Video Module

Classes
class	Camera
	This class is the main interface with the camera and the SDK features, such as: video, depth, tracking, mapping, and more. More...
class	InitParameters
	Struct containing all parameters passed to the SDK when initializing the ZED. These parameters will be fixed for the whole execution life time of the camera. More...
struct	RecordingParameters
	Sets the recording parameters. More...
struct	StreamingParameters
	Sets the streaming parameters. More...
struct	DeviceProperties
	Device properties More...
struct	StreamingProperties
	Streaming device properties More...
struct	RecordingStatus
	Container for information about the current SVO recording process. More...

Enumerations
enum class	INPUT_TYPE
	Lists available input type in SDK. More...
enum class	CAMERA_STATE
	List of possible camera state More...
enum class	RESOLUTION
	Represents the available resolution options. More...
enum class	FLIP_MODE
	brief Lists available compression modes for SVO recording. More...
enum class	MODEL
	Types of compatible ZED cameras. More...
enum class	VIEW
	Lists available view types retrieved from the camera, used for creating human-viewable (Image-type) textures. More...
enum class	VIDEO_SETTINGS
	Lists available camera settings for the ZED camera (contrast, hue, saturation, gain, etc.) More...
enum class	TIME_REFERENCE
	Categories indicating when a timestamp is captured. More...
enum class	SVO_COMPRESSION_MODE
	SVO compression modes. More...
enum class	STREAMING_CODEC
	Streaming codecs More...

Enumeration Type Documentation

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

RESOLUTION

enum RESOLUTION

strong

Represents the available resolution options.

Enumerator
HD2K	2208*1242. Supported frame rate: 15 FPS.
HD1080	1920*1080. Supported frame rates: 15, 30 FPS.
HD720	1280*720. Supported frame rates: 15, 30, 60 FPS.
VGA	672*376. Supported frame rates: 15, 30, 60, 100 FPS.

FLIP_MODE

enum FLIP_MODE

strong

brief Lists available compression modes for SVO recording.

Enumerator
OFF	default behavior.
ON	Images and camera sensors data are flipped, useful when your camera is mounted upside down.
AUTO	in live mode: use the camera orientation (if an IMU is available) to set the flip mode, in SVO mode, read the state of this enum when recorded

MODEL

enum MODEL

strong

Types of compatible ZED cameras.

Enumerator
ZED	ZED(1)
ZED_M	ZED Mini.
ZED2	ZED2.
ZED2i	ZED2i

VIEW

enum VIEW

strong

Lists available view types retrieved from the camera, used for creating human-viewable (Image-type) textures.

Based on the VIEW enum in the ZED C++ SDK. For more info, see: https://www.stereolabs.com/docs/api_3.X/group__Video__group.html#ga77fc7bfc159040a1e2ffb074a8ad248c

