Fusion Class Reference

Holds Fusion process data and functions. More...

Functions
def	init (self, InitFusionParameters init_fusion_parameters)
	Initialize the fusion module with the requested parameters. More...
def	close (self)
	Will deactivate all the fusion modules and free internal data.
FUSION_ERROR_CODE	subscribe (self, CameraIdentifier uuid, CommunicationParameters communication_parameters, Transform pose)
	Set the specified camera as a data provider. More...
FUSION_ERROR_CODE	unsubscribe (self, CameraIdentifier uuid)
	Remove the specified camera from data provider. More...
FUSION_ERROR_CODE	update_pose (self, CameraIdentifier uuid, Transform pose)
	Updates the specified camera position inside fusion WORLD. More...
(FUSION_ERROR_CODE, FusionMetrics)	get_process_metrics (self)
	Get the metrics of the Fusion process, for the fused data as well as individual camera provider data. More...
dict	get_sender_state (self)
	Returns the state of each connected data senders. More...
FUSION_ERROR_CODE	process (self)
	Runs the main function of the Fusion, this trigger the retrieve and synchronization of all connected senders and updates the enabled modules. More...
FUSION_ERROR_CODE	enable_body_tracking (self, BodyTrackingFusionParameters params)
	Enables the body tracking fusion module. More...
FUSION_ERROR_CODE	retrieve_bodies (self, Bodies bodies, BodyTrackingFusionRuntimeParameters parameters, CameraIdentifier uuid=CameraIdentifier(0))
	Retrieves the body data, can be the fused data (default), or the raw data provided by a specific sender. More...
FUSION_ERROR_CODE	retrieve_image (self, Mat py_mat, CameraIdentifier uuid, resolution=Resolution(0, 0))
	Returns the current sl.VIEW.LEFT of the specified camera, the data is synchronized. More...
FUSION_ERROR_CODE	retrieve_measure (self, Mat py_mat, CameraIdentifier uuid, MEASURE measure, resolution=Resolution(0, 0))
	Returns the current measure of the specified camera, the data is synchronized. More...
def	disable_body_tracking (self)
	Disable the body fusion tracking module.
FUSION_ERROR_CODE	enable_positionnal_tracking (self, PositionalTrackingFusionParameters parameters)
	Enables positional tracking fusion module. More...
def	ingest_gnss_data (self, GNSSData gnss_data)
	Ingest GNSS data from an external sensor into the fusion module. More...
def	get_position (self, Pose camera_pose, REFERENCE_FRAME reference_frame=REFERENCE_FRAME.WORLD, CameraIdentifier uuid=CameraIdentifier(), POSITION_TYPE position_type=POSITION_TYPE.FUSION)
	Get the Fused Position referenced to the first camera subscribed. More...
def	get_current_gnss_data (self, GNSSData gnss_data)
	Returns the last synchronized gnss data. More...
GNSS_FUSION_STATUS	get_geo_pose (self, GeoPose pose)
	Returns the current GeoPose. More...
GNSS_FUSION_STATUS	geo_to_camera (self, LatLng input, Pose output)
	Convert latitude / longitude into position in sl::Fusion coordinate system. More...
GNSS_FUSION_STATUS	camera_to_geo (self, Pose input, GeoPose output)
	Convert a position in sl.Fusion coordinate system in global world coordinate. More...
def	disable_positionnal_tracking (self)
	Disable the fusion positional tracking module. More...
tuple[GNSS_FUSION_STATUS, float, np.array]	get_current_gnss_calibration_std (self)
	Get the current calibration uncertainty obtained during calibration process. More...
Transform	get_geo_tracking_calibration (self)
	Get the calibration found between VIO and GNSS. More...

Detailed Description

Holds Fusion process data and functions.

Functions

init()

def init	(		self,
		InitFusionParameters	init_fusion_parameters
	)

Initialize the fusion module with the requested parameters.

Parameters

init_parameters

Initialization parameters.

Returns

ERROR_CODE.SUCCESS if it goes as it should, otherwise it returns an ERROR_CODE.

