Core Module

Classes
struct	Timestamp
	Structure representing timestamps with utilities. More...
struct	SensorsData
	Structure containing all sensors data (except image sensors) to be used for positional tracking or environment study. More...
struct	SensorsData::BarometerData
	Structure containing data from the barometer sensor. More...
struct	SensorsData::TemperatureData
	Structure containing data from the temperature sensors. More...
struct	SensorsData::MagnetometerData
	Structure containing data from the magnetometer sensor. More...
struct	SensorsData::IMUData
	Structure containing data from the IMU sensor. More...
struct	CameraOneConfiguration
	Structure containing information about the camera sensor. More...
struct	CameraOneInformation
	Structure containing information of a single camera (serial number, model, input type, etc.). More...
class	String
	Class defining a string. More...
struct	Resolution
	Structure containing the width and height of an image. More...
class	Rect
	Class defining a 2D rectangle with top-left corner coordinates and width/height in pixels. More...
class	Matrix3f
	Class representing a generic 3*3 matrix. More...
class	Matrix4f
	Class representing a generic 4*4 matrix. More...
class	Vector2< T >
	Class representing a 2-dimensional vector for both CPU and GPU. More...
class	Vector3< T >
	Class representing a 3-dimensional vector for both CPU and GPU. More...
class	Vector4< T >
	Class representing a 4-dimensional vector for both CPU and GPU. More...
class	Mat
	Class representing 1 to 4-channel matrix of float or uchar, stored on CPU and/or GPU side. More...
struct	TensorParameters
	Structure to define the input options for deep learning inference. More...
class	Tensor
	Class representing a multi-dimensional array (Tensor), typically used for deep learning inference. More...
struct	SensorParameters
	Structure containing information about a single sensor available in the current device. More...
struct	SensorsConfiguration
	Structure containing information about all the sensors available in the current device. More...
struct	CameraConfiguration
	Structure containing information about the camera sensor. More...
struct	CameraInformation
	Structure containing information of a single camera (serial number, model, input type, etc.). More...

Enumerations
enum class	SENSORS_ERROR_CODE
	Lists error codes in the Sensors SDK. More...
enum class	UNIT
	Lists available units for measures. More...
enum class	COORDINATE_SYSTEM
	Lists available coordinates systems for positional tracking and 3D measures. More...
enum class	ERROR_CODE
	Lists error codes in the ZED SDK. More...
enum class	SENSOR_TYPE
	Lists available sensor types. More...
enum class	SENSORS_UNIT
	Lists available measurement units of onboard sensors. More...
enum class	MEM
	Lists available memory type. More...
enum class	COPY_TYPE
	Lists available copy operation on sl::Mat. More...
enum class	MAT_TYPE
	Lists available sl::Mat formats. More...
enum class	CAMERA_MOTION_STATE
	Lists different states of the camera motion. More...
enum class	MODULE
	Lists available modules. More...

Functions
int	getZEDSDKRuntimeVersion (int &major, int &minor, int &patch)
	Returns the ZED SDK version currently installed on the computer. More...
const void	getZEDSDKBuildVersion (int &major, int &minor, int &patch)
	Returns the ZED SDK version which the current program has been compiled with. More...
String	toVerbose (const ERROR_CODE &errorCode)
	Provide a concise sl::ERROR_CODE string. More...
bool	isCameraOne (const sl::MODEL)
	Check the type of a camera model. More...
void	sleep_ms (int time)
	Blocks the execution of the current thread for time milliseconds. More...
void	sleep_us (int time)
	Blocks the execution of the current thread for time microseconds. More...

Enumeration Type Documentation

SENSORS_ERROR_CODE

enum SENSORS_ERROR_CODE

strong

Lists error codes in the Sensors SDK.

