.

Returns

The enumerated value as a string.

toString() [6/6]

String sl::toString

(

const SVO_COMPRESSION_MODE &

svo_compression

)

Converts the given enumerated value into readable text.

Returns

The enumerated value as a string.

resolution2str()

String sl::resolution2str

(

RESOLUTION

res

)

Converts the given RESOLUTION into a string.

Parameters

res	: a specific RESOLUTION

Returns

The corresponding string

Deprecated:

See toString.

statusCode2str()

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

cameraResolution

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)>