Holds the options used to initialize the Fusion object. More...

Functions
	InitFusionParameters (UNIT coordinate_units_=UNIT::MILLIMETER, COORDINATE_SYSTEM coordinate_system_=COORDINATE_SYSTEM::IMAGE, bool output_performance_metrics=true, int verbose_=0, unsigned timeout_period_number_=5, int sdk_gpu_id_=-1, CUcontext sdk_cuda_ctx_=CUcontext(), SynchronizationParameter synchronization_parameters_=SynchronizationParameter(), sl::Resolution maximum_working_resolution_=sl::Resolution(-1, -1))
	Default constructor. More...

bool	save (String filename) const
	Saves the current set of parameters into a file to be reloaded with the load() method. More...

bool	load (String filename)
	Loads a set of parameters from the values contained in a previously saved file. More...

bool	encode (String &serialized_content) const
	Generate a JSON Object (with the struct type as a key) containing the serialized struct, converted into a string. More...

bool	decode (const String &serialized_content)
	Fill the structure from the serialized json object contained in the input string. More...

bool	operator== (const InitFusionParameters &param1) const
	Comparison operator ==. More...

bool	operator!= (const InitFusionParameters &param1) const
	Comparison operator !=. More...

Attributes
UNIT	coordinate_units
	This parameter allows you to select the unit to be used for all metric values of the SDK (depth, point cloud, tracking, mesh, and others). More...

COORDINATE_SYSTEM	coordinate_system
	Positional tracking, point clouds and many other features require a given COORDINATE_SYSTEM to be used as reference. This parameter allows you to select the COORDINATE_SYSTEM used by the Camera to return its measures. More...

bool	output_performance_metrics
	It allows users to extract some stats of the Fusion API like drop frame of each camera, latency, etc... More...

int	verbose
	Enable the verbosity mode of the SDK. More...

unsigned	timeout_period_number
	If specified change the number of period necessary for a source to go in timeout without data. For example, if you set this to 5 then, if any source do not receive data during 5 period, these sources will go to timeout and will be ignored. More...

CUdevice	sdk_gpu_id
	NVIDIA graphics card to use. More...

CUcontext	sdk_cuda_ctx
	CUcontext to be used. More...

SynchronizationParameter	synchronization_parameters
	Specifies the parameters used for data synchronization during fusion. More...

sl::Resolution	maximum_working_resolution
	Sets the maximum resolution for all Fusion outputs, such as images and measures. More...

Detailed Description

Holds the options used to initialize the Fusion object.

Constructor and Destructor

◆ InitFusionParameters()

InitFusionParameters	(	UNIT	coordinate_units_ = `UNIT::MILLIMETER`,
		COORDINATE_SYSTEM	coordinate_system_ = `COORDINATE_SYSTEM::IMAGE`,
		bool	output_performance_metrics = `true`,
		int	verbose_ = `0`,
		unsigned	timeout_period_number_ = `5`,
		int	sdk_gpu_id_ = `-1`,
		CUcontext	sdk_cuda_ctx_ = `CUcontext()`,
		SynchronizationParameter	synchronization_parameters_ = `SynchronizationParameter()`,
		sl::Resolution	maximum_working_resolution_ = `sl::Resolution(-1, -1)`
	)

Default constructor.

Functions

◆ save()

bool save ( String filename ) const

Saves the current set of parameters into a file to be reloaded with the load() method.

Parameters

filename : Name of the file which will be created to store the parameters (extension '.json' will be added if not set).

Returns: True if the file was successfully saved, otherwise false.

Warning: For security reasons, the file must not already exist.; In case a file already exists, the method will return false and existing file will not be updated.

◆ load()

bool load ( String filename )

Loads a set of parameters from the values contained in a previously saved file.

Parameters

filename : Path to the file from which the parameters will be loaded (extension '.json' will be added at the end of the filename if not detected).

Returns: True if the file was successfully loaded, otherwise false.

◆ encode()

bool encode ( String & serialized_content ) const

Generate a JSON Object (with the struct type as a key) containing the serialized struct, converted into a string.

