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...

struct	RawBuffer
	Zero-copy wrapper for native camera capture buffers. More...

class	Camera
	This class serves as the primary interface between the camera and the various features provided by the SDK. More...

class	InitParametersOne
	Class containing the options used to initialize the sl::CameraOne object. 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	CameraOne
	This class serves as the primary interface between the camera and the various features provided by the SDK when using Monocular cameras. More...

struct	LidarCalibration
	Structure containing beam geometry calibration data for raw data processing. More...

struct	LidarSensorConfiguration
	Structure containing runtime configuration of the Lidar sensor. More...

struct	LidarInformation
	Structure containing information about the Lidar device. More...

struct	LidarDeviceProperties
	Structure containing properties of a discovered Lidar device. More...

class	InitLidarParameters
	Structure containing the options used to initialize the Lidar object. More...

class	PositionalTrackingLidarParameters
	Structure containing the options used to enable positional tracking with Lidar. More...

class	RecordingLidarParameters
	Structure containing the options used to record Lidar data. More...

class	Lidar
	Class for Lidar control and data retrieval. It provides methods to initialize the Lidar, retrieve data, and enable positional tracking. Supports both live sensor input and OSF file playback. More...

class	SensorDeviceIdentifier
	Structure containing information about a sensor device (camera or lidar) managed by the Sensors class. More...

struct	InitSensorsParameters

struct	ObjectDetectionSensorsParameters

struct	BodyTrackingSensorsParameters

struct	BodyTrackingSensorsRuntimeParameters
	Structure containing a set of runtime parameters for the body tracking module. More...

struct	PositionalTrackingSensorsParameters

struct	RecordingSensorsParameters

struct	StreamingSensorsParameters

struct	RuntimeSensorsParameters

struct	SensorList
	Structure containing lists of all available sensor devices. More...

struct	StreamingSensorList
	Structure containing lists of all available streaming sensor devices. More...

class	Sensors
	Class for managing multiple sensors (Cameras, Lidars) and fusing their data. 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	CameraParameters
	Structure containing the intrinsic parameters 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...

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...

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	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...

class	Landmark
	Represents a 3d landmark. More...

class	Landmark2D
	Represents the projection of a 3d landmark in the image. More...

class	KeyFrame
	Represents a keyframe in the tracking system. 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	CustomMaskObjectData
	Class that store externally detected objects with mask. 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...

struct	SVOData

struct	HealthStatus

class	PositionalTrackingStatus
	Lists the different status of positional tracking. 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	ObjectTrackingParameters
	Structure containing a set of parameters for the object tracking module. More...

class	ObjectDetectionRuntimeParameters
	Structure containing a set of runtime parameters for the object detection module. More...

class	CustomObjectDetectionProperties
	Structure containing a set of runtime properties of a certain class ID for the object detection module using a custom model. More...

class	CustomObjectDetectionRuntimeParameters
	Structure containing a set of runtime parameters for the object detection module using your own model ran by the SDK. 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	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	ENU
	Represents a world position in ENU format. More...

class	GeoConverter
	Purely static class for Geo functions. More...

class	GeoPose
	Holds geographic reference position information. More...

class	GNSSData
	Class containing GNSS data to be used for positional tracking as prior. More...

class	FusedPositionalTrackingStatus
	Class containing the overall position fusion status. More...

class	GNSSCalibrationParameters
	Holds the options used for calibrating GNSS / VIO. 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	CameraIdentifier
	Used to identify a specific camera in the Fusion API. More...

class	FusionConfiguration
	Useful struct to store the Fusion configuration, can be read from /write to a JSON file. More...

struct	SynchronizationParameter
	Configuration parameters for data synchronization. More...

class	InitFusionParameters
	Holds the options used to initialize the Fusion object. 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	ObjectDetectionFusionParameters
	Holds the options used to initialize the object detection module of the Fusion. 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	Fusion
	Holds Fusion process data and functions. More...

Typedefs
typedef std::string	CameraGroupID

typedef std::string	SensorID

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	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	RAW_BUFFER_TYPE
	Lists the types of native raw buffers supported by RawBuffer. More...

enum class	SENSOR_STATE
	Lists possible sensor states. More...

enum class	LIDAR_MEASURE
	Lists available object types that can be retrieved from the Lidar. More...

enum class	LIDAR_VIEW
	Lists available view types that can be retrieved from the Lidar. More...

enum class	VIEW_COLOR_MAP
	Lists available colormaps for Lidar data visualization. More...

enum class	LIDAR_MODE
	Lists available Lidar modes (resolution and frequency). More...

enum class	LIDAR_MULTICAST_MODE
	Controls multicast streaming behavior for the Lidar sensor. More...

enum class	RECORDING_FORMAT
	Lists available recording formats for Lidar data. More...

enum class	SENSORS_TYPE
	Lists available sensor types managed by the Sensors class. More...