Referenced by InitParameters.__cinit__(), InitParameters.async_grab_camera_recovery(), InitParameters.camera_disable_self_calib(), InitParameters.camera_fps(), InitParameters.camera_image_flip(), InitParameters.camera_resolution(), InitParameters.coordinate_system(), InitParameters.coordinate_units(), InitParameters.depth_maximum_distance(), InitParameters.depth_minimum_distance(), InitParameters.depth_mode(), InitParameters.depth_stabilization(), InitParameters.enable_image_enhancement(), InitParameters.enable_image_validity_check(), InitParameters.enable_right_side_measure(), InitParameters.grab_compute_capping_fps(), InitParameters.load(), InitParameters.open_timeout_sec(), InitParameters.optional_opencv_calibration_file(), InitParameters.optional_settings_path(), InitParameters.save(), InitParameters.sdk_gpu_id(), InitParameters.sdk_verbose(), InitParameters.sdk_verbose_log_file(), InitParameters.sensors_required(), InitParameters.set_from_camera_id(), InitParameters.set_from_serial_number(), InitParameters.set_from_stream(), InitParameters.set_from_svo_file(), and InitParameters.svo_real_time_mode().

subscribe()

FUSION_ERROR_CODE subscribe	(		self,
		CameraIdentifier	uuid,
		CommunicationParameters	communication_parameters,
		Transform	pose
	)

Set the specified camera as a data provider.

Parameters

uuid	The requested camera identifier.
communication_parameters	The communication parameters to connect to the camera.
pose	The World position of the camera, regarding the other camera of the setup.

Returns

FUSION_ERROR_CODE.SUCCESS if it goes as it should, otherwise it returns an FUSION_ERROR_CODE.

unsubscribe()

FUSION_ERROR_CODE unsubscribe	(		self,
		CameraIdentifier	uuid
	)

Remove the specified camera from data provider.

Parameters

uuid	The requested camera identifier.

Returns

FUSION_ERROR_CODE.SUCCESS if it goes as it should, otherwise it returns an FUSION_ERROR_CODE.

update_pose()

FUSION_ERROR_CODE update_pose	(		self,
		CameraIdentifier	uuid,
		Transform	pose
	)

Updates the specified camera position inside fusion WORLD.

Parameters

uuid	The requested camera identifier.
pose	The World position of the camera, regarding the other camera of the setup.

Returns

FUSION_ERROR_CODE.SUCCESS if it goes as it should, otherwise it returns an FUSION_ERROR_CODE.

get_process_metrics()

(FUSION_ERROR_CODE, FusionMetrics) get_process_metrics

(

self

)

Get the metrics of the Fusion process, for the fused data as well as individual camera provider data.

Parameters

metrics

The process metrics.

Returns

FUSION_ERROR_CODE.SUCCESS if it goes as it should, otherwise it returns an FUSION_ERROR_CODE.

The process metrics.

get_sender_state()

dict get_sender_state

(

self

)

Returns the state of each connected data senders.

Returns

The individual state of each connected senders.

process()

FUSION_ERROR_CODE process

(

self

)

Runs the main function of the Fusion, this trigger the retrieve and synchronization of all connected senders and updates the enabled modules.

Returns

FUSION_ERROR_CODE.SUCCESS if it goes as it should, otherwise it returns an FUSION_ERROR_CODE.

enable_body_tracking()

FUSION_ERROR_CODE enable_body_tracking	(		self,
		BodyTrackingFusionParameters	params
	)

Enables the body tracking fusion module.

Parameters

params

Structure containing all specific parameters for body tracking fusion.

Returns

FUSION_ERROR_CODE.SUCCESS if it goes as it should, otherwise it returns an FUSION_ERROR_CODE.

retrieve_bodies()

FUSION_ERROR_CODE retrieve_bodies	(		self,
		Bodies	bodies,
		BodyTrackingFusionRuntimeParameters	parameters,
		CameraIdentifier	uuid = CameraIdentifier(0)
	)

Retrieves the body data, can be the fused data (default), or the raw data provided by a specific sender.

Parameters

bodies	The fused bodies will be saved into this objects.
parameters	Body detection runtime settings, can be changed at each detection.
uuid	The id of the sender.

Returns

FUSION_ERROR_CODE.SUCCESS if it goes as it should, otherwise it returns an FUSION_ERROR_CODE.

retrieve_image()

FUSION_ERROR_CODE retrieve_image	(		self,
		Mat	py_mat,
		CameraIdentifier	uuid,
			resolution = Resolution(0,0)
	)

Returns the current sl.VIEW.LEFT of the specified camera, the data is synchronized.

Parameters

mat	the CPU BGRA image of the requested camera.
resolution	the requested resolution of the output image, can be lower or equal (default) to the original image resolution.
uuid	If set to a sender serial number (different from 0), this will retrieve the raw data provided by this sender.

Returns

FUSION_ERROR_CODE.SUCCESS if it goes as it should, otherwise it returns an FUSION_ERROR_CODE.

retrieve_measure()

FUSION_ERROR_CODE retrieve_measure	(		self,
		Mat	py_mat,
		CameraIdentifier	uuid,
		MEASURE	measure,
			resolution = Resolution(0,0)
	)

Returns the current measure of the specified camera, the data is synchronized.

