Classes
struct	RecordingStatus
	Structure containing information about the status of the recording. More...

struct	StreamingParameters
	Structure containing the options used to stream with the ZED SDK. More...

struct	RecordingParameters
	Structure containing the options used to record. More...

struct	DeviceProperties
	Structure containing information about the properties of a camera. More...

struct	StreamingProperties
	Structure containing information about the properties of a streaming device. More...

class	InitParameters
	Class containing the options used to initialize the sl::Camera object. More...

class	Camera
	This class serves as the primary interface between the camera and the various features provided by the SDK. More...

class	InitParametersOne
	Class containing the options used to initialize the sl::CameraOne object. More...

class	InputType
	Class defining the input type used in the ZED SDK. More...

Enumerations
enum class	SIDE
	Lists possible sides on which to get data from. More...

enum	FLIP_MODE : int
	Lists possible flip modes of the camera. More...

enum class	RESOLUTION
	Lists available resolutions. More...

enum class	VIDEO_SETTINGS
	Lists available camera settings for the camera (contrast, hue, saturation, gain, ...). More...

enum class	VIEW
	Lists available views. More...

enum class	SVO_COMPRESSION_MODE
	Lists available compression modes for SVO recording. More...

enum class	MODEL
	Lists ZED camera model. More...

enum class	INPUT_TYPE
	Lists available input types in the ZED SDK. More...

enum class	CAMERA_STATE
	Lists possible camera states. More...

enum class	STREAMING_CODEC
	Lists the different encoding types for image streaming. More...

enum class	BUS_TYPE
	Lists available LIVE input type in the ZED SDK. More...

enum class	TIME_REFERENCE
	Lists possible time references for timestamps or data. More...

Functions
sl::Resolution	getResolution (RESOLUTION resolution)
	Gets the corresponding sl::Resolution from an sl::RESOLUTION. More...

unsigned int SL_CORE_EXPORT	generateVirtualStereoSerialNumber (unsigned int serial_left, unsigned int serial_right)
	Generate a unique identifier for virtual stereo based on the serial numbers of the two ZED Ones. More...

Enumeration Type Documentation

◆ SIDE

enum SIDE

strong

Lists possible sides on which to get data from.

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

◆ FLIP_MODE

enum FLIP_MODE : int

Lists possible flip modes of the camera.

Enumerator
OFF	No flip applied. 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.

◆ RESOLUTION

enum RESOLUTION

strong

Lists available resolutions.

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

Warning: All resolutions are not available for every camera.; You can find the available resolutions for each camera in our documentation.

Enumerator
HD4K	3856x2180 for imx678 mono
QHDPLUS	3800x1800
HD2K	2208*1242 (x2) Available FPS: 15
HD1536	1920*1536 (x2) Available FPS: 15, 30
HD1080	1920*1080 (x2) Available FPS: 15, 30
HD1200	1920*1200 (x2) Available FPS: 15, 30, 60
HD720	1280*720 (x2) Available FPS: 15, 30, 60
SVGA	960*600 (x2) Available FPS: 15, 30, 60, 120
VGA	672*376 (x2) Available FPS: 15, 30, 60, 100
AUTO	Select the resolution compatible with the camera: ZED X/X Mini: HD1200 ZED X Pro/X Pro Mini: HD1536 other cameras: HD720

◆ VIDEO_SETTINGS

enum VIDEO_SETTINGS

strong

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

Warning: All VIDEO_SETTINGS are not supported for all camera models. You can find the supported VIDEO_SETTINGS for each ZED camera in our documentation.

GAIN and EXPOSURE are linked in auto/default mode (see sl::Camera::setCameraSettings()).