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	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	MODULE
	Lists available modules. 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	OBJECT_ACCELERATION_PRESET
	Lists of supported presets for maximum acceleration allowed for a given tracked object. 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	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	ODOMETRY_STATUS
	Report the status of current odom tracking. More...

enum class	SPATIAL_MEMORY_STATUS
	Report the status of current map tracking. More...

enum class	POSITIONAL_TRACKING_FUSION_STATUS
	Report the status of the positional tracking fusion. More...

enum class	POSITION_TYPE
	Lists the types of possible position outputs. More...

enum class	GNSS_STATUS
	Class representing the status of the of GNSS signal. More...

enum class	GNSS_MODE
	Class representing the mode of GNSS signal. More...

enum class	GNSS_FUSION_STATUS
	Class containing the current GNSS fusion status. 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_REFERENCE_FRAME
	Enum to define the reference frame of the fusion SDK. 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...

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)

bool	fromString (const sl::String &svo_compression_str, SVO_COMPRESSION_MODE &svo_compression)

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

void	setEnvironmentVariable (const sl::String &env_var_name, const sl::String &value)

const std::vector< int > &	getAvailableCameraFPS ()
	Available camera FPS. Those values are not available for all cameras/resolutions. use the isAvailable() function to check if a specific camera/resolution/fps is available. More...

bool	isAvailable (const sl::RESOLUTION resolution, const sl::MODEL camera_model)
	Test if a specific resolution is available for the specified camera model. More...

bool	isAvailable (const int fps, const sl::RESOLUTION resolution, const sl::MODEL camera_model)
	Test if a specific resolution/fps combination is available for the specified camera model. More...

bool	supportHDR (const sl::RESOLUTION resolution, const sl::MODEL camera_model)
	Test if the HDR mode can be activated at a specific resolution for the specified camera model. More...

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	downloadAIModel (sl::AI_MODELS model, int gpu_id=0)
	Downloads the requested model. 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 sl::SpatialMappingParameters::MAPPING_RESOLUTION &resolution)

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

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

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

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

bool	fromString (const sl::String &map_type_str, sl::SpatialMappingParameters::SPATIAL_MAP_TYPE &map_type)

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

const SensorID	DEFAULT_ID ("00000000-0000-0000-0000-000000000000")

SensorDeviceIdentifier	defaultSensorDeviceIdentifier ()

std::ostream &	operator<< (std::ostream &os, const String &str)

bool	saveJSONFile (const sl::String filepath, const sl::String &serialized_content, bool merge=false)

bool	loadJSONFile (const sl::String filepath, sl::String &serialized_content)

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...

unsigned int SL_CORE_EXPORT	generateVirtualStereoSerialNumber (unsigned int serial_left, unsigned int serial_right)
	Generate a unique identifier for virtual stereo based on the serial numbers of the two ZED Ones. 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...

void	resetBenchmarkTimer ()
	Reset the internal benchmark timer. 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...

ERROR_CODE SL_CORE_EXPORT	blobFromImage (sl::Mat &image_in, sl::Mat &tensor_out, sl::Resolution resolution_out, float scalefactor=1/255., sl::float3 mean=sl::float3(0, 0, 0), sl::float3 stddev=sl::float3(1, 1, 1), bool keep_aspect_ratio=true, bool swap_RB_channels=true, cudaStream_t stream=0)
	Convert an image into a GPU Tensor in planar channel configuration (NCHW), ready to use for deep learning model. More...

ERROR_CODE SL_CORE_EXPORT	blobFromImages (std::vector< sl::Mat > &images_in, sl::Mat &tensor_out, sl::Resolution resolution_out, float scalefactor=1/255., sl::float3 mean=sl::float3(0, 0, 0), sl::float3 stddev=sl::float3(1, 1, 1), bool keep_aspect_ratio=true, bool swap_RB_channels=true, cudaStream_t stream=0)
	Convert a list of images into a GPU Tensor in planar channel configuration (NCHW), ready to use for deep learning model. 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::BOTH, cudaStream_t stream=0)
	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...

