Stereolabs Zed Camera

How to use the Stereolabs Zed Camera robot skill

Turns a Stereolabs ZED stereo camera (ZED, ZED Mini, ZED 2, ZED 2i) into a depth sensor for your robot, on Windows, Linux and macOS, without a graphics card. A ZED is two cameras side by side, like a pair of eyes: it sends both pictures over USB as one wide video, and the distance to everything it sees comes from how far each thing shifts between the two pictures. Stereolabs' own ZED SDK does that on an NVIDIA graphics card. This skill does it itself: it straightens both pictures with the camera's factory calibration (downloaded from Stereolabs automatically) and matches them with OpenCV's semi-global block matcher, so a ZED works on any ARCx computer, from a laptop to a Raspberry Pi class board.

The depth becomes an obstacle scan for the Navigation Messaging System (NMS), with the floor removed by height and drops in the floor found, so a navigator such as Another Navigator can map and avoid what a lidar would miss. The left picture, lined up pixel for pixel with the depth, becomes a video source, and every face, colour, glyph or object another skill detects on it gets its real distance. The camera's accelerometer measures how far it is tilted, so the floor stays where it is when the mount moves. There are anaglyph 3D, disparity and confidence views, point clouds, an obstacle zone, picture controls, global variables, MCP tools for AI, a Custom UI widget, and a simulated ZED that renders a real stereo pair, so everything can be tried before the camera arrives.

When the ZED SDK is installed on a computer with an NVIDIA graphics card, the skill can use it instead, for the SDK's neural depth and its positional tracking (the robot's position from the camera alone).

What you need

• A ZED, ZED Mini, ZED 2 or ZED 2i on a USB 3 port. A USB 2 port carries only the VGA mode (the skill falls back to it and says so).
• The camera's serial number for its factory calibration. The ZED Mini, ZED 2 and ZED 2i report it themselves on every computer; the original ZED reports it on Linux. Otherwise type it in: it is on the label under the camera and on its box.
• An internet connection the first time each camera starts, to download its calibration (it is kept afterwards), or the calibration file copied from a computer that has it.

Camera	OpenStereo (this skill's own depth)	ZED SDK driver
ZED	Depth and video. No IMU (it has none).	Yes
ZED Mini	Depth, video, accelerometer and gyroscope	Yes
ZED 2, ZED 2i	Depth, video, accelerometer, gyroscope, magnetometer, barometer, temperatures	Yes
ZED X, ZED X Mini (GMSL2)	Not possible: they are not USB cameras	Jetson only, with the ZED SDK and a capture card

Computer	OpenStereo	IMU	LED	ZED SDK
Windows x64	Yes (DirectShow or Media Foundation)	Yes (Windows' own HID)	No	Yes, with an NVIDIA GPU
Linux x64 and ARM64 (Ubuntu 24.04)	Yes (V4L2)	Yes (hidraw, needs the udev rule)	Yes	Yes on x64 with an NVIDIA GPU, and on Jetson
macOS	Yes (AVFoundation)	No	No	No (Stereolabs does not support macOS)

Setting up

Windows. Plug the camera in; Windows' own camera driver is all OpenStereo needs. Close ZED Explorer and ZED Depth Viewer, which hold the camera while they run.

Linux. Plug the camera in. For the IMU, the LED and reading an original ZED's serial number, install Stereolabs' udev rule once (the Camera tab shows the command, which copies the rule the skill ships to /etc/udev/rules.d), then unplug and replug the camera. The ZED SDK installs the same rule.

macOS. Allow ARCx to use cameras (System Settings, Privacy & Security, Camera) and type the serial number in the Camera tab. Depth works; the IMU and LED do not.

The ZED SDK driver (optional). Install the ZED SDK 5 for your CUDA version from Stereolabs, and its C wrapper: on Windows, sl_zed_c.dll from Stereolabs' Stereolabs.zed NuGet package or a build of their zed-c-api, placed in the ZED SDK's bin folder; on Linux, build zed-c-api (cmake, make, sudo make install) for /usr/local/lib/libsl_zed_c.so. The skill finds both by itself, or takes the wrapper's path in the Camera tab. Automatic then uses the ZED SDK whenever it sees a camera.