Parameters

mat	the CPU data of the requested camera.
resolution	the requested resolution of the output image, can be lower or equal (default) to the original image resolution.
uuid	The id of the sender.
measure	measure: the requested measure type, by default DEPTH (F32_C1).

Returns

FUSION_ERROR_CODE.SUCCESS if it goes as it should, otherwise it returns an FUSION_ERROR_CODE.

enable_positionnal_tracking()

FUSION_ERROR_CODE enable_positionnal_tracking	(		self,
		PositionalTrackingFusionParameters	parameters
	)

Enables positional tracking fusion module.

Parameters

parameters

A structure containing all the PositionalTrackingFusionParameters that define positional tracking fusion module.

Returns

FUSION_ERROR_CODE.SUCCESS if it goes as it should, otherwise it returns an FUSION_ERROR_CODE.

ingest_gnss_data()

def ingest_gnss_data	(		self,
		GNSSData	gnss_data
	)

Ingest GNSS data from an external sensor into the fusion module.

Parameters

gnss_data

The current GNSS data to combine with the current positional tracking data.

Returns

FUSION_ERROR_CODE.SUCCESS if it goes as it should, otherwise it returns an FUSION_ERROR_CODE.

get_position()

def get_position	(		self,
		Pose	camera_pose,
		REFERENCE_FRAME	reference_frame = REFERENCE_FRAME.WORLD,
		CameraIdentifier	uuid = CameraIdentifier(),
		POSITION_TYPE	position_type = POSITION_TYPE.FUSION
	)

Get the Fused Position referenced to the first camera subscribed.

If uuid is specified then project position on the referenced camera.

Parameters

camera_pose	Will contain the fused position referenced by default in world (world is given by the calibration of the cameras system).
reference_frame	Defines the reference from which you want the pose to be expressed. Default : REFERENCE_FRAME.WORLD.
uuid	If set to a sender serial number (different from 0), this will retrieve position projected on the requested camera if position_type is equal to POSITION_TYPE.FUSION or raw sender position if position_type is equal to POSITION_TYPE.RAW.
position_type	Select if the position should the fused position re-projected in the camera with uuid or if the position should be the raw position (without fusion) of camera with uui.

Returns

POSITIONAL_TRACKING_STATE is the current state of the tracking process.

get_current_gnss_data()

def get_current_gnss_data	(		self,
		GNSSData	gnss_data
	)

Returns the last synchronized gnss data.

Parameters

out	[out]: Last synchronized gnss data.

Returns

POSITIONAL_TRACKING_STATE is the current state of the tracking process.

get_geo_pose()

GNSS_FUSION_STATUS get_geo_pose	(		self,
		GeoPose	pose
	)

Returns the current GeoPose.

Parameters

pose	[out]: The current GeoPose.

Returns

GNSS_FUSION_STATUS is the current state of the tracking process.

geo_to_camera()

GNSS_FUSION_STATUS geo_to_camera	(		self,
		LatLng	input,
		Pose	output
	)

Convert latitude / longitude into position in sl::Fusion coordinate system.

Parameters

input	[in]: The latitude / longitude to be converted in sl::Fusion coordinate system.
out	[out]: Converted position in sl.Fusion coordinate system.

Returns

GNSS_FUSION_STATUS is the current state of the tracking process.

camera_to_geo()

GNSS_FUSION_STATUS camera_to_geo	(		self,
		Pose	input,
		GeoPose	output
	)

Convert a position in sl.Fusion coordinate system in global world coordinate.

Parameters

pose	[in]: Position to convert in global world coordinate.
pose	[out]: Converted position in global world coordinate.

Returns

GNSS_FUSION_STATUS is the current state of the tracking process.

disable_positionnal_tracking()

def disable_positionnal_tracking

(

self

)

Disable the fusion positional tracking module.

The positional tracking is immediately stopped. If a file path is given, saveAreaMap(area_file_path) will be called asynchronously. See getAreaExportState() to get the exportation state.

get_current_gnss_calibration_std()

tuple[GNSS_FUSION_STATUS, float, np.array] get_current_gnss_calibration_std

(

self

)

Get the current calibration uncertainty obtained during calibration process.

Returns

sl.GNSS_FUSION_STATUS representing current initialisation status.

Output yaw uncertainty.

Output position uncertainty.

get_geo_tracking_calibration()

Transform get_geo_tracking_calibration

(

self

)

Get the calibration found between VIO and GNSS.

Returns

sl.Transform is the calibration found between VIO and GNSS during calibration process.