sl Namespace Reference

Classes

struct  RecordingStatus
 Structure containing information about the status of the recording. More...
 
class  InitParameters
 Class containing the options used to initialize the sl::Camera object. More...
 
struct  RuntimeParameters
 Structure containing parameters that defines the behavior of sl::Camera::grab(). More...
 
class  PositionalTrackingParameters
 Structure containing a set of parameters for the positional tracking module initialization. More...
 
class  SpatialMappingParameters
 Structure containing a set of parameters for the spatial mapping module. More...
 
struct  StreamingParameters
 Structure containing the options used to stream with the ZED SDK. More...
 
struct  RecordingParameters
 Structure containing the options used to record. More...
 
class  BatchParameters
 Structure containing a set of parameters for batch object detection. More...
 
class  ObjectDetectionParameters
 Structure containing a set of parameters for the object detection module. More...
 
class  ObjectDetectionRuntimeParameters
 Structure containing a set of runtime parameters for the object detection module. More...
 
struct  BodyTrackingParameters
 Structure containing a set of parameters for the body tracking module. More...
 
struct  BodyTrackingRuntimeParameters
 Structure containing a set of runtime parameters for the body tracking module. More...
 
class  PlaneDetectionParameters
 Structure containing a set of parameters for the plane detection functionality. More...
 
struct  RegionOfInterestParameters
 
class  Camera
 This class serves as the primary interface between the camera and the various features provided by the SDK. 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...
 
struct  DeviceProperties
 Structure containing information about the properties of a camera. More...
 
struct  StreamingProperties
 Structure containing information about the properties of a streaming device. More...
 
class  InputType
 Class defining the input type used in the ZED SDK. More...
 
class  AI_Model_status
 Structure containing AI model status. More...
 
class  Matrix3f
 Class representing a generic 3*3 matrix. More...
 
class  Matrix4f
 Class representing a generic 4*4 matrix. More...
 
class  Vector2
 Class representing a 2-dimensional vector for both CPU and GPU. More...
 
class  Vector3
 Class representing a 3-dimensional vector for both CPU and GPU. More...
 
class  Vector4
 Class representing a 4-dimensional vector for both CPU and GPU. More...
 
struct  Timestamp
 Structure representing timestamps with utilities. More...
 
class  Mat
 Class representing 1 to 4-channel matrix of float or uchar, stored on CPU and/or GPU side. More...
 
class  Rotation
 Class representing a rotation for the positional tracking module. More...
 
class  Translation
 Class representing a translation for the positional tracking module. More...
 
class  Orientation
 Class representing an orientation/quaternion for the positional tracking module. More...
 
class  Transform
 Class representing a transformation (translation and rotation) for the positional tracking module. More...
 
struct  CameraParameters
 Structure containing the intrinsic parameters of a camera. More...
 
struct  CalibrationParameters
 Structure containing intrinsic and extrinsic parameters of the camera (translation and rotation). 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...
 
class  Pose
 Class containing positional tracking data giving the position and orientation of the camera in 3D space. More...
 
struct  SensorsData
 Structure containing all sensors data (except image sensors) to be used for positional tracking or environment study. More...
 
class  ObjectData
 Class containing data of a detected object such as its bounding_box, label, id and its 3D position. More...
 
class  CustomBoxObjectData
 Class that store externally detected objects. More...
 
class  Objects
 Class containing the results of the object detection module. More...
 
class  BodyData
 Class containing data of a detected body/person such as its bounding_box, id and its 3D position. More...
 
class  Bodies
 Class containing the results of the body tracking module. More...
 
class  ObjectsBatch
 Class containing batched data of a detected objects from the object detection module. More...
 
class  BodiesBatch
 Class containing batched data of a detected bodies/persons from the body tracking module. More...
 
class  CommunicationParameters
 Holds the communication parameter to configure the connection between senders and receiver. More...
 
class  MeshFilterParameters
 Class containing a set of parameters for the mesh filtration functionality. More...
 
class  Chunk
 Class representing a sub-mesh containing local vertices and triangles. More...
 
