Holds the options used to initialize the Camera object. More...
Functions | |
| def | __cinit__ (self, camera_resolution=RESOLUTION.HD720, camera_fps=0, svo_real_time_mode=False, depth_mode=DEPTH_MODE.PERFORMANCE, coordinate_units=UNIT.MILLIMETER, coordinate_system=COORDINATE_SYSTEM.IMAGE, sdk_verbose=0, sdk_gpu_id=-1, depth_minimum_distance=-1.0, depth_maximum_distance=-1.0, camera_disable_self_calib=False, camera_image_flip=FLIP_MODE.AUTO, enable_right_side_measure=False, sdk_verbose_log_file="", depth_stabilization=1, input_t=InputType(), optional_settings_path="", sensors_required=False, enable_image_enhancement=True, optional_opencv_calibration_file="", open_timeout_sec=5.0) |
| Constructor. More... | |
| def | save (self, str filename) |
| This function saves the current set of parameters into a file to be reloaded with the load() function. More... | |
| def | load (self, str filename) |
| This function sets the other parameters from the values contained in a previously saved file. More... | |
| def | camera_resolution (self) |
| Defines the chosen camera resolution. More... | |
| def | camera_fps (self) |
| Requested camera frame rate. More... | |
| def | sensors_required (self) |
| Force the motion sensors opening of the ZED 2 / ZED-M to open the camera. More... | |
| def | svo_real_time_mode (self) |
| When playing back an SVO file, each call to Camera.grab() will extract a new frame and use it. More... | |
| def | depth_mode (self) |
| The SDK offers several DEPTH_MODE options offering various levels of performance and accuracy. More... | |
| def | coordinate_units (self) |
| This parameter allows you to select the unit to be used for all metric values of the SDK. More... | |
| def | coordinate_system (self) |
| Positional tracking, point clouds and many other features require a given COORDINATE_SYSTEM to be used as reference. More... | |
| def | sdk_verbose (self) |
| This parameter allows you to enable the verbosity of the SDK to get a variety of runtime information in the console. More... | |
| def | sdk_gpu_id (self) |
| By default the SDK will use the most powerful NVIDIA graphics card found. More... | |
| def | depth_minimum_distance (self) |
| This parameter allows you to specify the minimum depth value (from the camera) that will be computed, measured in the UNIT you define. More... | |
| def | depth_maximum_distance (self) |
| Defines the current maximum distance that can be computed in the defined UNIT. More... | |
| def | camera_disable_self_calib (self) |
| At initialization, the Camera runs a self-calibration process that corrects small offsets from the device's factory calibration. More... | |
| def | camera_image_flip (self) |
| If you are using the camera upside down, setting this parameter to FLIP_MODE.ON will cancel its rotation. More... | |
| def | enable_right_side_measure (self) |
| By default, the SDK only computes a single depth map, aligned with the left camera image. More... | |
| def | sdk_verbose_log_file (self) |
| When sdk_verbose is enabled, this parameter allows you to redirect both the SDK verbose messages and your own application messages to a file. More... | |
| def | depth_stabilization (self) |
| Regions of the generated depth map can oscillate from one frame to another. More... | |
| def | optional_settings_path (self) |
| Set the optional path where the SDK has to search for the settings file (SN<XXXX>.conf file). More... | |
| def | optional_opencv_calibration_file (self) |
| Set an optional file path where the SDK can find a file containing the calibration information of the camera computed by OpenCV. More... | |
| def | open_timeout_sec (self) |
| Defines a timeout in seconds after which an error is reported if the sl.Camera.open() command fails. More... | |
| def | set_from_camera_id (self, uint id) |
| Call of InputType.set_from_camera_id function of input. More... | |
| def | set_from_serial_number (self, uint serial_number) |
| Call of InputType.set_from_serial_number function of input. More... | |
| def | set_from_svo_file (self, str svo_input_filename) |
| Call of InputType.set_from_svo_file function of input. More... | |
| def | set_from_stream (self, str sender_ip, port=30000) |
| Call of InputType.set_from_stream function of input. More... | |
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.
This structure allows you to select multiple parameters for the Camera such as the selected camera, its resolution, depth mode, coordinate system, and unit, of measurement. Once filled with the desired options, it should be passed to the Camera.open() function.