Enumerator
BRIGHTNESS	Brightness control Affected value should be between 0 and 8. Note Not available for ZED X/X Mini cameras.
CONTRAST	Contrast control Affected value should be between 0 and 8. Note Not available for ZED X/X Mini cameras.
HUE	Hue control Affected value should be between 0 and 11. Note Not available for ZED X/X Mini cameras.
SATURATION	Saturation control Affected value should be between 0 and 8.
SHARPNESS	Digital sharpening control Affected value should be between 0 and 8.
GAMMA	ISP gamma control Affected value should be between 1 and 9.
GAIN	Gain control Affected value should be between 0 and 100 for manual control. Note If EXPOSURE is set to -1 (automatic mode), then GAIN will be automatic as well.
EXPOSURE	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 `EXPOSURE = 0` that corresponds to 0.17072ms. The conversion to milliseconds depends on the framerate: 15fps & `EXPOSURE = 100` -> 19.97ms 30fps & `EXPOSURE = 100` -> 19.97ms 60fps & `EXPOSURE = 100` -> 10.84072ms 100fps & `EXPOSURE = 100` -> 10.106624ms
AEC_AGC	Defines if the GAIN and EXPOSURE are in automatic mode or not. Setting 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() methods.
WHITEBALANCE_TEMPERATURE	Color temperature control Affected value should be between 2800 and 6500 with a step of 100. Note Setting a value will automatically set WHITEBALANCE_AUTO to 0.
WHITEBALANCE_AUTO	Defines if the white balance is in automatic mode or not.
LED_STATUS	Status of the front LED of the camera. Set to 0 to disable the light, 1 to enable the light. Default value is on. Note Requires camera firmware 1523 at least.
EXPOSURE_TIME	Real exposure time control in microseconds. Note Only available for ZED X/X Mini cameras. Replace EXPOSURE setting.
ANALOG_GAIN	Real analog gain (sensor) control in mDB. The range is defined by Jetson DTS and by default [1000-16000]. Note Only available for ZED X/X Mini cameras. Replace GAIN settings.
DIGITAL_GAIN	Real digital gain (ISP) as a factor. The range is defined by Jetson DTS and by default [1-256]. Note Only available for ZED X/X Mini cameras. Replace GAIN settings.
AUTO_EXPOSURE_TIME_RANGE	Range of exposure auto control in microseconds. Used with setCameraSettings(). Min/max range between max range defined in DTS. By default: [28000 - <fps_time> or 19000] us. Note Only available for ZED X/X Mini cameras.
AUTO_ANALOG_GAIN_RANGE	Range of sensor gain in automatic control. Used with setCameraSettings(). Min/max range between max range defined in DTS. By default: [1000 - 16000] mdB. Note Only available for ZED X/X Mini cameras.
AUTO_DIGITAL_GAIN_RANGE	Range of digital ISP gain in automatic control. Used with setCameraSettings(). Min/max range between max range defined in DTS. By default: [1 - 256]. Note Only available for ZED X/X Mini cameras.
EXPOSURE_COMPENSATION	Exposure-target compensation made after auto exposure. Reduces the overall illumination target by factor of F-stops. Affected value should be between 0 and 100 (mapped between [-2.0,2.0]). Default value is 50, i.e. no compensation applied. Note Only available for ZED-X / ZED-X Mini / ZED-XOne GS and ZED-XOne UHD cameras.
DENOISING	Level of denoising applied on both left and right images. Affected value should be between 0 and 100. Default value is 50. Note Only available for ZED X/X Mini cameras.
SCENE_ILLUMINANCE

◆ VIEW

enum VIEW

strong

Lists available views.