class  Mesh
 Class representing a mesh and containing the geometric (and optionally texture) data of the scene captured by the spatial mapping module. More...
 
class  Plane
 Class representing a plane defined by a point and a normal, or a plane equation. More...
 
class  PointCloudChunk
 Class representing a sub-point cloud containing local vertices and colors. More...
 
class  FusedPointCloud
 Class representing a fused point cloud and containing the geometric and color data of the scene captured by the spatial mapping module. 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  GNSSData
 Class containing GNSS data to be used for positional tracking as prior. More...
 
class  Fusion
 Holds Fusion process data and functions. More...
 

Enumerations

enum class  SIDE
 Lists possible sides on which to get data from. More...
 
enum  FLIP_MODE : int
 Lists possible flip modes of the camera. More...
 
enum class  RESOLUTION
 Lists available resolutions. More...
 
enum class  VIDEO_SETTINGS
 Lists available camera settings for the camera (contrast, hue, saturation, gain, ...). More...
 
enum class  DEPTH_MODE
 Lists available depth computation modes. More...
 
enum class  MEASURE
 Lists retrievable measures. More...
 
enum class  VIEW
 Lists available views. More...
 
enum class  TIME_REFERENCE
 Lists possible time references for timestamps or data. More...
 
enum class  POSITIONAL_TRACKING_STATE
 Lists the different states of positional tracking. More...
 
enum class  POSITIONAL_TRACKING_MODE
 Lists the mode of positional tracking that can be used. More...
 
enum class  AREA_EXPORTING_STATE
 Lists the different states of spatial memory area export. More...
 
enum class  SPATIAL_MAPPING_STATE
 Lists the different states of spatial mapping. More...
 
enum class  REGION_OF_INTEREST_AUTO_DETECTION_STATE
 Lists the different states of region of interest auto detection. More...
 
enum class  SVO_COMPRESSION_MODE
 Lists available compression modes for SVO recording. 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  MODEL
 Lists ZED camera model. More...
 
enum class  INPUT_TYPE
 Lists available input types in the ZED SDK. More...
 
enum class  CAMERA_STATE
 Lists possible camera states. More...
 
enum class  STREAMING_CODEC
 Lists the different encoding types for image streaming. More...
 
enum class  SENSOR_TYPE
 Lists available sensor types. More...
 
enum class  SENSORS_UNIT
 Lists available measurement units of onboard sensors. More...
 
enum class  BUS_TYPE
 Lists available LIVE input type in the ZED SDK. More...
 
enum class  OBJECT_DETECTION_MODEL
 Lists available models for the object detection module. More...
 
enum class  BODY_TRACKING_MODEL
 Lists available models for the body tracking module. More...
 
enum class  AI_MODELS
 Lists available AI models. 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  OBJECT_CLASS
 Lists available object classes. More...
 
enum class  OBJECT_SUBCLASS
 List available object subclasses. More...
 
enum class  OBJECT_TRACKING_STATE
 Lists the different states of object tracking. More...
 
enum class  OBJECT_ACTION_STATE
 Lists the different states of an object's actions. More...
 
enum class  OBJECT_FILTERING_MODE
 Lists supported bounding box preprocessing. More...
 
enum class  INFERENCE_PRECISION
 Report the actual inference precision used. More...
 
enum class  BODY_FORMAT
 Lists supported skeleton body models. More...
 
enum class  BODY_KEYPOINTS_SELECTION
 Lists supported models for skeleton keypoints selection. More...
 
enum class  REFERENCE_FRAME
 Lists possible types of position matrix used to store camera path and pose. More...
 
enum class  BODY_18_PARTS
 Semantic of human body parts and order of sl::BodyData::keypoint for sl::BODY_FORMAT::BODY_18. More...
 
enum class  BODY_34_PARTS
 Semantic of human body parts and order of sl::BodyData::keypoint for sl::BODY_FORMAT::BODY_34. More...
 
