Core Module

Classes

struct  Matrix3x3
 Holds a 3x3 matrix that can be marshaled between the wrapper and C# scripts. More...
 
struct  Resolution
 Holds a camera resolution as two pointers (for height and width) for easy passing back and forth to the ZED wrapper. More...
 
struct  Rect
 Rect structure to define a rectangle or a ROI in pixels Use to set ROI target for AEC/AGC More...
 
class  Mat
 Mirrors the sl::Mat class used in the ZED C++ SDK to store images. Can be used to retrieve individual images from GPU or CPU memory: see Camera.RetrieveImage() and Camera.RetrieveMeasure(). More...
 

Enumerations

enum class  ERROR_CODE
 List of error codes in the ZED SDK. More...
 
enum class  COORDINATE_SYSTEM
 List of available coordinate systems. More...
 
enum class  UNIT
 Units used by the SDK for measurements and tracking. More...
 
enum class  MAT_TYPE
 Type of mat, indicating the data type and the number of channels it holds. Proper mat type depends on the image type. See sl.VIEW and sl.MEASURE (in ZEDCommon.cs) More...
 
enum class  COPY_TYPE
 Categories for copying data within or between the CPU (processor) memory and GPU (graphics card) memory. More...
 
enum class  MEM
 Which memory to store an image/mat: CPU/processor memory or GPU (graphics card) memory. More...
 

Enumeration Type Documentation

◆ ERROR_CODE

enum ERROR_CODE
strong

List of error codes in the ZED SDK.

Mirrors ERROR_CODE in the ZED C++ SDK. For more info, read: https://www.stereolabs.com/docs/api/group__Core__group.html#ga4db9ee29f2ff83c71567c12f6bfbf28c

Enumerator
SUCCESS 

Operation was successful.

FAILURE 

Standard, generic code for unsuccessful behavior when no other code is more appropriate.

NO_GPU_COMPATIBLE 

No GPU found, or CUDA capability of the device is not supported.

NOT_ENOUGH_GPUMEM 

Not enough GPU memory for this depth mode. Try a different mode (such as PERFORMANCE).

CAMERA_NOT_DETECTED 

The ZED camera is not plugged in or detected.

SENSOR_NOT_DETECTED 

a ZED Mini is detected but the inertial sensor cannot be opened. (Never called for original ZED)

INVALID_RESOLUTION 

For Nvidia Jetson X1 only - resolution not yet supported (USB3.0 bandwidth).

LOW_USB_BANDWIDTH 

USB communication issues. Occurs when the camera FPS cannot be reached, due to a lot of corrupted frames. Try changing the USB port.

CALIBRATION_FILE_NOT_AVAILABLE 

ZED calibration file is not found on the host machine. Use ZED Explorer or ZED Calibration to get one.

INVALID_CALIBRATION_FILE 

ZED calibration file is not valid. Try downloading the factory one or recalibrating using the ZED Calibration tool.

INVALID_SVO_FILE 

The provided SVO file is not valid.

SVO_RECORDING_ERROR 

An SVO recorder-related error occurred (such as not enough free storage or an invalid file path).

SVO_UNSUPPORTED_COMPRESSION 

An SVO related error when NVIDIA based compression cannot be loaded

INVALID_COORDINATE_SYSTEM 

The requested coordinate system is not available.

INVALID_FIRMWARE 

The firmware of the ZED is out of date. Update to the latest version.

INVALID_FUNCTION_PARAMETERS 

An invalid parameter has been set for the function.

NOT_A_NEW_FRAME 

In grab() only, the current call return the same frame as last call. Not a new frame.

CUDA_ERROR 

In grab() only, a CUDA error has been detected in the process. Activate wrapperVerbose in ZEDManager.cs for more info.

CAMERA_NOT_INITIALIZED 

In grab() only, ZED SDK is not initialized. Probably a missing call to sl::Camera::open.

NVIDIA_DRIVER_OUT_OF_DATE 

Your NVIDIA driver is too old and not compatible with your current CUDA version.

INVALID_FUNCTION_CALL 

The function call is not valid in the current context. Could be a missing a call to sl::Camera::open.

CORRUPTED_SDK_INSTALLATION 

The SDK wasn't able to load its dependencies, the installer should be launched.

INCOMPATIBLE_SDK_VERSION 

The installed SDK is not the SDK used to compile the program.