The factory calibration

Stereo depth is only as good as the calibration: where each lens points, its focal length and its distortion, measured by Stereolabs for every camera. The skill finds it by serial number, in this order: a file chosen in the Calibration tab; the skill's calibration folder (My Documents/ARCx Data/Stereolabs Zed/Calibration); the ZED SDK's settings folder (C:\ProgramData\Stereolabs\settings on Windows, /usr/local/zed/settings on Linux); a download from calib.stereolabs.com, saved to the calibration folder so it happens once. The Calibration tab's Download now button fetches it ahead of time, for a robot that will run without internet. The log says where the calibration came from and its baseline.

To check the calibration, choose the Rectified pair view: the same thing should sit on the same green line in both pictures.

The window

• Start / Stop opens and closes the camera. Camera chooses which one (or the simulated one); the refresh button looks again.
• Stereo: Fast, Balanced, Quality, Custom changes how hard the matcher works while it runs, on the next frame. The sun button switches the LED. On the right, the tilt and roll the IMU measures.
• The readouts: frames a second, the depth picture's size and how long matching took, how much of the picture has depth, the distance to whatever the middle of the picture sees, the nearest obstacle and drop, and what is being sent to the NMS.
• The picture: Left (the colour picture the depth lines up with), Depth (coloured near to far), or one of the stereo views from the Stereo menu.
• The scan view: a top-down view of the robot (the orange triangle), what the camera can see (the blue lines), the nearest obstacle in each degree (green, joined along surfaces), drops in the floor (purple), and the obstacle zone (orange, red with something in it). The mouse wheel zooms; a click says how far away the nearest thing is in that direction.

Stereo views

The Stereo video source (and the window's Stereo menu) shows how the depth is made:

View	What it shows
Side by side	Both eyes exactly as the camera sends them.
Rectified pair	Both eyes after straightening, with green lines across: the same thing sits on the same line in both when the calibration is right.
Right	The right eye, straightened.
Anaglyph 3D	Left in red, right in cyan: put on red-cyan glasses.
Disparity	The matcher's raw result: how far each pixel moved between the eyes, bright near and dark far.
Confidence	The left picture tinted green where the depth can be trusted, red where it is doubtful, darkened where there is none.

How the depth is made

Each frame, the camera's side-by-side picture is split into its two eyes. Both are straightened (rectified) with the factory calibration directly at the working width the matcher runs at, so the same point of the world lands on the same row in both. OpenCV's semi-global block matcher then finds, for each pixel of the left picture, how far it moved in the right one (its disparity), and the distance is the focal length times the distance between the lenses divided by that disparity. Pixels the matcher could not trust are dropped: plain areas with no texture to match (a white wall), a failed left-right check, a doubtful match, specks, and anything outside the depth range.

Quality	Matching	Working width	Time per frame (desktop, VGA)
Fast	Three-direction semi-global matching	448	about 5 to 15 ms
Balanced	Four-direction semi-global matching (HH4) with speckle removal	672	about 40 ms
Quality	Eight-direction semi-global matching (HH) with stricter checks	672	about 90 ms
Custom	Every matcher setting from the Depth tab, including OpenCV's WLS smoothing filter	your choice

In the simulator, where the true distance of every pixel is known, Balanced measures 86% of the visible scene with a median error of 0.6% (9 mm in a room), 97% of pixels within 5%; flat targets at 1 and 2 m came out within 5 mm. Stereo error grows with the square of the distance: at 5 m a quarter of a pixel of disparity is 20 cm with a ZED 2 at VGA, so use the scan for the near few metres and HD720 for further. A real camera adds noise, lighting and reflections the simulator does not have, so expect less on real surfaces, and give plain walls texture where it matters.

The left edge of the depth picture is always empty: the right eye does not see that strip, so nothing can be matched there.

How the scan is made

Every depth pixel is placed in the robot's frame from where the camera is mounted: how far ahead, how far to the left, how high off the floor, and how far it looks down (from the IMU, or typed in). With the mount height set, anything lower than the lowest obstacle height is the floor and is dropped, anything higher than the highest obstacle height (a table top the robot passes under, the ceiling) is dropped too, and the nearest of what is left in each slice of the view becomes the scan. Points seen below the floor are drops (stairs going down, a ledge), reported where the floor ends. Without a mount height the skill cannot tell the floor from an obstacle and reports everything inside the detection area.