Enumerator
LEFT	Left (for stereo or default for monocular camera) BGRA image. Each pixel contains 4 unsigned char (B, G, R, A). Type: sl::MAT_TYPE::U8_C4
RIGHT	Right BGRA image. Each pixel contains 4 unsigned char (B, G, R, A). Type: sl::MAT_TYPE::U8_C4
LEFT_GRAY	Left gray image. Each pixel contains 1 unsigned char. Type: sl::MAT_TYPE::U8_C1
RIGHT_GRAY	Right gray image. Each pixel contains 1 unsigned char. Type: sl::MAT_TYPE::U8_C1
LEFT_UNRECTIFIED	Left BGRA unrectified image. Each pixel contains 4 unsigned char (B, G, R, A). Type: sl::MAT_TYPE::U8_C4
RIGHT_UNRECTIFIED	Right BGRA unrectified image. Each pixel contains 4 unsigned char (B, G, R, A). Type: sl::MAT_TYPE::U8_C4
LEFT_UNRECTIFIED_GRAY	Left gray unrectified image. Each pixel contains 1 unsigned char. Type: sl::MAT_TYPE::U8_C1
RIGHT_UNRECTIFIED_GRAY	Right gray unrectified image. Each pixel contains 1 unsigned char. Type: 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). Type: sl::MAT_TYPE::U8_C4
DEPTH	Color rendering of the depth. Each pixel contains 4 unsigned char (B, G, R, A). Type: sl::MAT_TYPE::U8_C4 Note 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). Type: sl::MAT_TYPE::U8_C4 Note Use MEASURE::CONFIDENCE with Camera::retrieveMeasure() to get confidence values.
NORMALS	Color rendering of the normals. Each pixel contains 4 unsigned char (B, G, R, A). Type: sl::MAT_TYPE::U8_C4 Note Use MEASURE::NORMALS with Camera::retrieveMeasure() to get normal values.
DEPTH_RIGHT	Color rendering of the right depth mapped on right sensor. Each pixel contains 4 unsigned char (B, G, R, A). Type: sl::MAT_TYPE::U8_C4 Note Use MEASURE::DEPTH_RIGHT with Camera::retrieveMeasure() to get depth right values.
NORMALS_RIGHT	Color rendering of the normals mapped on right sensor. Each pixel contains 4 unsigned char (B, G, R, A). Type: sl::MAT_TYPE::U8_C4 Note Use MEASURE::NORMALS_RIGHT with Camera::retrieveMeasure() to get normal right values.
LEFT_BGRA	Alias of sl::VIEW::LEFT. Type: sl::MAT_TYPE::U8_C4
LEFT_BGR	Left image in BGR pixel format: Type: sl::MAT_TYPE::U8_C3
RIGHT_BGRA	Alias of sl::VIEW::RIGHT. Type: sl::MAT_TYPE::U8_C4
RIGHT_BGR	Right image in BGR pixel format: Type: sl::MAT_TYPE::U8_C3
LEFT_UNRECTIFIED_BGRA	Alias of sl::VIEW::LEFT_UNRECTIFIED. Type: sl::MAT_TYPE::U8_C4
LEFT_UNRECTIFIED_BGR	Left unrectified image in BGR pixel format: Type: sl::MAT_TYPE::U8_C3
RIGHT_UNRECTIFIED_BGRA	Alias of sl::VIEW::RIGHT_UNRECTIFIED. Type: sl::MAT_TYPE::U8_C4
RIGHT_UNRECTIFIED_BGR	Right unrectified image in BGR pixel format: Type: sl::MAT_TYPE::U8_C3
SIDE_BY_SIDE_BGRA	Alias of sl::VIEW::SIDE_BY_SIDE. Type: sl::MAT_TYPE::U8_C4
SIDE_BY_SIDE_BGR	Side by side image in BGR pixel format: Type: sl::MAT_TYPE::U8_C3
SIDE_BY_SIDE_GRAY	Side by side image in gray scale: Type: sl::MAT_TYPE::U8_C1
SIDE_BY_SIDE_UNRECTIFIED_BGRA	Alias of sl::VIEW::SIDE_BY_SIDE_UNRECTIFIED. Type: sl::MAT_TYPE::U8_C4
SIDE_BY_SIDE_UNRECTIFIED_BGR	Side by side unrectified image in BGR pixel format: Type: sl::MAT_TYPE::U8_C3
SIDE_BY_SIDE_UNRECTIFIED_GRAY	Side by side unrectified image in gray scale: Type: sl::MAT_TYPE::U8_C1
DEPTH_BGRA	Alias of sl::VIEW::DEPTH. Type: sl::MAT_TYPE::U8_C4
DEPTH_BGR	Depth image in BGR pixel format: Type: sl::MAT_TYPE::U8_C3
DEPTH_GRAY	Depth image in gray scale: Type: sl::MAT_TYPE::U8_C1
CONFIDENCE_BGRA	Alias of sl::VIEW::CONFIDENCE. Type: sl::MAT_TYPE::U8_C4
CONFIDENCE_BGR	Confidence image in BGR pixel format: Type: sl::MAT_TYPE::U8_C3
CONFIDENCE_GRAY	Confidence image in gray scale: Type: sl::MAT_TYPE::U8_C1
NORMALS_BGRA	Alias of sl::VIEW::NORMALS. Type: sl::MAT_TYPE::U8_C4
NORMALS_BGR	Normal image in BGR pixel format: Type: sl::MAT_TYPE::U8_C3
NORMALS_GRAY	Normal image in gray scale: Type: sl::MAT_TYPE::U8_C1
DEPTH_RIGHT_BGRA	Alias of sl::VIEW::DEPTH_RIGHT. Type: sl::MAT_TYPE::U8_C4
DEPTH_RIGHT_BGR	Depth right image in BGR pixel format: Type: sl::MAT_TYPE::U8_C3
DEPTH_RIGHT_GRAY	Depth right image in gray scale: Type: sl::MAT_TYPE::U8_C1
NORMALS_RIGHT_BGRA	Alias of sl::VIEW::NORMALS_RIGHT. Type: sl::MAT_TYPE::U8_C4
NORMALS_RIGHT_BGR	Normal right image in BGR pixel format: Type: sl::MAT_TYPE::U8_C3
NORMALS_RIGHT_GRAY	Normal right image in gray scale: Type: sl::MAT_TYPE::U8_C1

◆ SVO_COMPRESSION_MODE

enum SVO_COMPRESSION_MODE

strong

Lists available compression modes for SVO recording.