Parameters

serialized_content output string containing the JSON Object

Returns: True if file was successfully saved, otherwise false.

◆ decode()

bool decode ( const String & serialized_content )

Fill the structure from the serialized json object contained in the input string.

Parameters

serialized_content input string containing the JSON Object

Returns: True if the decoding was successful, otherwise false.

◆ operator==()

bool operator== ( const InitFusionParameters & param1 ) const

Comparison operator ==.

Parameters

param1 to compare

Returns: true if the two struct are identical

◆ operator!=()

bool operator!= ( const InitFusionParameters & param1 ) const

Comparison operator !=.

Parameters

param1 to compare

Returns: true if the two struct are different

Variables

◆ coordinate_units

UNIT coordinate_units

This parameter allows you to select the unit to be used for all metric values of the SDK (depth, point cloud, tracking, mesh, and others).

Default : UNIT::MILLIMETER

◆ coordinate_system

COORDINATE_SYSTEM coordinate_system

Positional tracking, point clouds and many other features require a given COORDINATE_SYSTEM to be used as reference. This parameter allows you to select the COORDINATE_SYSTEM used by the Camera to return its measures.

This defines the order and the direction of the axis of the coordinate system.
Default : COORDINATE_SYSTEM::IMAGE

◆ output_performance_metrics

bool output_performance_metrics

It allows users to extract some stats of the Fusion API like drop frame of each camera, latency, etc...

◆ verbose

int verbose

Enable the verbosity mode of the SDK.

◆ timeout_period_number

unsigned timeout_period_number

If specified change the number of period necessary for a source to go in timeout without data. For example, if you set this to 5 then, if any source do not receive data during 5 period, these sources will go to timeout and will be ignored.

Note: This parameter is deprecated. Use data_source_timeout present in synchronization_parameters instead.

◆ sdk_gpu_id

CUdevice sdk_gpu_id

NVIDIA graphics card to use.

By default the SDK will use the most powerful NVIDIA graphics card found.
However, when running several applications, or using several cameras at the same time, splitting the load over available GPUs can be useful.
This parameter allows you to select the GPU used by the sl::Camera using an ID from 0 to n-1 GPUs in your PC.
Default: -1

Note: A non-positive value will search for all CUDA capable devices and select the most powerful.

◆ sdk_cuda_ctx

CUcontext sdk_cuda_ctx

CUcontext to be used.

If your application uses another CUDA-capable library, giving its CUDA context to the ZED SDK can be useful when sharing GPU memories.
This parameter allows you to set the CUDA context to be used by the ZED SDK.
Leaving this parameter empty asks the SDK to create its own context.
Default: (empty)

Note: When creating you own CUDA context, you have to define the device you will use. Do not forget to also specify it on sdk_gpu_id.; On Jetson, you have to set the flag CU_CTX_SCHED_YIELD, during CUDA context creation.; You can also let the SDK create its own context, and use sl::Camera::getCUDAContext() to use it.

◆ synchronization_parameters

SynchronizationParameter synchronization_parameters

Specifies the parameters used for data synchronization during fusion.

The SynchronizationParameter struct encapsulates the synchronization parameters that control the data fusion process.

◆ maximum_working_resolution

sl::Resolution maximum_working_resolution

Sets the maximum resolution for all Fusion outputs, such as images and measures.

The default value is (-1, -1), which allows the Fusion to automatically select the optimal resolution for the best quality/runtime ratio.

For images, the output resolution can be up to the native resolution of the camera.
For measures involving depth, the output resolution can be up to the maximum working resolution.

Setting this parameter to (-1, -1) will ensure the best balance between quality and performance for depth measures.

Functions

Attributes

Detailed Description

Constructor and Destructor

◆ InitFusionParameters()

Functions

◆ save()

◆ load()

◆ encode()

◆ decode()

◆ operator==()

◆ operator!=()

Variables

◆ coordinate_units

◆ coordinate_system

◆ output_performance_metrics

◆ verbose

◆ timeout_period_number

◆ sdk_gpu_id

◆ sdk_cuda_ctx

◆ synchronization_parameters

◆ maximum_working_resolution