The mount is measured to the middle of the camera; the skill moves it to the left lens, where the depth comes from, by half the baseline. With the ZED SDK's positional tracking on, the robot's position and heading go to the NMS too, so a navigator can map without wheel encoders.

Configuration

Camera

Setting	What it does
Driver	Automatic, OpenStereo (every platform, no graphics card), ZED SDK (NVIDIA graphics card) or Simulator.
Camera	Which camera, when there is more than one.
Serial number	The camera's serial, for its calibration. 0 reads it from the camera where it can.
Video mode, Frames per second	VGA (672 x 376 per eye) up to 100 fps, HD720 up to 60, HD1080 up to 30, HD2K at 15.
Capture system	DirectShow, Media Foundation, V4L2 or AVFoundation; Automatic picks the usual one.
Simulated scene	The simulator's room, corridor or distance targets.
Start when the project loads, Reconnect automatically, Reconnect every, Lost after	Starting, and what happens when the camera goes away.
ZED SDK C wrapper	The path of sl_zed_c when it is not where the skill looks. Needs ARCx restarted.

Calibration

Setting	What it does
Calibration file	A SN[serial].conf to use instead of finding one.
Download it from Stereolabs	Fetch the calibration the first time when it is not on this computer.
Calibration folder	Where downloaded calibrations are kept.
Download now	Fetch it now for the serial number typed in the Camera tab.

Depth

Setting	What it does
Stereo quality	Fast, Balanced, Quality or Custom.
Working width	The width the pair is matched at, which is the depth picture's width. 0 uses the quality's own.
Nearest depth, Furthest depth	The depth range. The nearest also sets how far the matcher searches: seeing closer costs time.
Confidence threshold	Drops doubtful depth (with the WLS filter and the ZED SDK).
Texture threshold	Drops plain, textureless areas where stereo guesses.
ZED SDK depth mode	Neural Light, Neural, Neural Plus or Performance, for the ZED SDK driver.
Custom matcher	Matching variant, width, block size, smoothness penalties, uniqueness, speckle removal, left-right check, prefilter cap, and the WLS filter with its strength and edge sensitivity.

Picture

Exposure and gain (or automatic exposure), brightness, contrast, hue, saturation, sharpness, gamma, white balance (or automatic) and the LED, sent to the camera when it starts and whenever they change. Through OpenStereo the standard controls go through the operating system's camera driver and the log lists which the camera took; with the ZED SDK they go through the SDK. The LED can be switched on Linux, with the ZED SDK and in the simulator.

Mounting

Where the camera sits, measured from the point on the floor below where the robot turns to the middle of the camera: height off the floor, forward and left of that point, which way it faces, and its roll. The tilt comes from the camera's IMU (ZED Mini, ZED 2, ZED 2i) or is typed in.

Navigation

Setting	What it does
Publish to the NMS, Scans per second	Send the scan to the navigation messaging system, at most this often.
Resolution	Degrees per reading.
Nearest, Furthest	The scan's range along the floor.
Lowest obstacle, Highest obstacle	What counts as an obstacle when the mount height is set.
Detection area	The part of the depth picture the scan is made from, in percent: left, top, width and height.
Find drops, Drop deeper than, Look for drops within, Drops are obstacles	Drop detection, and whether drops go to the NMS as obstacles so a navigator steers round them.
Position placeholder	A navigator only takes scans when the robot's position is reported. With nothing else reporting one, the skill repeats the last known position after each scan, and stands aside when another skill reports positions.
ZED SDK positional tracking	With the ZED SDK driver, send the robot's tracked position and heading to the NMS.

Obstacle zone

Watch the area straight ahead: anything closer than the distance inside the zone's width is an obstacle. The skill can stop the robot, pause a navigation and carry on once the zone is clear, and run a script when something appears and another when the zone is clear again. The ObstacleDistance and ObstacleAngle variables say where it was.