With its default values, it opens the ZED camera in live mode at RESOLUTION.HD720 and sets the depth mode to DEPTH_MODE.PERFORMANCE You can customize it to fit your application. The parameters can also be saved and reloaded using its save() and load() functions.
| def __cinit__ | ( | self, | |
camera_resolution = RESOLUTION.HD720, |
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camera_fps = 0, |
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svo_real_time_mode = False, |
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depth_mode = DEPTH_MODE.PERFORMANCE, |
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coordinate_units = UNIT.MILLIMETER, |
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coordinate_system = COORDINATE_SYSTEM.IMAGE, |
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sdk_verbose = 0, |
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sdk_gpu_id = -1, |
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depth_minimum_distance = -1.0, |
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depth_maximum_distance = -1.0, |
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camera_disable_self_calib = False, |
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camera_image_flip = FLIP_MODE.AUTO, |
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enable_right_side_measure = False, |
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sdk_verbose_log_file = "", |
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depth_stabilization = 1, |
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input_t = InputType(), |
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optional_settings_path = "", |
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sensors_required = False, |
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enable_image_enhancement = True, |
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optional_opencv_calibration_file = "", |
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open_timeout_sec = 5.0 |
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| ) |
Constructor.
| camera_resolution | : the chosen camera_resolution |
| camera_fps | : the chosen camera_fps |
| svo_real_time_mode | : activates svo_real_time_mode |
| depth_mode | : the chosen depth_mode |
| coordinate_units | : the chosen coordinate_units |
| coordinate_system | : the chosen coordinate_system |
| sdk_verbose | : sets sdk_verbose |
| sdk_gpu_id | : the chosen sdk_gpu_id |
| depth_minimum_distance | : the chosen depth_minimum_distance |
| depth_maximum_distance | : the chosen depth_maximum_distance |
| camera_disable_self_calib | : activates camera_disable_self_calib |
| camera_image_flip | : sets camera_image_flip |
| enable_right_side_measure | : activates enable_right_side_measure |
| sdk_verbose_log_file | : the chosen sdk_verbose_log_file |
| depth_stabilization | : activates depth_stabilization |
| input_t | : the chosen input_t (InputType ) |
| optional_settings_path | : the chosen optional_settings_path |
| sensors_required | : activates sensors_required |
| enable_image_enhancement | : activates enable_image_enhancement |
| optional_opencv_calibration_file | : sets optional_opencv_calibration_file |
| open_timeout_sec | : sets open_timeout_sec |
| def save | ( | self, | |
| str | filename | ||
| ) |
This function saves the current set of parameters into a file to be reloaded with the load() function.
| filename | : the path to the file in which the parameters will be stored |
| def load | ( | self, | |
| str | filename | ||
| ) |
This function sets the other parameters from the values contained in a previously saved file.
| filename | : the path to the file from which the parameters will be loaded. |
| def camera_resolution | ( | self | ) |
Defines the chosen camera resolution.
Small resolutions offer higher framerate and lower computation time. In most situations, the RESOLUTION.HD720 at 60 fps is the best balance between image quality and framerate. Available resolutions are listed here: RESOLUTION
| def camera_fps | ( | self | ) |
Requested camera frame rate.
If set to 0, the highest FPS of the specified InitParameters.camera_resolution will be used. See RESOLUTION for a list of supported framerates. default 0
Referenced by CameraInformation.__cinit__(), CameraConfiguration.camera_fps(), and CameraInformation.camera_fps().
| def sensors_required | ( | self | ) |
Force the motion sensors opening of the ZED 2 / ZED-M to open the camera.
default : false If set to false, the SDK will try to open and use the IMU (second USB device on USB2.0) and will open the camera successfully even if the sensors failed to open. This can be used for example when using a USB3.0 only extension cable (some fiber extension for example). This parameter only impacts the LIVE mode. If set to true, the camera will fail to open if the sensors cannot be opened. This parameter should be used when the IMU data must be available, such as Object Detection module or when the gravity is needed.
| def svo_real_time_mode | ( | self | ) |
When playing back an SVO file, each call to Camera.grab() will extract a new frame and use it.
However, this ignores the real capture rate of the images saved in the SVO file. Enabling this parameter will bring the SDK closer to a real simulation when playing back a file by using the images' timestamps. However, calls to Camera.grab() will return an error when trying to play too fast, and frames will be dropped when playing too slowly.
| def depth_mode | ( | self | ) |
The SDK offers several DEPTH_MODE options offering various levels of performance and accuracy.
This parameter allows you to set the DEPTH_MODE that best matches your needs. default DEPTH_MODE.PERFORMANCE
| def coordinate_units | ( | self | ) |
This parameter allows you to select the unit to be used for all metric values of the SDK.
(depth, point cloud, tracking, mesh, and others). default : UNIT.MILLIMETER
| def coordinate_system | ( | self | ) |
Positional tracking, point clouds and many other features require a given COORDINATE_SYSTEM to be used as reference.