Enumerator
STALE_DATA	In pipelined mode with DROP_STALE sync policy, the retrieved data is too old relative to the sync timestamp. The frame was not returned to avoid using outdated information.
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.
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.
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.
CONFIGURATION_FALLBACK	The operation could not proceed with the target configuration but did success with a fallback.
MOTION_SENSORS_DATA_REQUIRED	The input data does not contains the high frequency motion sensors data (IMU), this is usually because it requires newer SVO/Streaming. In order to work this modules needs inertial data present in it input.
CORRUPTED_FRAME	The image is corrupted with invalid colors (green/purple images). This indicates a serious hardware or driver issue.
SENSOR_REBOOTING	The sensor is currently rebooting.
SUCCESS	Standard code for successful behavior.
FAILURE	Standard code for unsuccessful behavior.
NO_GPU_COMPATIBLE	No GPU found or CUDA capability of the device is not supported.
NOT_ENOUGH_GPU_MEMORY	Not enough GPU memory for this depth mode, try a different mode (such as PERFORMANCE), or increase the minimum depth value (see InitParameters::depth_minimum_distance).
SENSOR_NOT_DETECTED	No sensor was detected.
MOTION_SENSORS_NOT_INITIALIZED	The MCU that controls the motion sensors module (IMU) has an invalid serial number. You can try to recover it by launching the ZED Diagnostic tool from the command line with the option -r.
MOTION_SENSORS_NOT_AVAILABLE	A camera with motion sensors is detected but the motion sensors (IMU, barometer, ...) cannot be opened. Only the MODEL::ZED does not have motion sensors. Unplug/replug is required.
INVALID_RESOLUTION	In case of invalid resolution parameter, such as an upsize beyond the original image size in Camera::retrieveImage.
LOW_USB_BANDWIDTH	Insufficient bandwidth for the correct use of the camera. This issue can occur when you use multiple cameras or a USB 2.0 port.
CALIBRATION_FILE_NOT_AVAILABLE	The calibration file of the camera is not found on the host machine. Use ZED Explorer or ZED Calibration to download the factory calibration file.
INVALID_CALIBRATION_FILE	The calibration file is not valid. Try to download the factory calibration file or recalibrate your camera using ZED Calibration.
INVALID_SVO_FILE	The provided SVO file is not valid.
SVO_RECORDING_ERROR	An error occurred while trying to record an SVO (not enough free storage, invalid file, ...).
SVO_UNSUPPORTED_COMPRESSION	An SVO related error, occurs when NVIDIA based compression cannot be loaded.
END_OF_SVOFILE_REACHED	SVO end of file has been reached. No frame will be available until the SVO position is reset.
INVALID_COORDINATE_SYSTEM	The requested coordinate system is not available.
INVALID_FIRMWARE	The firmware of the camera is out of date. Update to the latest version.
INVALID_FUNCTION_PARAMETERS	Invalid parameters have been given for the function.
CUDA_ERROR	A CUDA error has been detected in the process, in Camera.grab() or Camera.retrieveXXX() only. Activate verbose in Camera.open() for more info.
SENSOR_NOT_INITIALIZED	The sensor is not initialized. Probably a missing call to open the sensor.
NVIDIA_DRIVER_OUT_OF_DATE	Your NVIDIA driver is too old and not compatible with your current CUDA version.
INVALID_FUNCTION_CALL	The call of the function is not valid in the current context. Could be a missing call of Camera.open().
CORRUPTED_SDK_INSTALLATION	The ZED SDK was not able to load its dependencies or some assets are missing. Reinstall the ZED SDK or check for missing dependencies (cuDNN, TensorRT).
INCOMPATIBLE_SDK_VERSION	The installed ZED SDK is incompatible with the one used to compile the program.
INVALID_AREA_FILE	The given area file does not exist. Check the path.
INCOMPATIBLE_AREA_FILE	The area file does not contain enough data to be used or the DEPTH_MODE used during the creation of the area file is different from the one currently set.
SENSOR_FAILED_TO_SETUP	Failed to open the sensor at the proper resolution. Try another resolution or make sure that the UVC driver is properly installed.
SENSOR_DETECTION_ISSUE	Your sensor can not be opened. Try replugging it to another port or flipping the USB-C connector (if there is one).
CANNOT_START_SENSOR_STREAM	Cannot start the sensor stream. Make sure your sensor is not already used by another process or blocked by firewall or antivirus.
NO_GPU_DETECTED	No GPU found. 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.
MODULE_NOT_COMPATIBLE_WITH_SENSOR	The module you try to use is not compatible with your sensor MODEL. Note MODEL::ZED does not have an IMU and does not support the AI modules.
MOTION_SENSORS_REQUIRED	The module needs the sensors to be enabled (see InitParameters::sensors_required).
MODULE_NOT_COMPATIBLE_WITH_CUDA_VERSION	The module needs a newer version of CUDA.

UNIT

enum UNIT

strong

Lists available units for measures.

Enumerator
MILLIMETER	International System (1/1000 meters)
CENTIMETER	International System (1/100 meters)
METER	International System (1 meter)
INCH	Imperial Unit (1/12 feet)
FOOT	Imperial Unit (1 foot)

COORDINATE_SYSTEM

enum COORDINATE_SYSTEM

strong

Lists available coordinates systems for positional tracking and 3D measures.

Enumerator
IMAGE	Standard coordinates system in computer vision. Used in OpenCV: see here.
LEFT_HANDED_Y_UP	Left-handed with Y up and Z forward. Used in Unity 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).