Video & variables

The video sources are named after the window title: "Stereolabs Zed Camera Left", "Stereolabs Zed Camera Depth" and "Stereolabs Zed Camera Stereo". The depth colours can be Jet, Turbo, Inferno, Viridis, Rainbow or Bone. Measure detections gives every detection on the left video its distance and position (DistanceM, ForwardM, LeftM, HeightM), which Vision Detection Tracking Script puts in its Object variables. Share the IMU hands the accelerometer and gyroscope to other skills in the robot's frame.

Global variables

With the prefix Zed (change it for a second camera), distances in metres and angles in radians counter-clockwise from straight ahead (positive is left):

Variable	Value
$ZedIsRunning	True while streaming
$ZedNearestDistance, $ZedNearestAngle	The nearest obstacle
$ZedFrontDistance	Nearest within 10 degrees of straight ahead
$ZedLeftDistance, $ZedRightDistance	Nearest 10 to 45 degrees to either side
$ZedCenterDistance	Straight-line distance to what the middle of the picture sees
$ZedCliff, $ZedCliffDistance, $ZedCliffAngle	A drop in the floor
$ZedObstacle, $ZedObstacleDistance, $ZedObstacleAngle	The obstacle zone
$ZedTiltDegrees, $ZedRollDegrees	The camera's tilt down and roll from its accelerometer, in degrees
$ZedAccelX, $ZedAccelY, $ZedAccelZ	The accelerometer in m/s, the camera's forward, left and up axes
$ZedGyroZ	Turning left in radians a second
$ZedHeading	Magnetic heading in degrees (ZED 2 and 2i, uncalibrated)
$ZedPressureHPa, $ZedTemperatureC	Air pressure and temperature (ZED 2 and 2i)
$ZedPoseX, $ZedPoseY, $ZedPoseYaw	The ZED SDK's tracked position
$ZedFPS, $ZedMatchMs, $ZedValidPercent	Frame rate, matching time and how much of the picture has depth

Scripts, AI and the Custom UI

Scripts reach everything through control commands: distances in any direction or sector, a point of the picture measured in the robot's frame, the IMU, the tracked position, the stereo quality and view, picture controls, the LED, the detection area, point clouds, snapshots, downloading a calibration and the list of cameras. For example, in JavaScript:

// Switch to the quick matcher while driving, and say what is close
controlCommand("Stereolabs Zed Camera", "SetStereoQuality", "Fast");
var front = getVar("$ZedFrontDistance");
if (front > 0 && front < 1.0)
  Audio.say("Something is " + Math.round(front * 100) + " centimetres ahead");

AI clients connected to ARCx's MCP server get six tools: the camera's status, a sector summary of what it sees, measuring a point of the picture (with its confidence), a snapshot of the left, depth or stereo picture, saving a point cloud, and changing the stereo quality. Saved point clouds (.ply, in metres in the robot's frame, coloured from the left picture) open in MeshLab, CloudCompare and Blender.

The ZED view widget puts the left, depth or stereo picture, or the top-down scan, on your own Custom UI screens, with a start/stop button, optional Fast/Balanced/Quality buttons and the nearest distance.

The simulator

The Simulator driver is a pretend ZED 2i in a pretend room: two lenses 12 cm apart, each with lens distortion, the right one turned very slightly, looking at textured walls, a box, a table, a stairwell going down and a person walking across (or a corridor, or flat targets at 1, 2, 3 and 5 m). It renders a real side-by-side stereo pair and hands it to the skill with a calibration file written for it, so the depth goes through exactly the same calibration reading, rectification and matching as a real camera's. It sits where the Mounting tab says, tilted by the typed tilt, and its accelerometer reports that tilt, as a real one would. Its picture controls and LED work.

Troubleshooting

• No ZED found: use a USB 3 port and the cable that came with the camera, close ZED Explorer and ZED Depth Viewer, and press refresh. On Linux, install the udev rule from the Camera tab and replug.
• The calibration cannot be found: type the serial number from the camera's label in the Camera tab, check the internet connection, or copy SN[serial].conf into the calibration folder.
• The camera gave 1344x376 instead of a larger mode: it is on a USB 2 port or cable.
• Little depth on plain surfaces: stereo needs texture. Lower the texture threshold to see more (and trust it less), add light, or try the Quality setting.
• The floor shows as obstacles: set the mount height, and check the lowest obstacle height; stereo is noisier than a lidar, so allow a few centimetres more.
• Depth looks wrong everywhere: check the Rectified pair view. If things do not sit on the same lines, the calibration belongs to another camera.
• Frames a second are low: choose Fast, lower the working width, or use VGA.