ERROR_CODE	applyTransform (Mat &floatMat, const Transform &transform, MEM mem=MEM::BOTH, cudaStream_t stream=0)
	Apply a transformation (rotation and translation) to a point cloud 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::BOTH, cudaStream_t stream=0)
	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_SUBCLASS >	getObjectSubClasses (OBJECT_CLASS object_type)

int	getObjectSubClassAsCOCO (const OBJECT_SUBCLASS 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...

String	toString (const sl::POSITION_TYPE &position_type)

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

*	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 sl::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)

bool	operator== (const CameraIdentifier &a, const CameraIdentifier &b)

bool	operator!= (const CameraIdentifier &a, const CameraIdentifier &b)

FusionConfiguration	readFusionConfigurationFile (const std::string &json_config_filename, const int serial_number, const sl::COORDINATE_SYSTEM coord_sys, const sl::UNIT unit)
	Read a configuration JSON file to configure a fusion process. More...

std::vector< FusionConfiguration >	readFusionConfigurationFile (const std::string &json_config_filename, const sl::COORDINATE_SYSTEM coord_sys, const sl::UNIT unit)
	Read a Configuration JSON file to configure a fusion process. More...

std::vector< FusionConfiguration >	readFusionConfiguration (const std::string &fusion_configuration, const sl::COORDINATE_SYSTEM coord_sys, const sl::UNIT unit)
	Read a Configuration JSON string to configure a fusion process. More...

void	writeConfigurationFile (const std::string &json_config_filename, std::vector< FusionConfiguration > &configuration, const sl::COORDINATE_SYSTEM coord_sys, const sl::UNIT unit)
	Write a Configuration JSON file to configure a fusion process. More...

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 Vector2< int >	int2

typedef Vector3< int >	int3

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)

Detailed Description

@HideINTERNAL_PUBLICAPI_START

@HideINTERNAL_PUBLICAPI_END

Typedef Documentation

◆ CameraGroupID

typedef std::string CameraGroupID

◆ SensorID

typedef std::string SensorID

◆ 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

◆ int2

typedef Vector2<int> int2

◆ int3

typedef Vector3<int> int3

◆ 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<<() [1/12]

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

◆ toString() [2/11]

* sl::toString ( const SVO_COMPRESSION_MODE & svo_compression )

◆ fromString() [1/2]

bool sl::fromString	(	const sl::String &	svo_compression_str,
		SVO_COMPRESSION_MODE &	svo_compression
	)

◆ operator<<() [2/12]

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

◆ setEnvironmentVariable()

void sl::setEnvironmentVariable	(	const sl::String &	env_var_name,
		const sl::String &	value
	)

◆ getAvailableCameraFPS()

const std::vector<int>& sl::getAvailableCameraFPS ( )

inline

Available camera FPS. Those values are not available for all cameras/resolutions. use the isAvailable() function to check if a specific camera/resolution/fps is available.

Note: The ZED SDK will automatically select the best available FPS for the camera/resolution if AUTO is selected.

◆ isAvailable() [1/2]

bool sl::isAvailable	(	const sl::RESOLUTION	resolution,
		const sl::MODEL	camera_model
	)

Test if a specific resolution is available for the specified camera model.

Parameters

resolution	: The wanted resolution.
camera_model	: The wanted camera model.

Returns: True if the resolution is available for the camera model, false otherwise.

◆ isAvailable() [2/2]

bool sl::isAvailable	(	const int	fps,
		const sl::RESOLUTION	resolution,
		const sl::MODEL	camera_model
	)

Test if a specific resolution/fps combination is available for the specified camera model.

Parameters

fps	: The wanted fps.
resolution	: The wanted resolution.
camera_model	: The wanted camera model.

Returns: True if the resolution is available for the camera model, false otherwise.

◆ supportHDR()

bool sl::supportHDR	(	const sl::RESOLUTION	resolution,
		const sl::MODEL	camera_model
	)

Test if the HDR mode can be activated at a specific resolution for the specified camera model.

Parameters

resolution	: The wanted resolution.
camera_model	: The wanted camera model.

Returns: True if the resolution is available for the camera model, false otherwise.

