Holds the options used to initialize the Fusion object. More...

Data Fields
enum SL_UNIT	coordinate_units
	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). More...

enum SL_COORDINATE_SYSTEM	coordinate_system
	Positional tracking, point clouds and many other features require a given SL_COORDINATE_SYSTEM to be used as reference. This parameter allows you to select the COORDINATE_SYSTEM used by the SL_Camera to return its measures. More...

bool	output_performance_metrics
	It allows users to extract some stats of the Fusion API like drop frame of each camera, latency, etc...

bool	verbose
	Enable the verbosity mode of the SDK.

unsigned	timeout_period_number
	If specified change the number of period necessary for a source to go in timeout without data. For example, if you set this to 5 then, if any source do not receive data during 5 period, these sources will go to timeout and will be ignored. More...

int	sdk_gpu_id
	NVIDIA graphics card id to use. More...

CUcontext	sdk_cuda_ctx
	CUcontext to be used. More...

struct SL_SynchronizationParameter	synchronization_parameters
	Specifies the parameters used for data synchronization during fusion. More...

struct SL_Resolution	maximum_working_resolution
	Sets the maximum resolution for all Fusion outputs, such as images and measures. More...

Detailed Description

Holds the options used to initialize the Fusion object.

Field Documentation

◆ coordinate_units

enum SL_UNIT SL_InitFusionParameters::coordinate_units

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 : SL_UNIT_MILLIMETER

◆ coordinate_system

enum SL_COORDINATE_SYSTEM SL_InitFusionParameters::coordinate_system

Positional tracking, point clouds and many other features require a given SL_COORDINATE_SYSTEM to be used as reference. This parameter allows you to select the COORDINATE_SYSTEM used by the SL_Camera to return its measures.

This defines the order and the direction of the axis of the coordinate system.
Default : SL_COORDINATE_SYSTEM_IMAGE

◆ timeout_period_number

unsigned SL_InitFusionParameters::timeout_period_number

If specified change the number of period necessary for a source to go in timeout without data. For example, if you set this to 5 then, if any source do not receive data during 5 period, these sources will go to timeout and will be ignored.

Note: This parameter is deprecated. Use data_source_timeout present in synchronization_parameters instead.

◆ sdk_gpu_id

int SL_InitFusionParameters::sdk_gpu_id

NVIDIA graphics card id to use.

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 sl::Camera using an ID from 0 to n-1 GPUs in your PC.
Default: -1

Note: A non-positive value will search for all CUDA capable devices and select the most powerful.

◆ sdk_cuda_ctx

CUcontext SL_InitFusionParameters::sdk_cuda_ctx

CUcontext to be used.

If your application uses another CUDA-capable library, giving its CUDA context to the ZED SDK can be useful when sharing GPU memories.
This parameter allows you to set the CUDA context to be used by the ZED SDK.
Leaving this parameter empty asks the SDK to create its own context.
Default: (empty)

Note: When creating you own CUDA context, you have to define the device you will use. Do not forget to also specify it on sdk_gpu_id.; On Jetson, you have to set the flag CU_CTX_SCHED_YIELD, during CUDA context creation.; You can also let the SDK create its own context, and use sl::Camera::getCUDAContext() to use it.

◆ synchronization_parameters

struct SL_SynchronizationParameter SL_InitFusionParameters::synchronization_parameters

Specifies the parameters used for data synchronization during fusion.

The SynchronizationParameter struct encapsulates the synchronization parameters that control the data fusion process.

◆ maximum_working_resolution

struct SL_Resolution SL_InitFusionParameters::maximum_working_resolution

Sets the maximum resolution for all Fusion outputs, such as images and measures.

The default value is (-1, -1), which allows the Fusion to automatically select the optimal resolution for the best quality/runtime ratio.

For images, the output resolution can be up to the native resolution of the camera.
For measures involving depth, the output resolution can be up to the maximum working resolution.

Setting this parameter to (-1, -1) will ensure the best balance between quality and performance for depth measures.

Data Fields