enum class  BODY_38_PARTS
 Semantic of human body parts and order of sl::BodyData::keypoint for sl::BODY_FORMAT::BODY_38. More...
 
enum class  MESH_FILE_FORMAT
 Lists available mesh file formats. More...
 
enum class  MESH_TEXTURE_FORMAT
 Lists available mesh texture formats. More...
 
enum class  PLANE_TYPE
 Lists the available plane types detected based on the orientation. 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  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

toString (const FLIP_MODE &flip_mode)
 
inline ::std::ostream & operator<< (::std::ostream &os, const FLIP_MODE &flip_mode)
 
sl::Resolution getResolution (RESOLUTION resolution)
 Gets the corresponding sl::Resolution from an sl::RESOLUTION. More...
 
toString (const SVO_COMPRESSION_MODE &svo_compression)
 
inline ::std::ostream & operator<< (::std::ostream &os, const SVO_COMPRESSION_MODE &svo_compression)
 
AI_Model_status checkAIModelStatus (AI_MODELS model, int gpu_id=0)
 Checks if a corresponding optimized engine is found for the requested Model based on your rig configuration. More...
 
ERROR_CODE optimizeAIModel (sl::AI_MODELS model, int gpu_id=0)
 Optimizes the requested model (and download the model if it is not present on the host). More...
 
toString (const SpatialMappingParameters::MAPPING_RESOLUTION &resolution)
 
std::ostream & operator<< (std::ostream &os, const SpatialMappingParameters::MAPPING_RESOLUTION &resolution)
 
String toString (const SpatialMappingParameters::MAPPING_RANGE &range)
 
std::ostream & operator<< (std::ostream &os, const SpatialMappingParameters::MAPPING_RANGE &range)
 
String toString (const SpatialMappingParameters::SPATIAL_MAP_TYPE &map_type)
 
std::ostream & operator<< (std::ostream &os, const SpatialMappingParameters::SPATIAL_MAP_TYPE &map_type)
 
String toVerbose (const ERROR_CODE &errorCode)
 Provide a concise sl::ERROR_CODE string. More...
 
str2unit (String unit)
 
toString (const AI_MODELS &model)
 
inline ::std::ostream & operator<< (::std::ostream &os, const AI_MODELS &model)
 
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...
 
ERROR_CODE SL_CORE_EXPORT convertImage (sl::Mat &image_in, sl::Mat &image_signed, cudaStream_t stream=0)
 Convert Image format from Unsigned char to Signed char, designed for Unreal Engine pipeline, works on GPU memory. More...
 
Rotation computeRotationMatrixFromGravity (sl::float3 axis_to_align, sl::float3 gravity_vector)
 Compute the rotation matrix from the gravity vector : the rotation can used to find the world rotation from the gravity of an IMU. More...
 
Matrix3f getCoordinateTransformConversion3f (COORDINATE_SYSTEM coord_system_src, COORDINATE_SYSTEM coord_system_dst)
 Get the coordinate transform conversion matrix to change coordinate system. More...
 
Matrix4f getCoordinateTransformConversion4f (COORDINATE_SYSTEM coord_system_src, COORDINATE_SYSTEM coord_system_dst)
 Get the coordinate transform conversion matrix to change coordinate system. More...
 
ERROR_CODE convertCoordinateSystem (Mat &floatMat, COORDINATE_SYSTEM coord_system_src, COORDINATE_SYSTEM coord_system_dst, MEM mem=MEM::CPU)
 Change the coordinate system of a matrix. More...
 
ERROR_CODE convertCoordinateSystem (Transform &motionMat, COORDINATE_SYSTEM coord_system_src, COORDINATE_SYSTEM coord_system_dst)
 Change the coordinate system of a transform matrix. More...
 
float getUnitScale (UNIT unit_src, UNIT unit_dst)
 Get the unit factor to change units. More...
 
ERROR_CODE convertUnit (Mat &floatMat, UNIT unit_src, UNIT unit_dst, MEM mem=MEM::CPU)
 Change the unit of a matrix. More...
 