◆ toString() [3/11]

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

◆ operator<<() [3/12]

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

inline

◆ toString() [4/11]

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

◆ operator<<() [4/12]

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

inline

◆ toString() [5/11]

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

◆ fromString() [2/2]

bool sl::fromString	(	const sl::String &	map_type_str,
		sl::SpatialMappingParameters::SPATIAL_MAP_TYPE &	map_type
	)

◆ operator<<() [5/12]

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

inline

◆ DEFAULT_ID()

const SensorID sl::DEFAULT_ID ( "00000000-0000-0000-0000-000000000000" )

◆ defaultSensorDeviceIdentifier()

SensorDeviceIdentifier sl::defaultSensorDeviceIdentifier ( )

◆ operator<<() [6/12]

std::ostream& sl::operator<<	(	std::ostream &	os,
		const String &	str
	)

inline

◆ saveJSONFile()

bool sl::saveJSONFile	(	const sl::String	filepath,
		const sl::String &	serialized_content,
		bool	merge = `false`
	)

◆ loadJSONFile()

bool sl::loadJSONFile	(	const sl::String	filepath,
		sl::String &	serialized_content
	)

◆ str2unit()

* sl::str2unit ( String unit )

◆ toString() [6/11]

* sl::toString ( const AI_MODELS & model )

◆ operator<<() [7/12]

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!=() [1/2]

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

◆ resetBenchmarkTimer()

void sl::resetBenchmarkTimer ( )

Reset the internal benchmark timer.

When setting the env var ZED_SDK_BENCHMARK_MODE=1, it triggers an internal timer measurement. See zed-benchmarks for an example usage details.

When calling this function, the internal timer is reset to zero. It is recommended to call this function right before starting the benchmarked code section and after a warm-up phase.

◆ 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.

◆ blobFromImage()

ERROR_CODE SL_CORE_EXPORT sl::blobFromImage	(	sl::Mat &	image_in,
		sl::Mat &	tensor_out,
		sl::Resolution	resolution_out,
		float	scalefactor = `1/255.`,
		sl::float3	mean = `sl::float3(0, 0, 0)`,
		sl::float3	stddev = `sl::float3(1, 1, 1)`,
		bool	keep_aspect_ratio = `true`,
		bool	swap_RB_channels = `true`,
		cudaStream_t	stream = `0`
	)

Convert an image into a GPU Tensor in planar channel configuration (NCHW), ready to use for deep learning model.

Parameters

image_in	: input image to convert
tensor_out	: output GPU tensor
resolution_out	: resolution of the output image, generally square, although not mandatory
scalefactor	: Scale factor applied to each pixel value, typically to convert the char value into [0-1] float
mean	: mean, statistic to normalized the pixel values, applied AFTER the scale. For instance for imagenet statistics the mean would be sl::float3(0.485, 0.456, 0.406)
stddev	: standard deviation, statistic to normalized the pixel values, applied AFTER the scale. For instance for imagenet statistics the standard deviation would be sl::float3(0.229, 0.224, 0.225)
keep_aspect_ratio	: indicates if the original width and height ratio should be kept using padding (sometimes refer to as letterboxing) or if the image should be stretched
swap_RB_channels	: indicates if the Red and Blue channels should be swapped (RGB<->BGR or RGBA<->BGRA)
stream	: a cuda stream to put the compute

◆ blobFromImages()

ERROR_CODE SL_CORE_EXPORT sl::blobFromImages	(	std::vector< sl::Mat > &	images_in,
		sl::Mat &	tensor_out,
		sl::Resolution	resolution_out,
		float	scalefactor = `1/255.`,
		sl::float3	mean = `sl::float3(0, 0, 0)`,
		sl::float3	stddev = `sl::float3(1, 1, 1)`,
		bool	keep_aspect_ratio = `true`,
		bool	swap_RB_channels = `true`,
		cudaStream_t	stream = `0`
	)

Convert a list of images into a GPU Tensor in planar channel configuration (NCHW), ready to use for deep learning model.

Parameters

images_in	: input images to convert
tensor_out	: output GPU tensor batched
resolution_out	: resolution of the output image, generally square, although not mandatory
scalefactor	: Scale factor applied to each pixel value, typically to convert the char value into [0-1] float
mean	: mean, statistic to normalized the pixel values, applied AFTER the scale. For instance for imagenet statistics the mean would be sl::float3(0.485, 0.456, 0.406)
stddev	: standard deviation, statistic to normalized the pixel values, applied AFTER the scale. For instance for imagenet statistics the standard deviation would be sl::float3(0.229, 0.224, 0.225)
keep_aspect_ratio	: indicates if the original width and height ratio should be kept using padding (sometimes refer to as letterboxing) or if the image should be stretched
swap_RB_channels	: indicates if the Red and Blue channels should be swapped (RGB<->BGR or RGBA<->BGRA)
stream	: a cuda stream to put the compute

◆ 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::BOTH`,
		cudaStream_t	stream = `0`
	)

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. If MEM::BOTH is specified, the function will automatically detect which memory is allocated and transform accordingly (GPU preferred if both are allocated).
stream	: CUDA stream on which to perform the GPU transformation (only used when transforming GPU memory).

