Video Module

Classes
struct	RecordingStatus
	Recording structure that contains information about SVO. 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. A standard program will use the Camera class like this: 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...

Enumerations
enum class	SIDE
	defines left,right,both to distinguish between left and right or both sides More...
enum	FLIP_MODE : int
	Gives the camera flip mode. More...
enum class	RESOLUTION
	Represents the available resolution defined in the cameraResolution list. More...
enum class	VIDEO_SETTINGS
	Lists available camera settings for the ZED camera (contrast, hue, saturation, gain...). More...
enum class	VIEW
	Lists available views. More...
enum class	TIME_REFERENCE
	Lists specific and particular timestamps. More...
enum class	SVO_COMPRESSION_MODE
	Lists available compression modes for SVO recording. More...
enum class	MODEL
	Lists compatible ZED Camera model. More...
enum class	INPUT_TYPE
	Lists available input type in SDK. More...
enum class	CAMERA_STATE
	List of possible camera state. More...
enum class	STREAMING_CODEC
	List of possible camera state. More...

Functions
sl::Resolution	getResolution (RESOLUTION resolution)
	Returns the actual size of the given resolution. More...
String	toVerbose (const ERROR_CODE &errorCode)
	Return a text explaining how to fix the given ERROR_CODE. More...

Enumeration Type Documentation

SIDE

enum SIDE

strong

defines left,right,both to distinguish between left and right or both sides

Enumerator
LEFT	Left side only.
RIGHT	Right side only.
BOTH	Left and Right side.

FLIP_MODE

enum FLIP_MODE : int

Gives the camera flip mode.

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

RESOLUTION

enum RESOLUTION

strong

Represents the available resolution defined in the cameraResolution list.

Note

The VGA resolution does not respect the 640*480 standard to better fit the camera sensor (672*376 is used).

Enumerator
HD2K	2208*1242 (x2), available framerates: 15 fps.
HD1080	1920*1080 (x2), available framerates: 15, 30 fps.
HD720	1280*720 (x2), available framerates: 15, 30, 60 fps.
VGA	672*376 (x2), available framerates: 15, 30, 60, 100 fps.

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 between 0 and 8.
GAMMA	Defines the ISP gamma control. Affected value should be between 1 and 9.
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 @GAIN or @EXPOSURE values will automatically set this value to 0.
AEC_AGC_ROI	Defines the region of interest for automatic exposure/gain computation. To be used with overloaded @setCameraSettings/@getCameraSettings functions.
WHITEBALANCE_TEMPERATURE	Defines the color temperature value. Setting a value will automatically set @WHITEBALANCE_AUTO 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.

VIEW

enum VIEW

strong

Lists available views.

Enumerator
LEFT	Left BGRA image. Each pixel contains 4 unsigned char (B,G,R,A). sl::MAT_TYPE::U8_C4.
RIGHT	Right BGRA image. Each pixel contains 4 unsigned char (B,G,R,A). sl::MAT_TYPE::U8_C4.
LEFT_GRAY	Left GRAY image. Each pixel contains 1 unsigned char. sl::MAT_TYPE::U8_C1.
RIGHT_GRAY	Right GRAY image. Each pixel contains 1 unsigned char. sl::MAT_TYPE::U8_C1.
LEFT_UNRECTIFIED	Left BGRA unrectified image. Each pixel contains 4 unsigned char (B,G,R,A). sl::MAT_TYPE::U8_C4.
RIGHT_UNRECTIFIED	Right BGRA unrectified image. Each pixel contains 4 unsigned char (B,G,R,A). sl::MAT_TYPE::U8_C4.
LEFT_UNRECTIFIED_GRAY	Left GRAY unrectified image. Each pixel contains 1 unsigned char. sl::MAT_TYPE::U8_C1.
RIGHT_UNRECTIFIED_GRAY	Right GRAY unrectified image. Each pixel contains 1 unsigned char. sl::MAT_TYPE::U8_C1.
SIDE_BY_SIDE	Left and right image (the image width is therefore doubled). Each pixel contains 4 unsigned char (B,G,R,A). sl::MAT_TYPE::U8_C4.
DEPTH	Color rendering of the depth. Each pixel contains 4 unsigned char (B,G,R,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 unsigned char (B,G,R,A). sl::MAT_TYPE::U8_C4.
NORMALS	Color rendering of the normals. Each pixel contains 4 unsigned char (B,G,R,A). sl::MAT_TYPE::U8_C4.
DEPTH_RIGHT	Color rendering of the right depth mapped on right sensor. Each pixel contains 4 unsigned char (B,G,R,A). sl::MAT_TYPE::U8_C4.
NORMALS_RIGHT	Color rendering of the normals mapped on right sensor. Each pixel contains 4 unsigned char (B,G,R,A). sl::MAT_TYPE::U8_C4.

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.

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
H264_LOSSLESS	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	H265 Lossless GPU/Hardware based compression: avg size = 25% (of RAW). Provides a SSIM/PSNR result (vs RAW) >= 99.9%. Requires a NVIDIA GPU

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
ZED2i	Defines ZED 2i Camera model

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

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.

Function Documentation

getResolution()

sl::Resolution sl::getResolution

(

RESOLUTION

resolution

)

Returns the actual size of the given resolution.

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.