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void | Close () |
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void | ReadConfigurationFile (System.Text.StringBuilder jsonConfigFileName, COORDINATE_SYSTEM coordinateSystem, UNIT unit, ref FusionConfiguration[] configs, ref int nbCameras) |
| Read a Configuration JSON file to configure a fusion process. More...
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SENDER_ERROR_CODE | GetSenderState (ref CameraIdentifier uuid) |
| Returns the state of a connected data sender. More...
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FUSION_ERROR_CODE | Init (ref InitFusionParameters initFusionParameters) |
| FusionHandler initialisation. Initializes memory/generic datas More...
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FUSION_ERROR_CODE | Process () |
| processes the fusion. More...
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FUSION_ERROR_CODE | Subscribe (ref CameraIdentifier uuid, string jsonConfigFileName, ref Vector3 poseTranslation, ref System.Numerics.Quaternion poseRotation) |
| adds a camera to the multi camera handler More...
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FUSION_ERROR_CODE | Unsubscribe (ref CameraIdentifier uuid) |
| Remove the specified camera from data provider. More...
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FUSION_ERROR_CODE | UpdatePose (ref CameraIdentifier uuid, ref Vector3 poseTranslation, ref System.Numerics.Quaternion poseRotation) |
| updates the camera World pose More...
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FUSION_ERROR_CODE | RetrieveImage (Mat mat, ref CameraIdentifier uuid, Resolution resolution=new sl.Resolution()) |
| Returns the current sl.VIEW.LEFT of the specified camera, the data is synchronized. More...
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FUSION_ERROR_CODE | RetrieveMeasure (Mat mat, ref CameraIdentifier uuid, MEASURE measure=MEASURE.DEPTH, Resolution resolution=new sl.Resolution()) |
| Returns the current measure of the specified camera, the data is synchronized. More...
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FUSION_ERROR_CODE | EnableBodyTracking (ref BodyTrackingFusionParameters btfParams) |
| enables the body tracking module More...
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void | DisableBodyTracking () |
| disable the body tracking module More...
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FUSION_ERROR_CODE | RetrieveBodies (ref Bodies bodies, ref BodyTrackingFusionRuntimeParameters rtparams, CameraIdentifier uuid) |
| retrieves the body data, can be the fused data (default), or the raw data provided by a specific sender More...
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FUSION_ERROR_CODE | GetProcessMetrics (ref FusionMetrics metrics) |
| gets the metrics of the Fusion process, for the fused data as well as individual camera provider data More...
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FUSION_ERROR_CODE | EnablePositionalTracking (ref PositionalTrackingFusionParameters ptfParams) |
| enables positional tracking module More...
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POSITIONAL_TRACKING_STATE | GetPosition (ref Pose pose, REFERENCE_FRAME referenceFrame, UNIT unit, ref CameraIdentifier uuid, POSITION_TYPE retrieveType) |
| Gets the Fused Position of the camera system More...
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FusedPositionalTrackingStatus | GetFusedPositionalTrackingStatus () |
| Gets the current status of fused position. More...
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void | DisablePositionalTracking () |
| Disables the positional tracking More...
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void | IngestGNSSData (ref GNSSData data) |
| ingests GNSS data from an external sensor into the fusion module More...
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POSITIONAL_TRACKING_STATE | GetCurrentGNSSData (ref GNSSData data) |
| returns the current GNSS data More...
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GNSS_FUSION_STATUS | GetGeoPose (ref GeoPose pose) |
| returns the current GeoPose More...
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GNSS_FUSION_STATUS | GeoToCamera (ref LatLng inLatLng, out Pose outPose) |
| Converts latitude / longitude into position in sl::Fusion coordinate system. More...
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GNSS_FUSION_STATUS | CameraToGeo (ref Pose inPose, out GeoPose outGeoPose) |
| Converts a position in sl::Fusion coordinate system in real world coordinate. More...
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ulong | GetCurrentTimestamp () |
| Gets the current timestamp. More...
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GNSS_FUSION_STATUS | GetCurrentGNSSCalibrationStd (ref float yawStd, ref Vector3 positionStd) |
| Get the current calibration uncertainty defined during calibration process More...
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void | GetGeoTrackingCalibration (ref Vector3 position, ref System.Numerics.Quaternion rotation) |
| Get the calibration found between VIO and GNSS More...
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Holds Fusion process data and functions
Returns the current measure of the specified camera, the data is synchronized.
- Parameters
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mat | the CPU data of the requested camera. |
uuid | the requested camera identifier. |
type | the requested measure type, by default DEPTH (F32_C1) |
Only MEASURE: DEPTH, XYZ, XYZRGBA, XYZBGRA, XYZARGB, XYZABGR, DEPTH_U16_MM are available.
- Parameters
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resolution | the requested resolution of the output image, can be lower or equal (default) to the original image resolution. |
- Returns
- FUSION_ERROR_CODE "SUCCESS" if it goes as it should, otherwise it returns an FUSION_ERROR_CODE.