Returns: ERROR_CODE::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: ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.

◆ applyTransform()

ERROR_CODE sl::applyTransform	(	Mat &	floatMat,
		const Transform &	transform,
		MEM	mem = `MEM::BOTH`,
		cudaStream_t	stream = `0`
	)

Apply a transformation (rotation and translation) to a point cloud matrix.

Parameters

floatMat	: (in/out) point cloud matrix to transform, can be either a MAT_TYPE::F32_C4 (the fourth value will be preserved as it contains the color information) or a MAT_TYPE::F32_C3.
transform	: the transformation (rotation + translation) to apply to each point.
mem	: define which memory should be transformed from floatMat. If MEM::BOTH is specified, the function will automatically detect which memory is allocated and transform accordingly (GPU preferred if both are allocated).
stream	: CUDA stream on which to perform the GPU transformation (only used when transforming GPU memory).

Returns: ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.

Note: This is useful for transforming point clouds between different reference frames (e.g., sensor to world frame).

◆ 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::BOTH`,
		cudaStream_t	stream = `0`
	)

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. If MEM::BOTH is specified, the function will automatically detect which memory is allocated and transform accordingly (GPU preferred if both are allocated).
stream	: CUDA stream on which to perform the GPU transformation (only used when transforming GPU memory).

Returns: ERROR_CODE::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: ERROR_CODE::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 )

◆ getObjectSubClassAsCOCO()

int sl::getObjectSubClassAsCOCO ( const OBJECT_SUBCLASS object_type )

◆ toString() [7/11]

String sl::toString ( const sl::POSITION_TYPE & position_type )

◆ operator<<() [8/12]

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

◆ toString() [8/11]

* sl::toString ( const MESH_FILE_FORMAT & mesh_frmt )

◆ operator<<() [9/12]

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

inline

◆ toString() [9/11]

* sl::toString ( const MESH_TEXTURE_FORMAT & text_frmt )

◆ operator<<() [10/12]

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

inline

◆ toString() [10/11]

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

◆ operator<<() [11/12]

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

inline

◆ toString() [11/11]

* sl::toString ( const PLANE_TYPE & type )

◆ operator<<() [12/12]

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

◆ operator!=() [2/2]

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

inline

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

Classes

Typedefs

Enumerations

Functions

Variables

Types definition

Detailed Description

Typedef Documentation

◆ CameraGroupID

◆ SensorID

◆ float1

◆ float2

◆ float3

◆ float4

◆ uchar1

◆ uchar2

◆ uchar3

◆ uchar4

◆ double1

◆ double2

◆ double3

◆ double4

◆ uint1

◆ uint2

◆ int2

◆ int3

◆ uint3

◆ uint4

◆ ushort1

◆ char4

Enumeration Type Documentation

◆ PLANE_TYPE

Function Documentation

◆ toString() [1/11]

◆ operator<<() [1/12]

◆ toString() [2/11]

◆ fromString() [1/2]

◆ operator<<() [2/12]

◆ setEnvironmentVariable()

◆ getAvailableCameraFPS()

◆ isAvailable() [1/2]

◆ isAvailable() [2/2]

◆ supportHDR()

◆ toString() [3/11]

◆ operator<<() [3/12]

◆ toString() [4/11]

◆ operator<<() [4/12]

◆ toString() [5/11]

◆ fromString() [2/2]

◆ operator<<() [5/12]

◆ DEFAULT_ID()

◆ defaultSensorDeviceIdentifier()

◆ operator<<() [6/12]

◆ saveJSONFile()

◆ loadJSONFile()

◆ str2unit()

◆ toString() [6/11]

◆ operator<<() [7/12]

◆ operator<()

◆ operator>()

◆ operator<=()

◆ operator>=()

◆ operator==() [1/2]

◆ operator!=() [1/2]

◆ operator+()

◆ operator-()

◆ operator/()

◆ operator*()

◆ resetBenchmarkTimer()

◆ convertImage()

◆ blobFromImage()

◆ blobFromImages()

◆ computeRotationMatrixFromGravity()

◆ getCoordinateTransformConversion3f()

◆ getCoordinateTransformConversion4f()

◆ convertCoordinateSystem() [1/2]

◆ convertCoordinateSystem() [2/2]

◆ applyTransform()

◆ getUnitScale()

◆ convertUnit() [1/2]