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	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	SpatialMappingFusionParameters
	Sets the spatial mapping parameters. 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	ECEF
	Represents a world position in ECEF format. More...
class	LatLng
	Represents a world position in LatLng format. More...
class	UTM
	Represents a world position in UTM format. More...
class	GeoConverter
	Purely static class for Geo functions. More...
class	GeoPose
	Holds Geo reference position. More...
class	Fusion
	Holds Fusion process data and functions. More...

Enumerations
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	GNSS_CALIBRATION_STATE
	Lists the different states of the GNSS calibration. More...
enum class	POSITION_TYPE
	Lists the types of possible position outputs. More...

Functions
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...

Fusion
ERROR_CODE	stopPublishing ()
	Set this camera as normal camera (without data providing). Stop to send camera data to fusion. More...
CommunicationParameters	getCommunicationParameters ()
	Returns the CommunicationParameters used. It corresponds to the structure given as argument to the startPublishing() method. More...

Enumeration Type Documentation

FUSION_ERROR_CODE

enum FUSION_ERROR_CODE

strong

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

Enumerator
WRONG_BODY_FORMAT	The senders are using different body formats. Consider changing them.
NOT_ENABLE	The following module was not enabled.
INPUT_FEED_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.
BAD_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.
SUCCESS	Standard code for successful behavior.
FUSION_ERRATIC_FPS	Significant differences observed between sender's FPS.
FUSION_FPS_TOO_LOW	At least one sender has an FPS lower than 10 FPS.
INVALID_TIMESTAMP	Problem detected with the ingested timestamp. Sample data will be ignored.
INVALID_COVARIANCE	Problem detected with the ingested covariance. Sample data will be ignored.
NO_NEW_DATA_AVAILABLE	All data from all sources has been consumed. No new data is available for processing.

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	Standard code for successful behavior.
GRAB_ERROR	The sender encountered a grab error.
ERRATIC_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.

GNSS_CALIBRATION_STATE

enum GNSS_CALIBRATION_STATE

strong

Lists the different states of the GNSS calibration.

Enumerator
NOT_CALIBRATED	The GNSS/VIO calibration has not been completed yet. Please continue moving the robot while ingesting GNSS data to perform the calibration.
CALIBRATED	The GNSS/VIO calibration is completed.
RE_CALIBRATION_IN_PROGRESS	A GNSS/VIO re-calibration is in progress in the background. Current geo-tracking services may not be accurate.

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.

Function Documentation

stopPublishing()

ERROR_CODE stopPublishing

(

)

Set this camera as normal camera (without data providing).
Stop to send camera data to fusion.

Returns

SUCCESS if everything went fine, ERROR_CODE::FAILURE otherwise

getCommunicationParameters()

CommunicationParameters getCommunicationParameters

(

)

Returns the CommunicationParameters used.
It corresponds to the structure given as argument to the startPublishing() method.

Returns

CommunicationParameters containing the parameters used to initialize communication 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.