streamShow a live SDL stereo preview. This command is also the main entrypoint for real-time rectification and optional AprilTag detection.
ag-cam-tools stream -a 192.168.0.201 -f 10
ag-cam-tools stream -a 192.168.0.201 -f 5 -b 2 -x 30000 -g 12
ag-cam-tools stream -a 192.168.0.201 -A -f 10
ag-cam-tools stream -a 192.168.0.201 -t 0.05
ag-cam-tools stream -a 192.168.0.201 --calibration-local calibration/calibration_20260225_143015_a1b2c3d4
ag-cam-tools stream -a 192.168.0.201 --calibration-slot 0
| Option | Description |
|---|---|
-s, --serial |
Match camera by serial number |
-a, --address |
Connect by camera IP address |
-i, --interface |
Force NIC selection |
-f, --fps |
Trigger rate in Hz |
-x, --exposure |
Exposure time in microseconds |
-g, --gain |
Sensor gain in dB |
-A, --auto-expose |
Auto-expose and then lock |
-b, --binning |
Sensor binning factor: 1 or 2 |
-p, --packet-size |
GigE packet size in bytes |
--calibration-local |
Calibration session directory on disk |
--calibration-slot |
On-camera calibration slot: 0, 1, or 2 |
-t, --tag-size |
AprilTag size in meters |
Supplying --calibration-local or --calibration-slot enables stereo rectification. The two options are mutually exclusive.
--calibration-local loads remap tables from a calibration session directory on the local filesystem.--calibration-slot loads remap tables from a numbered slot (0-2) stored on the camera via calibration-stash upload.On ARM64 platforms, the remap path uses NEON acceleration.
stream supports both stereo Lucid heads (e.g. PDH016S, DualBayerRG8) and monocular Lucid GigE cameras (e.g. Triton TRT016S, BayerRG8 / Mono8). The mode is auto-detected at camera open by probing the device’s available pixel formats — DualBayerRG8 advertises stereo, anything else falls back to mono.
| Mode | Window title | Recording | Rectification |
|---|---|---|---|
| stereo | Stereo Stream |
Side-by-side / top-bottom / separate per --record-layout |
Supported via --calibration-* |
| mono | Mono Stream |
Single-frame MP4 (mono layout, ignores --record-layout) |
Not supported — calibration flags rejected |
When --record-layout is set on a mono camera, a warning is printed and the recording falls back to mono layout. AprilTag detection runs on the single image instead of left/right eyes.
q or Esc to quit.