This parameter allows you to select the COORDINATE_SYSTEM use by the Camera to return its measures. default : COORDINATE_SYSTEM.IMAGE
| def sdk_verbose | ( | self | ) |
This parameter allows you to enable the verbosity of the SDK to get a variety of runtime information in the console.
When developing an application, enabling verbose mode (sdk_verbose >= 1) can help you understand the current SDK behavior. However, this might not be desirable in a shipped version. default : 0 = no verbose message
| def sdk_gpu_id | ( | self | ) |
By default the SDK will use the most powerful NVIDIA graphics card found.
However, when running several applications, or using several cameras at the same time, splitting the load over available GPUs can be useful. This parameter allows you to select the GPU used by the Camera using an ID from 0 to n-1 GPUs in your PC. default : -1
| def depth_minimum_distance | ( | self | ) |
This parameter allows you to specify the minimum depth value (from the camera) that will be computed, measured in the UNIT you define.
In stereovision (the depth technology used by the camera), looking for closer depth values can have a slight impact on performance. However, this difference is almost invisible on modern GPUs. In cases of limited computational power, increasing this value can provide better performance. default : (-1) corresponding to 700 mm for a ZED/ZED2 and 200 mm for ZED Mini.
| def depth_maximum_distance | ( | self | ) |
Defines the current maximum distance that can be computed in the defined UNIT.
When estimating the depth, the SDK uses this upper limit to turn higher values into TOO_FAR ones (unavailable depth values).
| def camera_disable_self_calib | ( | self | ) |
At initialization, the Camera runs a self-calibration process that corrects small offsets from the device's factory calibration.
A drawback is that calibration parameters will sligtly change from one (live) run to another, which can be an issue for repeatability. If set to true, self-calibration will be disabled and calibration parameters won't be optimized (using the parameters of the conf file). default : false
| def camera_image_flip | ( | self | ) |
If you are using the camera upside down, setting this parameter to FLIP_MODE.ON will cancel its rotation.
The images will be horizontally flipped. default : FLIP_MODE.AUTO
| def enable_right_side_measure | ( | self | ) |
By default, the SDK only computes a single depth map, aligned with the left camera image.
This parameter allows you to enable the DEPTH.DEPTH_RIGHT and other <XXX>.RIGHT at the cost of additional computational time. For example, mixed reality passthrough applications require one depth map per eye, so this parameter can be activated. default : false
| def sdk_verbose_log_file | ( | self | ) |
When sdk_verbose is enabled, this parameter allows you to redirect both the SDK verbose messages and your own application messages to a file.
default : (empty) Should contain the path to the file to be written. A file will be created if missing.
| def depth_stabilization | ( | self | ) |
Regions of the generated depth map can oscillate from one frame to another.
These oscillations result from a lack of texture (too homogeneous) on an object and by image noise. This parameter control a stabilization filter that reduces these oscillations. In the range [0-100], 0 is disable (raw depth), smoothness is linear from 1 to 100.
| def optional_settings_path | ( | self | ) |
Set the optional path where the SDK has to search for the settings file (SN<XXXX>.conf file).
This file contains the calibration information of the camera.
default : (empty). The SNXXX.conf file will be searched in the default directory (/usr/local/zed/settings/ for Linux or C:/ProgramData/stereolabs/settings for Windows)
Automatic download of conf file (through ZED Explorer or the installer) will still download the file in the default path. If you want to use another path by using this entry, make sure to copy the file in the proper location.
| def optional_opencv_calibration_file | ( | self | ) |
Set an optional file path where the SDK can find a file containing the calibration information of the camera computed by OpenCV.
| def open_timeout_sec | ( | self | ) |
Defines a timeout in seconds after which an error is reported if the sl.Camera.open() command fails.
Set to '-1' to try to open the camera endlessly without returning error in case of failure. Set to '0' to return error in case of failure at the first attempt. Default : 5.0f
| def set_from_camera_id | ( | self, | |
| uint | id | ||
| ) |
Call of InputType.set_from_camera_id function of input.
| id | : The desired camera ID |
| def set_from_serial_number | ( | self, | |
| uint | serial_number | ||
| ) |
Call of InputType.set_from_serial_number function of input.
| serial_number | : The desired camera serial_number |
| def set_from_svo_file | ( | self, | |
| str | svo_input_filename | ||
| ) |
Call of InputType.set_from_svo_file function of input.
| svo_input_filename | : The path to the desired SVO file |
| def set_from_stream | ( | self, | |
| str | sender_ip, | ||
port = 30000 |
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| ) |
Call of InputType.set_from_stream function of input.
| sender_ip | : The IP address of the streaming sender |
| port | : The port on which to listen. Default: 30000 |