INVALID_AREA_FILE 

The given area file does not exist. Check the file path.

INCOMPATIBLE_AREA_FILE 

The area file does not contain enough data to be used ,or the sl::DEPTH_MODE used during the creation of the area file is different from the one currently set.

CAMERA_FAILED_TO_SETUP 

Camera failed to set up.

CAMERA_DETECTION_ISSUE 

Your ZED cannot be opened. Try replugging it to another USB port or flipping the USB-C connector (if using ZED Mini).

CAMERA_ALREADY_IN_USE 

The Camera is already in use by another process.

NO_GPU_DETECTED 

No GPU found or CUDA is unable to list it. Can be a driver/reboot issue.

PLANE_NOT_FOUND 

Plane not found. Either no plane is detected in the scene, at the location or corresponding to the floor, or the floor plane doesn't match the prior given.

AI_MODULE_NOT_AVAILABLE 

Missing or corrupted AI module ressources. Please reinstall the ZED SDK with the AI (object detection) module to fix this issue

INCOMPATIBLE_CUDNN_VERSION 

The cuDNN library cannot be loaded, or is not compatible with this version of the ZED SDK

AI_INVALID_TIMESTAMP 

internal sdk timestamp is not valid

AI_UNKNOWN_ERROR 

an error occur while tracking objects

ERROR_CODE_LAST 

End of ERROR_CODE

◆ COORDINATE_SYSTEM

enum COORDINATE_SYSTEM
strong

List of available coordinate systems.

Enumerator
IMAGE 

Standard coordinates system used in computer vision. Used in OpenCV. See: http://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html

LEFT_HANDED_Y_UP 

Left-Handed with Y up and Z forward. Used in Unity3D with DirectX

RIGHT_HANDED_Y_UP 

Right-Handed with Y pointing up and Z backward. Used in OpenGL.

RIGHT_HANDED_Z_UP 

Right-Handed with Z pointing up and Y forward. Used in 3DSMax.

LEFT_HANDED_Z_UP 

Left-Handed with Z axis pointing up and X forward. Used in Unreal Engine.

RIGHT_HANDED_Z_UP_X_FWD 

Right-Handed with Z pointing up and X forward. Used in ROS (REP 103)

◆ UNIT

enum UNIT
strong

Units used by the SDK for measurements and tracking.

Enumerator
MILLIMETER 

International System, 1/1000 meters.

CENTIMETER 

International System, 1/100 meters.

METER 

International System, 1/1 meters.

INCH 

Imperial Unit, 1/12 feet.

FOOT 

Imperial Unit, 1/1 feet.

◆ MAT_TYPE

enum MAT_TYPE
strong

Type of mat, indicating the data type and the number of channels it holds. Proper mat type depends on the image type. See sl.VIEW and sl.MEASURE (in ZEDCommon.cs)

Enumerator
MAT_32F_C1 

Float, one channel. Used for depth and disparity Measure-type textures.

MAT_32F_C2 

Float, two channels.

MAT_32F_C3 

Float, three channels.

float 3 channels.

MAT_32F_C4 

Float, four channels. Used for normals and XYZ (point cloud) measure-type textures

MAT_8U_C1 

Unsigned char, one channel. Used for greyscale image-type textures like depth and confidence displays.

MAT_8U_C2 

Unsigned char, two channels.

MAT_8U_C3 

Unsigned char, three channels.

MAT_8U_C4 

Unsigned char, four channels. Used for color images, like the main RGB image from each sensor.

MAT_16U_C1 

Unsigned short 1 channel.

◆ COPY_TYPE

enum COPY_TYPE
strong

Categories for copying data within or between the CPU (processor) memory and GPU (graphics card) memory.

Enumerator
CPU_CPU 

Copies data from one place in CPU memory to another.

copy data from CPU to CPU.

CPU_GPU 

Copies data from CPU memory to GPU memory.

copy data from CPU to GPU.

GPU_GPU 

Copies data from one place in GPU memory to another.

copy data from GPU to GPU.

GPU_CPU 

Copies data from GPU memory to CPU memory.

copy data from GPU to CPU.

◆ MEM

enum MEM
strong

Which memory to store an image/mat: CPU/processor memory or GPU (graphics card) memory.

Enumerator
CPU 

Store on memory accessible by the CPU.

GPU 

Store on memory accessible by the GPU.