ERROR_CODE convertUnit (Transform &motionMat, UNIT unit_src, UNIT unit_dst)
 Change the unit (of the translations) of a transform matrix. More...
 
OBJECT_CLASS getObjectClass (OBJECT_SUBCLASS object_type)
 
std::vector< OBJECT_SUBCLASSgetObjectSubClasses (OBJECT_CLASS object_type)
 
String generate_unique_id ()
 Generate a UUID like unique id to help identify and track AI detections. More...
 
int getIdx (BODY_18_PARTS part)
 Return associated index of each sl::BODY_18_PARTS. More...
 
int getIdx (BODY_34_PARTS part)
 Return associated index of each sl::BODY_34_PARTS. More...
 
int getIdx (BODY_38_PARTS part)
 Return associated index of each sl::BODY_38_PARTS. More...
 
toString (const MESH_FILE_FORMAT &mesh_frmt)
 
std::ostream & operator<< (std::ostream &os, const MESH_FILE_FORMAT &mesh_frmt)
 
toString (const MESH_TEXTURE_FORMAT &text_frmt)
 
std::ostream & operator<< (std::ostream &os, const MESH_TEXTURE_FORMAT &text_frmt)
 
toString (const MeshFilterParameters::MESH_FILTER &mesh_filter)
 
std::ostream & operator<< (std::ostream &os, const MeshFilterParameters::MESH_FILTER &mesh_filter)
 
toString (const PLANE_TYPE &type)
 
std::ostream & operator<< (std::ostream &os, const PLANE_TYPE &type)
 
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< FusionConfigurationreadFusionConfigurationFile (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...
 
bool operator== (const CameraIdentifier &a, const CameraIdentifier &b)
 
String toString (const POSITION_TYPE &position_type)
 
inline ::std::ostream & operator<< (::std::ostream &os, const POSITION_TYPE &position_type)
 

Variables

static const float INVALID_VALUE = NAN
 
static const unsigned char STATIC_DEPTH = 255
 
static const unsigned char DYNAMIC_DEPTH = 127
 
const int VIDEO_SETTINGS_VALUE_AUTO = -1
 
const std::vector< std::pair< BODY_18_PARTS, BODY_18_PARTS > > BODY_18_BONES
 Lists links of human body keypoints for sl::BODY_FORMAT::BODY_18.
Useful for display. More...
 
const std::vector< std::pair< BODY_34_PARTS, BODY_34_PARTS > > BODY_34_BONES
 Lists links of human body keypoints for sl::BODY_FORMAT::BODY_34.
Useful for display. More...
 
const std::vector< std::pair< BODY_38_PARTS, BODY_38_PARTS > > BODY_38_BONES
 Lists links of human body keypoints for sl::BODY_FORMAT::BODY_38.
Useful for display. More...
 
Unavailable Values
static const float TOO_FAR = INFINITY
 
static const float TOO_CLOSE = -INFINITY
 
static const float OCCLUSION_VALUE = NAN
 

Types definition

typedef float float1
 
typedef Vector2< float > float2
 
typedef Vector3< float > float3
 
typedef Vector4< float > float4
 
typedef unsigned char uchar1
 
typedef Vector2< unsigned char > uchar2
 
typedef Vector3< unsigned char > uchar3
 
typedef Vector4< unsigned char > uchar4
 
typedef double double1
 
typedef Vector2< double > double2
 
typedef Vector3< double > double3
 
typedef Vector4< double > double4
 
typedef unsigned int uint1
 
typedef Vector2< unsigned int > uint2
 
typedef Vector3< unsigned int > uint3
 
typedef Vector4< unsigned int > uint4
 
typedef unsigned short ushort1
 
typedef Vector4< char > char4
 
bool operator< (const Timestamp &lhs, const Timestamp &rhs)
 
bool operator> (const Timestamp &lhs, const Timestamp &rhs)
 
bool operator<= (const Timestamp &lhs, const Timestamp &rhs)
 
bool operator>= (const Timestamp &lhs, const Timestamp &rhs)
 
bool operator== (const Timestamp &lhs, const Timestamp &rhs)
 
bool operator!= (const Timestamp &lhs, const Timestamp &rhs)
 
