Fusion Module

Classes
class	CommunicationParameters
	Holds the communication parameter to configure the connection between senders and receiver. More...
class	FusionConfiguration
	useful struct to store the Fusion configuration, can be read from /write to a Json file. More...
class	InitFusionParameters
	Holds the options used to initialize the Fusion object. More...
class	CameraIdentifier
	Used to identify a specific camera in the Fusion API. More...
class	BodyTrackingFusionParameters
	Holds the options used to initialize the body tracking module of the Fusion. More...
class	BodyTrackingFusionRuntimeParameters
	Holds the options used to change the behavior of the body tracking module at runtime. More...
class	CameraMetrics
	Holds the metrics of a sender in the fusion process. More...
class	FusionMetrics
	Holds the metrics of the fusion process. More...
class	GeoConverter
	Purely static class for Geo functions. More...
class	GeoPose
	Holds Geo data. More...
class	Fusion
	Holds Fusion process data and functions. More...

Enumerations
enum class	COMM_TYPE
	Lists the types of communications available for Fusion app. 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	POSITION_TYPE
	Change the type of outputed position (raw data or fusion data projected into zed camera) More...

Functions
ERROR_CODE	startPublishing (CommunicationParameters configuration=CommunicationParameters())
	Set this camera as a data provider for the Fusion Module. Metadata are exchanged with the Fusion. More...
CommunicationParameters	getCommunicationParameters ()
	Returns the communication parameter of this camera. More...
FusionConfiguration	readFusionConfigurationFile (std::string json_config_filename, int serial_number, sl::COORDINATE_SYSTEM coord_sys, sl::UNIT unit)
	Read a Configuration JSON file to configure a fusion process. More...
std::vector< FusionConfiguration >	readFusionConfigurationFile (std::string json_config_filename, sl::COORDINATE_SYSTEM coord_sys, sl::UNIT unit)
	Read a Configuration JSON file to configure a fusion process. More...
void	writeConfigurationFile (std::string json_config_filename, std::vector< FusionConfiguration > &configuration, sl::COORDINATE_SYSTEM coord_sys, sl::UNIT unit)
	Write a Configuration JSON file to configure a fusion process. More...

Enumeration Type Documentation

COMM_TYPE

enum COMM_TYPE

strong

Lists the types of communications available for Fusion app.

Enumerator
LOCAL_NETWORK
INTRA_PROCESS

FUSION_ERROR_CODE

enum FUSION_ERROR_CODE

strong

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

Enumerator
NO_NEW_DATA_AVAILABLE
INVALID_TIMESTAMP	< All data from all sources were consumed, no new process available.
INVALID_COVARIANCE	< Problem was detected with ingested timestamp
WRONG_BODY_FORMAT	< Problem was detected with ingested covariance Senders use different body format, consider to change them.
NOT_ENABLE	The following module was not enabled.
INPUT_FEED_MISMATCH	Some source are provided by SVO and some sources are provided by LIVE stream.
CONNECTION_TIMED_OUT	Connection timed out, impossible to reach the sender, verify the ip/port of the sender.
MEMORY_ALREADY_USED	intra process shared memory allocation issue, multiple connection to the same data.
BAD_IP_ADDRESS	The IP format provided is wrong, please provide IP in this format a.b.c.d where (a, b, c, d) are numbers between 0 and 255.
FAILURE	Standard code for unsuccessful behavior.
SUCCESS
FUSION_ERRATIC_FPS	Some big differences has been observed between senders FPS.
FUSION_FPS_TOO_LOW	At least one sender has fps lower than 10 FPS.

SENDER_ERROR_CODE

enum SENDER_ERROR_CODE

strong

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

Enumerator
DISCONNECTED	the sender has been disconnected
SUCCESS
GRAB_ERROR	the sender has encountered an grab error
ERRATIC_FPS	the sender does not run with a constant frame rate
FPS_TOO_LOW	fps lower than 10 FPS

POSITION_TYPE

enum POSITION_TYPE

strong

Change the type of outputed position (raw data or fusion data projected into zed camera)

Enumerator
RAW
FUSION

Function Documentation

startPublishing()

ERROR_CODE startPublishing

(

CommunicationParameters

configuration = CommunicationParameters()

)

Set this camera as a data provider for the Fusion Module.
Metadata are exchanged with the Fusion.

Note

If you use it, you should inclue 'sl/Fusion.hpp' to avoid undefined reference.

Returns

SUCCESS if everything went fine, ERROR_CODE::FAILURE otherwise

getCommunicationParameters()

CommunicationParameters getCommunicationParameters

(

)

Returns the communication parameter of this camera.

Returns

The CommunicationParameters used to comminucated with the Fusion Module.

readFusionConfigurationFile() [1/2]

FusionConfiguration sl::readFusionConfigurationFile	(	std::string	json_config_filename,
		int	serial_number,
		sl::COORDINATE_SYSTEM	coord_sys,
		sl::UNIT	unit
	)

Read a Configuration JSON file to configure a fusion process.

Parameters

json_config_filename	: The name of the JSON file containing the configuration
serial_number	: the serial number of the ZED Camera you want to retrieve
coord_sys	: the COORDINATE_SYSTEM in which you want the World Pose to be in
unit	: the UNIT in which you want the World Pose to be in

Returns

a FusionConfiguration for the requested camera

Note

empty if no data were found for the requested camera

readFusionConfigurationFile() [2/2]

std::vector<FusionConfiguration> sl::readFusionConfigurationFile	(	std::string	json_config_filename,
		sl::COORDINATE_SYSTEM	coord_sys,
		sl::UNIT	unit
	)

Read a Configuration JSON file to configure a fusion process.

Parameters

json_config_filename	: The name of the JSON file containing the configuration
coord_sys	: the COORDINATE_SYSTEM in which you want the World Pose to be in
unit	: the UNIT in which you want the World Pose to be in

Returns

a vector of FusionConfiguration for all the camera present in the file

Note

empty if no data were found for the requested camera

writeConfigurationFile()

void sl::writeConfigurationFile	(	std::string	json_config_filename,
		std::vector< FusionConfiguration > &	configuration,
		sl::COORDINATE_SYSTEM	coord_sys,
		sl::UNIT	unit
	)

Write a Configuration JSON file to configure a fusion process.

Parameters

json_config_filename	: The name of the JSON that will contain the information
conf	a vector of FusionConfiguration listing all the camera configurations
coord_sys	: the COORDINATE_SYSTEM in which the World Pose is
unit	: the UNIT in which the World Pose is