Fusion Module

Classes
struct	SynchronizationParameter
	Configuration parameters for data synchronization. More...
struct	InitFusionParameters
	Holds the options used to initialize the Fusion object. More...
struct	CommunicationParameters
	Holds the communication parameter to configure the connection between senders and receiver More...
struct	FusionConfiguration
	Stores the Fusion configuration, can be read from /write to a Json file. More...
struct	BodyTrackingFusionParameters
	Holds the options used to initialize the body tracking module of the Fusion. More...
struct	BodyTrackingFusionRuntimeParameters
	Holds the options used to change the behavior of the body tracking module at runtime. More...
struct	CameraIdentifier
	Used to identify a specific camera in the Fusion API More...
struct	CameraMetrics
	Holds the metrics of a sender in the fusion process. More...
struct	FusionMetrics
	Holds the metrics of the fusion process. More...
struct	GNSSData
	Structure containing GNSS data to be used for positional tracking as prior. More...
struct	GeoPose
	Holds Geo reference position. More...
struct	ECEF
	Represents a world position in ECEF format. More...
struct	ENU
	Represents a world position in ENU format. More...
struct	LatLng
	Represents a world position in LatLng format. More...
struct	UTM
	Represents a world position in UTM format. More...
class	GNSSCalibrationParameters
	Holds the options used for calibrating GNSS / VIO. More...
class	PositionalTrackingFusionParameters
	Holds the options used for initializing the positional tracking fusion module. More...
class	Fusion
	Holds Fusion process data and functions More...

Enumerations
enum class	POSITION_TYPE
	Lists the types of possible position outputs. More...
enum class	FUSION_ERROR_CODE
	Lists the types of error that can be raised by the Fusion. More...
enum class	SENDER_ERROR_CODE
	Lists the types of error that can be raised during the Fusion by senders. More...
enum class	COMM_TYPE
	Lists the different types of communications available for Fusion module. More...
enum class	GNSS_FUSION_STATUS
	Lists the different states of the GNSS fusion. More...
enum class	FUSION_REFERENCE_FRAME
	Reference frame used for the positional tracking. More...

Enumeration Type Documentation

POSITION_TYPE

enum POSITION_TYPE

strong

Lists the types of possible position outputs.

Enumerator
RAW	The output position will be the raw position data.
FUSION	The output position will be the fused position projected into the requested camera repository.

FUSION_ERROR_CODE

enum FUSION_ERROR_CODE

strong

Lists the types of error that can be raised by the Fusion.

Enumerator
FUSION_INCONSISTENT_FPS	Significant differences observed between sender's FPS. Fusion quality will be affected.
FUSION_FPS_TOO_LOW	Fusion FPS is too low because at least one sender has an FPS lower than 10 FPS. Fusion quality will be affected.
INVALID_TIMESTAMP	You have attempted to ingest GNSSData into the Fusion system with an invalid timestamp. It is essential to ensure that the timestamp of your GNSSData is set correctly. This issue may arise from a unit error in the ingested timestamp, such as providing the timestamp in microseconds instead of nanoseconds.
INVALID_COVARIANCE	This is a warning message notifying you about an issue encountered while ingesting GNSSData into the Fusion system. The problem lies in the very low covariance value provided. To ensure stability and prevent potential issues, the system will automatically clamp this covariance value.
NO_NEW_DATA_AVAILABLE	All data from all sources has been consumed. No new data is available for processing.
SUCCESS	Standard code for successful behavior.
GNSS_DATA_NEED_FIX	This is a warning message indicating an issue with the ingestGNSSData function call. The problem lies in the gnss_status field of the GNSSData parameter, which is currently set to UNKNOWN. To enhance the accuracy of the VPS (Visual Positioning System), it is essential to provide an appropriate value for this field. To rectify this issue, please consider setting the gnss_status field to a valid value that reflects the status of your GNSS sensor. If your GNSS sensor is unable to output a status, it is recommended to set the gnss_status field to sl::GNSS_STATUS::SINGLE.
GNSS_DATA_COVARIANCE_MUST_VARY	to prevent users from repeatedly ingesting a fixed or manually crafted covariance.
BODY_FORMAT_MISMATCH	Senders are using different body formats. Please use the same body format.
MODULE_NOT_ENABLED	The following module was not enabled. Please enable it to proceed.
SOURCE_MISMATCH	Some sources are provided by SVO and others by LIVE stream.
CONNECTION_TIMED_OUT	Connection timed out. Unable to reach the sender. Verify the sender's IP/port.
MEMORY_ALREADY_USED	Intra-process shared memory allocation issue. Multiple connections to the same data. Check memory usage.
INVALID_IP_ADDRESS	The provided IP address format is incorrect. Please provide the IP in the format 'a.b.c.d', where (a, b, c, d) are numbers between 0 and 255.
FAILURE	Standard code for unsuccessful behavior.

SENDER_ERROR_CODE

enum SENDER_ERROR_CODE

strong

Lists the types of error that can be raised during the Fusion by senders.

Enumerator
GRAB_ERROR	The sender encountered a grab error.
INCONSISTENT_FPS	The sender does not run with a constant frame rate.
FPS_TOO_LOW	The frame rate of the sender is lower than 10 FPS.
SUCCESS	Standard code for successful behavior.
DISCONNECTED	The sender has been disconnected.

COMM_TYPE

enum COMM_TYPE

strong

Lists the different types of communications available for Fusion module.

Enumerator
LOCAL_NETWORK	The sender and receiver are on the same local network and communicate by RTP. The communication can be affected by the local network load.
INTRA_PROCESS	Both sender and receiver are declared by the same process and can be in different threads. This type of communication is optimized.

GNSS_FUSION_STATUS

enum GNSS_FUSION_STATUS

strong

Lists the different states of the GNSS fusion.

Enumerator
OK	The GNSS fusion module is calibrated and working successfully.
OFF	The GNSS fusion module is not enabled.
CALIBRATION_IN_PROGRESS	Calibration of the GNSS/VIO fusion module is in progress.
RECALIBRATION_IN_PROGRESS	Re-alignment of GNSS/VIO data is in progress, leading to potentially inaccurate global position

FUSION_REFERENCE_FRAME

enum FUSION_REFERENCE_FRAME

strong

Reference frame used for the positional tracking.

Enumerator
WORLD	The world frame is the reference frame of the world according to the fused positional Tracking
BASELINK	The base link frame is the reference frame where camera calibration is given