Control Commands for the Stereolabs Zed Camera robot skill

There are Control Commands available for this robot skill which allows the skill to be controlled programmatically from scripts or other robot skills. These commands enable you to automate actions, respond to sensor inputs, and integrate the robot skill with other systems or custom interfaces. If you're new to the concept of Control Commands, we have a comprehensive manual available here that explains how to use them, provides examples to get you started and make the most of this powerful feature.

Control Command Manual

This robot skill has 25 control commands, listed below. Send them from a JavaScript or Python script, from Blockly, or from another robot skill.

The first value is always the window title, which is the name in the title bar of the robot skill on your workspace. It starts out as Stereolabs Zed Camera, which is what every example below uses. If you rename the robot skill, or add a second copy of it to the project, use the title as it appears on that window instead.

ControlCommand() can be shortened to CC(), and both spellings work in JavaScript and in Python. The examples are JavaScript; Python is the same call, except that true and false are written True and False.

DownloadCalibration

Download a camera's factory calibration from Stereolabs into the calibration folder. serial is optional: 0 or empty uses the configured or detected serial. Returns the file's path.

Syntax

ControlCommand("Stereolabs Zed Camera", "DownloadCalibration", (Number)serial)

Parameters

#	Name	Type	What to pass
1	serial	Number	A number, without quotes

Returns: String

Example

var result = ControlCommand("Stereolabs Zed Camera", "DownloadCalibration", 0);

GetCenterDistance

The straight-line distance in metres from the left lens to whatever the middle of its picture sees. 0 when there is no reading there.

Syntax

ControlCommand("Stereolabs Zed Camera", "GetCenterDistance")

Returns: Float [1.5e45 to 3.4e38]

Example

var result = ControlCommand("Stereolabs Zed Camera", "GetCenterDistance");

GetDeviceInfo

The camera, the driver that opened it, its calibration, the matcher and the drivers this computer has.

Syntax

ControlCommand("Stereolabs Zed Camera", "GetDeviceInfo")

Returns: String

Example

var result = ControlCommand("Stereolabs Zed Camera", "GetDeviceInfo");

GetDistance

The distance in metres along the floor from the robot's centre to the nearest obstacle in a direction, from the latest depth scan. angle is in radians counter-clockwise from straight ahead (0 ahead, positive left, negative right). 0 when nothing is seen there or the direction is outside the camera's view.

Syntax

ControlCommand("Stereolabs Zed Camera", "GetDistance", (Number)angle)

Parameters

#	Name	Type	What to pass
1	angle	Number	A number, without quotes

Returns: Float [1.5e45 to 3.4e38]

Example

var result = ControlCommand("Stereolabs Zed Camera", "GetDistance", 0);

GetDistanceAtPixel

The straight-line distance in metres from the camera to what a point of the left picture (the depth lines up with it) sees. x and y are fractions of the picture's width and height from the top left (0.5, 0.5 is the middle). 0 when there is no reading there.

Syntax

ControlCommand("Stereolabs Zed Camera", "GetDistanceAtPixel", (Number)x, (Number)y)

Parameters

#	Name	Type	What to pass
1	x	Number	A number, without quotes
2	y	Number	A number, without quotes

Returns: Float [1.5e45 to 3.4e38]

Example

var result = ControlCommand("Stereolabs Zed Camera", "GetDistanceAtPixel", 0, 0);

GetImu

The camera's inertial sensor as [accel forward, accel left, accel up in m/s, gyro roll, pitch, yaw rates in rad/s] in the camera's own axes. Zeros when the camera has none (the original ZED) or it could not be opened.

Syntax

ControlCommand("Stereolabs Zed Camera", "GetImu")

Returns: Array of Float

Example

var result = ControlCommand("Stereolabs Zed Camera", "GetImu");

GetNearest

The nearest obstacle the camera sees as [distance in metres along the floor, direction in radians counter-clockwise from straight ahead]. [0, 0] when nothing is seen.