Note: 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. Average size: 42% of RAW
H264	H264 (AVCHD) GPU based compression. Average size: 1% of RAW Note Requires a NVIDIA GPU.
H265	H265 (HEVC) GPU based compression. Average size: 1% of RAW Note Requires a NVIDIA GPU.
H264_LOSSLESS	H264 Lossless GPU/Hardware based compression. Average size: 25% of RAW Provides a SSIM/PSNR result (vs RAW) >= 99.9%. Note Requires a NVIDIA GPU.
H265_LOSSLESS	H265 Lossless GPU/Hardware based compression. Average size: 25% of RAW Provides a SSIM/PSNR result (vs RAW) >= 99.9%. Note Requires a NVIDIA GPU.

◆ MODEL

enum MODEL

strong

Lists ZED camera model.

Enumerator
ZED	ZED camera model
ZED_M	ZED Mini (ZED M) camera model
ZED2	ZED 2 camera model
ZED2i	ZED 2i camera model
ZED_X	ZED X camera model (120mm baseline) with dual global shutter AR0234 sensor
ZED_XM	ZED X Mini (50mm baseline)camera model with dual global shutter AR0234 sensor
ZED_X_HDR	ZED X HDR camera model (120mm baseline) with dual HDR rolling shutter ISX031 sensor
ZED_X_HDR_MINI	ZED X HDR mini camera model (50mm baseline) with dual HDR rolling shutter ISX031 sensor
ZED_X_HDR_MAX	ZED X HDR Max camera model (170mm baseline) with dual HDR rolling shutter ISX031 sensor
VIRTUAL_ZED_X	Virtual ZED-X generated from 2 ZED-XOne (Using ZED Media Server)
ZED_XONE_GS	ZED X One with global shutter AR0234 sensor
ZED_XONE_UHD	ZED X One with 4K rolling shutter IMX678 sensor
ZED_XONE_HDR	ZED X One with HDR rolling shutter ISX031 sensor

◆ INPUT_TYPE

enum INPUT_TYPE

strong

Lists available input types in the ZED SDK.

Enumerator
USB	USB input mode
SVO	SVO file input mode
STREAM	STREAM input mode (requires to use enableStreaming() / disableStreaming()" on the "sender" side)
GMSL	GMSL input mode (only on NVIDIA Jetson)

◆ CAMERA_STATE

enum CAMERA_STATE

strong

Lists possible camera states.

Enumerator
AVAILABLE	The camera can be opened by the ZED SDK.
NOT_AVAILABLE	The camera is already opened and unavailable.

◆ STREAMING_CODEC

enum STREAMING_CODEC

strong

Lists the different encoding types for image streaming.

Enumerator
H264	AVCHD/H264 encoding
H265	HEVC/H265 encoding

◆ BUS_TYPE

enum BUS_TYPE

strong

Lists available LIVE input type in the ZED SDK.

Enumerator

USB

USB input mode

GMSL

GMSL input mode

Note: Only on NVIDIA Jetson.

AUTO

Automatically select the input type.
Trying first for available USB cameras, then GMSL.

◆ TIME_REFERENCE

enum TIME_REFERENCE

strong

Lists possible time references for timestamps or data.

Enumerator
IMAGE	The requested timestamp or data will be at the time of the frame extraction.
CURRENT	The requested timestamp or data will be at the time of the function call.

Function Documentation

◆ getResolution()

sl::Resolution sl::getResolution ( RESOLUTION resolution )

Gets the corresponding sl::Resolution from an sl::RESOLUTION.

Parameters

resolution : The wanted sl::RESOLUTION.

Returns: The sl::Resolution corresponding to sl::RESOLUTION given as argument.

◆ generateVirtualStereoSerialNumber()

unsigned int SL_CORE_EXPORT sl::generateVirtualStereoSerialNumber	(	unsigned int	serial_left,
		unsigned int	serial_right
	)

Generate a unique identifier for virtual stereo based on the serial numbers of the two ZED Ones.

Parameters

serial_left	: Serial number of the left camera.
serial_right	: Serial number of the right camera.

Returns: A unique hash for the given pair of serial numbers, or 0 if an error occurred (e.g: same serial number).

Classes

Enumerations

Functions

Enumeration Type Documentation

◆ SIDE

◆ FLIP_MODE

◆ RESOLUTION

◆ VIDEO_SETTINGS

◆ VIEW

◆ SVO_COMPRESSION_MODE

◆ MODEL

◆ INPUT_TYPE

◆ CAMERA_STATE

◆ STREAMING_CODEC

◆ BUS_TYPE

◆ TIME_REFERENCE

Function Documentation

◆ getResolution()

◆ generateVirtualStereoSerialNumber()