Enumerator
LEFT	Left RGBA image. As a Mat, MAT_TYPE is set to MAT_TYPE_8U_C4.
RIGHT	Right RGBA image. As a Mat, MAT_TYPE is set to sl::MAT_TYPE_8U_C4.
LEFT_GREY	Left GRAY image. As a Mat, MAT_TYPE is set to sl::MAT_TYPE_8U_C1.
RIGHT_GREY	Right GRAY image. As a Mat, MAT_TYPE is set to sl::MAT_TYPE_8U_C1.
LEFT_UNRECTIFIED	Left RGBA unrectified image. As a Mat, MAT_TYPE is set to sl::MAT_TYPE_8U_C4.
RIGHT_UNRECTIFIED	Right RGBA unrectified image. As a Mat, MAT_TYPE is set to sl::MAT_TYPE_8U_C4.
LEFT_UNRECTIFIED_GREY	Left GRAY unrectified image. As a ZEDMat, MAT_TYPE is set to sl::MAT_TYPE_8U_C1.
RIGHT_UNRECTIFIED_GREY	Right GRAY unrectified image. As a Mat, MAT_TYPE is set to sl::MAT_TYPE_8U_C1.
SIDE_BY_SIDE	Left and right image. Will be double the width to hold both. As a Mat, MAT_TYPE is set to MAT_8U_C4.
DEPTH	Normalized depth image. As a Mat, MAT_TYPE is set to sl::MAT_TYPE_8U_C4. Use an Image texture for viewing only. For measurements, use a Measure type instead (ZEDCamera.RetrieveMeasure()) to preserve accuracy.
CONFIDENCE	Normalized confidence image. As a Mat, MAT_TYPE is set to MAT_8U_C4. Use an Image texture for viewing only. For measurements, use a Measure type instead (ZEDCamera.RetrieveMeasure()) to preserve accuracy.
NORMALS	Color rendering of the normals. As a Mat, MAT_TYPE is set to MAT_8U_C4. Use an Image texture for viewing only. For measurements, use a Measure type instead (ZEDCamera.RetrieveMeasure()) to preserve accuracy.
DEPTH_RIGHT	Color rendering of the right depth mapped on right sensor. As a Mat, MAT_TYPE is set to MAT_8U_C4. Use an Image texture for viewing only. For measurements, use a Measure type instead (ZEDCamera.RetrieveMeasure()) to preserve accuracy.
NORMALS_RIGHT	Color rendering of the normals mapped on right sensor. As a Mat, MAT_TYPE is set to MAT_8U_C4. Use an Image texture for viewing only. For measurements, use a Measure type instead (ZEDCamera.RetrieveMeasure()) to preserve accuracy.

VIDEO_SETTINGS

enum VIDEO_SETTINGS

strong

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

Enumerator
BRIGHTNESS	Brightness control. Value should be between 0 and 8.
CONTRAST	Contrast control. Value should be between 0 and 8.
HUE	Hue control. Value should be between 0 and 11.
SATURATION	Saturation control. Value should be between 0 and 8.
SHARPNESS	Sharpness control. Value should be between 0 and 8.
GAMMA	Gamma control. Value should be between 1 and 9
GAIN	Gain control. Value should be between 0 and 100 for manual control. If ZED_EXPOSURE is set to -1 (automatic mode), then gain will be automatic as well.
EXPOSURE	Exposure control. Value can be between 0 and 100. Setting to -1 enables auto exposure and auto gain. Setting to 0 disables auto exposure but doesn't change the last applied automatic values. Setting to 1-100 disables auto mode and sets exposure to the chosen value.
AEC_AGC	Auto-exposure and auto gain. Setting this to true switches on both. Assigning a specifc value to GAIN or EXPOSURE will set this to 0.
AEC_AGC_ROI	ROI for auto exposure/gain. ROI defines the target where the AEC/AGC will be calculated Use overloaded function for this enum
WHITEBALANCE	Color temperature control. Value should be between 2800 and 6500 with a step of 100.
AUTO_WHITEBALANCE	Defines if the white balance is in automatic mode or not.
LED_STATUS	front LED status (1==enable, 0 == disable)

TIME_REFERENCE

enum TIME_REFERENCE

strong

Categories indicating when a timestamp is captured.

Enumerator
IMAGE	Timestamp from when the image was received over USB from the camera, defined by when the entire image was available in memory.
CURRENT	Timestamp from when the relevant function was called.

SVO_COMPRESSION_MODE

enum SVO_COMPRESSION_MODE

strong

SVO compression modes.

Enumerator
LOSSLESS_BASED	Lossless compression based on png/zstd. Average size = 42% of RAW.
H264_BASED	H264(AVCHD) GPU based compression : avg size = 1% (of RAW). Requires a NVIDIA GPU
H265_BASED	H265(HEVC) GPU based compression: avg size = 1% (of RAW). Requires a NVIDIA GPU, Pascal architecture or newer
H264_LOSSLESS_BASED	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_BASED	H265 Lossless GPU/Hardware based compression: avg size = 25% (of RAW). Provides a SSIM/PSNR result (vs RAW) >= 99.9%. Requires a NVIDIA GPU

STREAMING_CODEC

enum STREAMING_CODEC

strong

Streaming codecs

Enumerator
H264_BASED	AVCHD/H264 Based compression
H265_BASED	HEVC/H265 Based compression