Timestamp operator+ (Timestamp lhs, const Timestamp &rhs)
 
Timestamp operator- (Timestamp lhs, const Timestamp &rhs)
 
Timestamp operator/ (Timestamp lhs, const Timestamp &rhs)
 
Timestamp operator* (Timestamp lhs, const Timestamp &rhs)
 

Typedef Documentation

◆ float1

typedef float float1

◆ float2

typedef Vector2<float> float2

◆ float3

typedef Vector3<float> float3

◆ float4

typedef Vector4<float> float4

◆ uchar1

typedef unsigned char uchar1

◆ uchar2

typedef Vector2<unsigned char> uchar2

◆ uchar3

typedef Vector3<unsigned char> uchar3

◆ uchar4

typedef Vector4<unsigned char> uchar4

◆ double1

typedef double double1

◆ double2

typedef Vector2<double> double2

◆ double3

typedef Vector3<double> double3

◆ double4

typedef Vector4<double> double4

◆ uint1

typedef unsigned int uint1

◆ uint2

typedef Vector2<unsigned int> uint2

◆ uint3

typedef Vector3<unsigned int> uint3

◆ uint4

typedef Vector4<unsigned int> uint4

◆ ushort1

typedef unsigned short ushort1

◆ char4

typedef Vector4<char> char4

Enumeration Type Documentation

◆ PLANE_TYPE

enum PLANE_TYPE
strong

Lists the available plane types detected based on the orientation.

Enumerator
HORIZONTAL 

Horizontal plane, such as a tabletop, floor, etc.

VERTICAL 

Vertical plane, such as a wall.

UNKNOWN 

Unknown plane orientation.

Function Documentation

◆ toString() [1/11]

* sl::toString ( const FLIP_MODE flip_mode)

Referenced by operator<<().

◆ operator<<() [1/11]

inline ::std::ostream& sl::operator<< ( ::std::ostream &  os,
const FLIP_MODE flip_mode 
)

◆ toString() [2/11]

* sl::toString ( const SVO_COMPRESSION_MODE svo_compression)

◆ operator<<() [2/11]

inline ::std::ostream& sl::operator<< ( ::std::ostream &  os,
const SVO_COMPRESSION_MODE svo_compression 
)

◆ toString() [3/11]

* sl::toString ( const SpatialMappingParameters::MAPPING_RESOLUTION resolution)

◆ operator<<() [3/11]

std::ostream& sl::operator<< ( std::ostream &  os,
const SpatialMappingParameters::MAPPING_RESOLUTION resolution 
)
inline

◆ toString() [4/11]

String sl::toString ( const SpatialMappingParameters::MAPPING_RANGE range)

◆ operator<<() [4/11]

std::ostream& sl::operator<< ( std::ostream &  os,
const SpatialMappingParameters::MAPPING_RANGE range 
)
inline

◆ toString() [5/11]

String sl::toString ( const SpatialMappingParameters::SPATIAL_MAP_TYPE map_type)

◆ operator<<() [5/11]

std::ostream& sl::operator<< ( std::ostream &  os,
const SpatialMappingParameters::SPATIAL_MAP_TYPE map_type 
)
inline

◆ str2unit()

* sl::str2unit ( String  unit)

◆ toString() [6/11]

* sl::toString ( const AI_MODELS model)

◆ operator<<() [6/11]

inline ::std::ostream& sl::operator<< ( ::std::ostream &  os,
const AI_MODELS model 
)

◆ operator<()

bool sl::operator< ( const Timestamp lhs,
const Timestamp rhs 
)
inline

◆ operator>()

bool sl::operator> ( const Timestamp lhs,
const Timestamp rhs 
)
inline

◆ operator<=()

bool sl::operator<= ( const Timestamp lhs,
const Timestamp rhs 
)
inline

◆ operator>=()

bool sl::operator>= ( const Timestamp lhs,
const Timestamp rhs 
)
inline

◆ operator==() [1/2]

bool sl::operator== ( const Timestamp lhs,
const Timestamp rhs 
)
inline

◆ operator!=()

bool sl::operator!= ( const Timestamp lhs,
const Timestamp rhs 
)
inline

◆ operator+()