Syntax

ControlCommand("Stereolabs Zed Camera", "GetNearest")

Returns: Array of Float

Example

var result = ControlCommand("Stereolabs Zed Camera", "GetNearest");

GetPointAtPixel

Where the thing a point of the left picture sees is, as [forward, left, height] in metres from the robot's centre on the floor (+forward ahead, +left to the robot's left, height off the floor). x and y are fractions of the picture from the top left. [0, 0, 0] when there is no reading there.

Syntax

ControlCommand("Stereolabs Zed Camera", "GetPointAtPixel", (Number)x, (Number)y)

Parameters

#	Name	Type	What to pass
1	x	Number	A number, without quotes
2	y	Number	A number, without quotes

Returns: Array of Float

Example

var result = ControlCommand("Stereolabs Zed Camera", "GetPointAtPixel", 0, 0);

GetPose

The robot's position from the ZED SDK's positional tracking as [forward metres, left metres, heading radians] from where tracking began. Zeros unless the ZED SDK driver runs with positional tracking on.

Syntax

ControlCommand("Stereolabs Zed Camera", "GetPose")

Returns: Array of Float

Example

var result = ControlCommand("Stereolabs Zed Camera", "GetPose");

GetSectorDistance

The distance in metres to the nearest obstacle between two directions, going counter-clockwise from startAngle to endAngle, in radians from straight ahead (-0.35 to 0.35 is the 40 degrees around straight ahead). 0 when nothing is seen there.

Syntax

ControlCommand("Stereolabs Zed Camera", "GetSectorDistance", (Number)startAngle, (Number)endAngle)

Parameters

#	Name	Type	What to pass
1	startAngle	Number	A number, without quotes
2	endAngle	Number	A number, without quotes

Returns: Float [1.5e45 to 3.4e38]

Example

var result = ControlCommand("Stereolabs Zed Camera", "GetSectorDistance", 0, 0);

GetTilt

How far the camera is tilted down from level in degrees (negative looking up), measured by its accelerometer (ZED Mini, ZED 2, ZED 2i). Without one, the tilt typed into the mounting settings.

Syntax

ControlCommand("Stereolabs Zed Camera", "GetTilt")

Returns: Double [5.0e324 to 1.7e308]

Example

var result = ControlCommand("Stereolabs Zed Camera", "GetTilt");

IsCliffDetected

Whether the camera sees a drop in the floor (stairs, a ledge) right now. Needs drop detection turned on and the mount height set.

Syntax

ControlCommand("Stereolabs Zed Camera", "IsCliffDetected")

Returns: Boolean [true or false]

Example

var result = ControlCommand("Stereolabs Zed Camera", "IsCliffDetected");

IsObstacleDetected

Whether something is inside the obstacle zone right now. Always false when the obstacle zone is turned off.

Syntax

ControlCommand("Stereolabs Zed Camera", "IsObstacleDetected")

Returns: Boolean [true or false]

Example

var result = ControlCommand("Stereolabs Zed Camera", "IsObstacleDetected");

IsRunning

Whether the skill is running (connecting, streaming or waiting to reconnect).

Syntax

ControlCommand("Stereolabs Zed Camera", "IsRunning")

Returns: Boolean [true or false]

Example

var result = ControlCommand("Stereolabs Zed Camera", "IsRunning");

ListCameras

The ZEDs connected to this computer, through every driver it has, plus the simulator: one "name [id]" per item. The id goes in the configuration's DeviceId.

Syntax

ControlCommand("Stereolabs Zed Camera", "ListCameras")

Returns: Array of String

Example

var result = ControlCommand("Stereolabs Zed Camera", "ListCameras");

SavePointCloud

Save the next depth frame as a coloured 3D point cloud (.ply, opens in MeshLab, CloudCompare, Blender), in metres in the robot's frame. filename is optional: empty saves a dated file in the save folder. Returns the file's full path.

Syntax

ControlCommand("Stereolabs Zed Camera", "SavePointCloud", (String)filename)

Parameters

#	Name	Type	What to pass
1	filename	Text	Your text, in quotes

Returns: String

Example

var result = ControlCommand("Stereolabs Zed Camera", "SavePointCloud", "filename");

SaveSnapshot

Save the next frame's left picture, coloured depth and stereo view as PNG files in the save folder. Returns the left picture's path.