ERROR_CODE

enum ERROR_CODE

strong

Lists error codes in the ZED SDK.

Enumerator
SENSOR_CONFIGURATION_CHANGED	The sensor's configuration (mode, multicast, etc.) was changed externally while streaming. If auto_recovery_on_config_change is enabled, the SDK will automatically reconnect. This warning code is returned once after successful recovery.
POTENTIAL_CALIBRATION_ISSUE	The camera has a potential calibration issue
CONFIGURATION_FALLBACK	The operation could not proceed with the target configuration but did success with a fallback.
SENSORS_DATA_REQUIRED	The input data does not contains the high frequency sensors data, this is usually because it requires newer SVO/Streaming. In order to work this modules needs inertial data present in it input.
CORRUPTED_FRAME	The image is corrupted with invalid colors (green/purple images). This indicates a serious hardware or driver issue. Check camera connection and drivers.
CAMERA_REBOOTING	The camera is currently rebooting.
SUCCESS	Standard code for successful behavior.
FAILURE	Standard code for unsuccessful behavior.
NO_GPU_COMPATIBLE	No GPU found or CUDA capability of the device is not supported.
NOT_ENOUGH_GPU_MEMORY	Not enough GPU memory for this depth mode, try a different mode (such as PERFORMANCE), or increase the minimum depth value (see InitParameters::depth_minimum_distance).
CAMERA_NOT_DETECTED	No camera was detected.
SENSORS_NOT_INITIALIZED	The MCU that controls the sensors module has an invalid serial number. You can try to recover it by launching the ZED Diagnostic tool from the command line with the option -r.
SENSORS_NOT_AVAILABLE	A camera with sensor is detected but the sensors (IMU, barometer, ...) cannot be opened. Only the MODEL::ZED does not has sensors. Unplug/replug is required.
INVALID_RESOLUTION	In case of invalid resolution parameter, such as an upsize beyond the original image size in Camera::retrieveImage.
LOW_USB_BANDWIDTH	Insufficient bandwidth for the correct use of the camera. This issue can occur when you use multiple cameras or a USB 2.0 port.
CALIBRATION_FILE_NOT_AVAILABLE	The calibration file of the camera is not found on the host machine. Use ZED Explorer or ZED Calibration to download the factory calibration file.
INVALID_CALIBRATION_FILE	The calibration file is not valid. Try to download the factory calibration file or recalibrate your camera using ZED Calibration.
INVALID_SVO_FILE	The provided SVO file is not valid.
SVO_RECORDING_ERROR	An error occurred while trying to record an SVO (not enough free storage, invalid file, ...).
SVO_UNSUPPORTED_COMPRESSION	An SVO related error, occurs when NVIDIA based compression cannot be loaded.
END_OF_SVOFILE_REACHED	SVO end of file has been reached. No frame will be available until the SVO position is reset.
INVALID_COORDINATE_SYSTEM	The requested coordinate system is not available.
INVALID_FIRMWARE	The firmware of the camera is out of date. Update to the latest version.
INVALID_FUNCTION_PARAMETERS	Invalid parameters have been given for the function.
CUDA_ERROR	A CUDA error has been detected in the process, in Camera.grab() or Camera.retrieveXXX() only. Activate verbose in Camera.open() for more info.
CAMERA_NOT_INITIALIZED	The ZED SDK is not initialized. Probably a missing call to 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 call of the function is not valid in the current context. Could be a missing call of Camera.open().
CORRUPTED_SDK_INSTALLATION	The ZED SDK was not able to load its dependencies or some assets are missing. Reinstall the ZED SDK or check for missing dependencies (cuDNN, TensorRT).
INCOMPATIBLE_SDK_VERSION	The installed ZED SDK is incompatible with the one used to compile the program.
INVALID_AREA_FILE	The given area file does not exist. Check the path.
INCOMPATIBLE_AREA_FILE	The area file does not contain enough data to be used or the DEPTH_MODE used during the creation of the area file is different from the one currently set.
CAMERA_FAILED_TO_SETUP	Failed to open the camera at the proper resolution. Try another resolution or make sure that the UVC driver is properly installed.
CAMERA_DETECTION_ISSUE	Your camera can not be opened. Try replugging it to another port or flipping the USB-C connector (if there is one).
CANNOT_START_CAMERA_STREAM	Cannot start the camera stream. Make sure your camera is not already used by another process or blocked by firewall or antivirus.
NO_GPU_DETECTED	No GPU found. 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.
MODULE_NOT_COMPATIBLE_WITH_CAMERA	The module you try to use is not compatible with your camera MODEL. Note MODEL::ZED does not has an IMU and does not support the AI modules.
MOTION_SENSORS_REQUIRED	The module needs the sensors to be enabled (see InitParameters::sensors_required).
MODULE_NOT_COMPATIBLE_WITH_CUDA_VERSION	The module needs a newer version of CUDA.
DRIVER_FAILURE	The drivers initialization has failed. When using gmsl cameras, try restarting with sudo systemctl restart zed_x_daemon.service

SENSOR_TYPE

enum SENSOR_TYPE

strong

Lists available sensor types.