Timestamp sl::operator+ ( Timestamp  lhs,
const Timestamp rhs 
)
inline

◆ operator-()

Timestamp sl::operator- ( Timestamp  lhs,
const Timestamp rhs 
)
inline

◆ operator/()

Timestamp sl::operator/ ( Timestamp  lhs,
const Timestamp rhs 
)
inline

◆ operator*()

Timestamp sl::operator* ( Timestamp  lhs,
const Timestamp rhs 
)
inline

◆ convertImage()

ERROR_CODE SL_CORE_EXPORT sl::convertImage ( sl::Mat image_in,
sl::Mat image_signed,
cudaStream_t  stream = 0 
)

Convert Image format from Unsigned char to Signed char, designed for Unreal Engine pipeline, works on GPU memory.

Parameters
image_in: input image to convert
image_signed: output image to converted
stream: a cuda stream to put the compute to (def. 0)
Note
If the Output Mat does not satisfies the requirements, it is freed and re-allocated.

◆ computeRotationMatrixFromGravity()

Rotation sl::computeRotationMatrixFromGravity ( sl::float3  axis_to_align,
sl::float3  gravity_vector 
)

Compute the rotation matrix from the gravity vector : the rotation can used to find the world rotation from the gravity of an IMU.

Parameters
axis_to_align: define the axis to align with the gravity, for instance : to align the "y" axis, axis_to_align = (0, 1, 0)'
gravity_vector: the gravity vector, acceleration set by an IMU
Returns
Rotation : rotation matrix, useful for Camera::detectFloorPlane as a gravity prior

◆ getCoordinateTransformConversion3f()

Matrix3f sl::getCoordinateTransformConversion3f ( COORDINATE_SYSTEM  coord_system_src,
COORDINATE_SYSTEM  coord_system_dst 
)

Get the coordinate transform conversion matrix to change coordinate system.

Parameters
coord_system_src: the source coordinate system.
coord_system_dst: the destination coordinate system.
Returns
Matrix3f : transformation matrix, to apply to a float3 point simply multiply by this matrix (pt_coord_dst = tf_matrix * pt_coord_src).

◆ getCoordinateTransformConversion4f()

Matrix4f sl::getCoordinateTransformConversion4f ( COORDINATE_SYSTEM  coord_system_src,
COORDINATE_SYSTEM  coord_system_dst 
)

Get the coordinate transform conversion matrix to change coordinate system.

Parameters
coord_system_src: the source coordinate system.
coord_system_dst: the destination coordinate system.
Returns
Matrix4f : transformation matrix, to apply to a float4 point simply multiply by this matrix (pt_coord_dst = tf_matrix * pt_coord_src).

◆ convertCoordinateSystem() [1/2]

ERROR_CODE sl::convertCoordinateSystem ( Mat floatMat,
COORDINATE_SYSTEM  coord_system_src,
COORDINATE_SYSTEM  coord_system_dst,
MEM  mem = MEM::CPU 
)

Change the coordinate system of a matrix.

Parameters
floatMat: (in/out) matrix to transform, can be either a MAT_TYPE::F32_C4 (the fourth value will be ignored as it contained the color information) or a MAT_TYPE::F32_C3.
coord_system_src: the current coordinate system of floatMat.
coord_system_dst: the destination coordinate system for floatMat.
mem: define which memory should be transformed from floatMat.
Returns
SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.

◆ convertCoordinateSystem() [2/2]

ERROR_CODE sl::convertCoordinateSystem ( Transform motionMat,
COORDINATE_SYSTEM  coord_system_src,
COORDINATE_SYSTEM  coord_system_dst 
)

Change the coordinate system of a transform matrix.

Parameters
motionMat: (in/out) matrix to transform
coord_system_src: the current coordinate system of motionMat.
coord_system_dst: the destination coordinate system for motionMat.
Returns
SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.