Syntax

ControlCommand("Stereolabs Zed Camera", "SaveSnapshot")

Returns: String

Example

var result = ControlCommand("Stereolabs Zed Camera", "SaveSnapshot");

SetCameraControl

Set one picture control and send it to the camera: Exposure (0-100, turns auto exposure off), Gain (0-100, turns auto exposure off), AutoExposure (0 or 1), Brightness (0-8), Contrast (0-8), Hue (0-11), Saturation (0-8), Sharpness (0-8), Gamma (1-9), WhiteBalance (2800-6500 kelvin, turns auto white balance off) or AutoWhiteBalance (0 or 1). Returns true.

Syntax

ControlCommand("Stereolabs Zed Camera", "SetCameraControl", (String)control, (Number)value)

Parameters

#	Name	Type	What to pass
1	control	Text	Your text, in quotes
2	value	Number	A number, without quotes

Returns: Boolean [true or false]

Example

var result = ControlCommand("Stereolabs Zed Camera", "SetCameraControl", "control", 0);

SetDetectionArea

Set the detection area (the part of the depth picture the scan is made from) in percent of the picture: left, top, width and height. 0, 0, 100, 100 is the whole picture.

Syntax

ControlCommand("Stereolabs Zed Camera", "SetDetectionArea", (Number)left, (Number)top, (Number)width, (Number)height)

Parameters

#	Name	Type	What to pass
1	left	Number	A number, without quotes
2	top	Number	A number, without quotes
3	width	Number	A number, without quotes
4	height	Number	A number, without quotes

Returns: Boolean [true or false]

Example

var result = ControlCommand("Stereolabs Zed Camera", "SetDetectionArea", 0, 0, 0, 0);

SetLed

Turn the camera's LED on (true) or off (false). Linux, the ZED SDK and the simulator; returns false where the platform cannot (Windows and macOS without the ZED SDK).

Syntax

ControlCommand("Stereolabs Zed Camera", "SetLed", (Bool)on)

Parameters

#	Name	Type	What to pass
1	on	True or false	true or false, without quotes

Returns: Boolean [true or false]

Example

var result = ControlCommand("Stereolabs Zed Camera", "SetLed", true);

SetPublishToNMS

Turn sending the depth scan to the Navigation Messaging System on or off. Returns the new setting.

Syntax

ControlCommand("Stereolabs Zed Camera", "SetPublishToNMS", (Bool)publish)

Parameters

#	Name	Type	What to pass
1	publish	True or false	true or false, without quotes

Returns: Boolean [true or false]

Example

var result = ControlCommand("Stereolabs Zed Camera", "SetPublishToNMS", true);

SetStereoQuality

Change the stereo matcher's quality while it runs: Fast, Balanced, Quality or Custom. Takes effect on the next frame. Returns the matcher's settings in words.

Syntax

ControlCommand("Stereolabs Zed Camera", "SetStereoQuality", (String)quality)

Parameters

#	Name	Type	What to pass
1	quality	Text	Your text, in quotes

Returns: String

Example

var result = ControlCommand("Stereolabs Zed Camera", "SetStereoQuality", "quality");

SetStereoView

Change what the stereo video source shows: SideBySide, Rectified, Right, Anaglyph, Disparity or Confidence. Returns true.

Syntax

ControlCommand("Stereolabs Zed Camera", "SetStereoView", (String)view)

Parameters

#	Name	Type	What to pass
1	view	Text	Your text, in quotes

Returns: Boolean [true or false]

Example

var result = ControlCommand("Stereolabs Zed Camera", "SetStereoView", "view");

Start

Open the ZED and start streaming depth. Returns false if it was already running.

Syntax

ControlCommand("Stereolabs Zed Camera", "Start")

Returns: Boolean [true or false]

Example

var result = ControlCommand("Stereolabs Zed Camera", "Start");

Stop

Stop streaming and close the ZED. Returns false if it was not running.

Syntax

ControlCommand("Stereolabs Zed Camera", "Stop")

Returns: Boolean [true or false]

Example

var result = ControlCommand("Stereolabs Zed Camera", "Stop");

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This list is read out of the robot skill itself each time its package is uploaded, so it matches the published version (v2).