Note

Sensors are not available on sl::MODEL::ZED.

Enumerator
ACCELEROMETER	Three-axis accelerometer sensor to measure the inertial accelerations.
GYROSCOPE	Three-axis gyroscope sensor to measure the angular velocities.
MAGNETOMETER	Three-axis magnetometer sensor to measure the orientation of the device with respect to the Earth's magnetic field.
BAROMETER	Barometer sensor to measure the atmospheric pressure.

SENSORS_UNIT

enum SENSORS_UNIT

strong

Lists available measurement units of onboard sensors.

Note

Sensors are not available on sl::MODEL::ZED.

Enumerator
M_SEC_2	m/s² (acceleration)
DEG_SEC	deg/s (angular velocity)
U_T	μT (magnetic field)
HPA	hPa (atmospheric pressure)
CELSIUS	°C (temperature)
HERTZ	Hz (frequency)

MEM

enum MEM

strong

Lists available memory type.

Enumerator
CPU	Data will be stored on the CPU (processor side).
GPU	Data will be stored on the GPU (graphic card side).
BOTH	Data will be stored on the GPU and CPU.
LAST

COPY_TYPE

enum COPY_TYPE

strong

Lists available copy operation on sl::Mat.

Enumerator
CPU_CPU	Copy data from CPU to CPU.
CPU_GPU	Copy data from CPU to GPU.
GPU_GPU	Copy data from GPU to GPU.
GPU_CPU	Copy data from GPU to CPU.

MAT_TYPE

enum MAT_TYPE

strong

Lists available sl::Mat formats.

Note

sl::Mat type depends on image or measure type.

For the dependencies, see sl::VIEW and sl::MEASURE.

Enumerator
F32_C1	1-channel matrix of float
F32_C2	2-channel matrix of float
F32_C3	3-channel matrix of float
F32_C4	4-channel matrix of float
U8_C1	1-channel matrix of unsigned char
U8_C2	2-channel matrix of unsigned char
U8_C3	3-channel matrix of unsigned char
U8_C4	4-channel matrix of unsigned char
U16_C1	1-channel matrix of unsigned short
S8_C4	4-channel matrix of signed char
NV12	YUV 4:2:0 semi-planar data Y UVUVUV

CAMERA_MOTION_STATE

enum CAMERA_MOTION_STATE

strong

Lists different states of the camera motion.

Enumerator
STATIC	The camera is static.
MOVING	The camera is moving.
FALLING	The camera is falling.

MODULE

enum MODULE

strong

Lists available modules.

Enumerator
ALL	All modules
DEPTH
POSITIONAL_TRACKING
OBJECT_DETECTION
BODY_TRACKING
SPATIAL_MAPPING
LAST

Function Documentation

getZEDSDKRuntimeVersion()

int getZEDSDKRuntimeVersion	(	int &	major,
		int &	minor,
		int &	patch
	)

Returns the ZED SDK version currently installed on the computer.

Parameters

[out]	major	: Major variable to be filled.
[out]	minor	: Minor variable to be filled.
[out]	patch	: Patch variable to be filled.

Returns

-1 if the ZED SDK was not found

-2 if the ZED SDK version wasn't found

0 if success

getZEDSDKBuildVersion()

const void getZEDSDKBuildVersion ( int &  major, int &  minor, int &  patch  )

inline

Returns the ZED SDK version which the current program has been compiled with.

Parameters

[out]	major	: Major variable to be filled.
[out]	minor	: Minor variable to be filled.
[out]	patch	: Patch variable to be filled.

toVerbose()

String sl::toVerbose

(

const ERROR_CODE &

errorCode

)

Provide a concise sl::ERROR_CODE string.

Returns

A concise sl::ERROR_CODE string for the user.

isCameraOne()

bool sl::isCameraOne

(

const sl::MODEL

)

Check the type of a camera model.

Returns

true if the specified camera model is a monocular camera

sleep_ms()

void sl::sleep_ms ( int  time )

inline

Blocks the execution of the current thread for time milliseconds.

Parameters

time	: Number of milliseconds to wait.

sleep_us()

void sl::sleep_us ( int  time )

inline

Blocks the execution of the current thread for time microseconds.

Parameters

time	: Number of microseconds to wait.