◆ getUnitScale()

float sl::getUnitScale ( UNIT  unit_src,
UNIT  unit_dst 
)

Get the unit factor to change units.

Parameters
unit_src: the source coordinate system.
unit_dst: the destination coordinate system.
Returns
float : unit scale (pt_coord_dst = factor * pt_coord_src).

◆ convertUnit() [1/2]

ERROR_CODE sl::convertUnit ( Mat floatMat,
UNIT  unit_src,
UNIT  unit_dst,
MEM  mem = MEM::CPU 
)

Change the unit of a matrix.

Parameters
floatMat: (in/out) matrix to transform, can be either a MAT_TYPE::F32_C4 (the fourth value will be ignored as it contained the color information), MAT_TYPE::F32_C3 or a MAT_TYPE::F32_C1.
unit_src: the current unit of floatMat.
unit_dst: the destination unit for floatMat.
mem: define which memory should be transformed from floatMat.
Returns
SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.

◆ convertUnit() [2/2]

ERROR_CODE sl::convertUnit ( Transform motionMat,
UNIT  unit_src,
UNIT  unit_dst 
)

Change the unit (of the translations) of a transform matrix.

Parameters
motionMat: (in/out) matrix to transform
unit_src: the current unit of motionMat.
unit_dst: the destination unit for motionMat.
Returns
SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.

◆ getObjectClass()

OBJECT_CLASS sl::getObjectClass ( OBJECT_SUBCLASS  object_type)

◆ getObjectSubClasses()

std::vector<OBJECT_SUBCLASS> sl::getObjectSubClasses ( OBJECT_CLASS  object_type)

◆ toString() [7/11]

* sl::toString ( const MESH_FILE_FORMAT mesh_frmt)

◆ operator<<() [7/11]

std::ostream& sl::operator<< ( std::ostream &  os,
const MESH_FILE_FORMAT mesh_frmt 
)
inline

◆ toString() [8/11]

* sl::toString ( const MESH_TEXTURE_FORMAT text_frmt)

◆ operator<<() [8/11]

std::ostream& sl::operator<< ( std::ostream &  os,
const MESH_TEXTURE_FORMAT text_frmt 
)
inline

◆ toString() [9/11]

* sl::toString ( const MeshFilterParameters::MESH_FILTER mesh_filter)

◆ operator<<() [9/11]

std::ostream& sl::operator<< ( std::ostream &  os,
const MeshFilterParameters::MESH_FILTER mesh_filter 
)
inline

◆ toString() [10/11]

* sl::toString ( const PLANE_TYPE type)

◆ operator<<() [10/11]

std::ostream& sl::operator<< ( std::ostream &  os,
const PLANE_TYPE type 
)
inline

◆ operator==() [2/2]

bool sl::operator== ( const CameraIdentifier a,
const CameraIdentifier b 
)
inline

◆ toString() [11/11]

String sl::toString ( const POSITION_TYPE position_type)

◆ operator<<() [11/11]

inline ::std::ostream& sl::operator<< ( ::std::ostream &  os,
const POSITION_TYPE position_type 
)

Variable Documentation

◆ TOO_FAR

const float TOO_FAR = INFINITY
static

Defines an unavailable depth value that is above the depth Max value.

◆ TOO_CLOSE

const float TOO_CLOSE = -INFINITY
static

Defines an unavailable depth value that is below the depth Min value.

◆ OCCLUSION_VALUE

const float OCCLUSION_VALUE = NAN
static

Defines an unavailable depth value that is on an occluded image area.

◆ INVALID_VALUE

const float INVALID_VALUE = NAN
static

◆ STATIC_DEPTH

const unsigned char STATIC_DEPTH = 255
static

◆ DYNAMIC_DEPTH

const unsigned char DYNAMIC_DEPTH = 127
static

◆ VIDEO_SETTINGS_VALUE_AUTO

const int VIDEO_SETTINGS_VALUE_AUTO = -1