sl Namespace Reference

Classes
struct	CalibrationParameters
	Intrinsic and Extrinsic parameters of the camera (translation and rotation). More...
class	Camera
	This class is the main interface with the camera and the SDK features, suche as: video, depth, tracking, mapping, and more. Find more information in the detailed description below. . More...
struct	CameraInformation
	Structure containing information of a signle camera (serial number, model, calibration, etc.) More...
struct	CameraParameters
	Intrinsic parameters of a camera. More...
class	Chunk
	Represents a sub-mesh, it contains local vertices and triangles. More...
struct	DeviceProperties
	Properties of a camera. More...
class	FusedPointCloud
	A fused point cloud contains both geometric and color data of the scene captured by spatial mapping. More...
class	IMUData
	Contains inertial positional tracking data which gives the orientation of the ZED-M. More...
class	InitParameters
	Holds the options used to initialize the Camera object. Once passed to the Camera::open() function, these settings will be set for the entire execution life time of the Camera. You can get further information in the detailed description bellow. . More...
class	InputType
	Defines the input type used in the ZED SDK. Can be used to select a specific camera with ID or serial number, or a svo file. More...
class	Mat
	The Mat class can handle multiple matrix format from 1 to 4 channels, with different value types (float or uchar), and can be stored CPU and/or GPU side. More...
class	Matrix3f
	Represents a generic 3*3 matrix. More...
class	Matrix4f
	Represents a generic 4*4 matrix. More...
class	Mesh
	A mesh contains the geometric (and optionally texture) data of the scene captured by spatial mapping. More...
class	MeshFilterParameters
	Defines the behavior of the sl::Mesh::filter function. More...
class	Orientation
	Designed to contain orientation (quaternion) data of the positional tracking. More...
class	Plane
	A plane defined by a point and a normal, or a plane equation Other elements can be extracted such as the mesh, the 3D bounds... More...
class	PointCloudChunk
	Represents a sub fused point cloud, it contains local vertices and colors. More...
class	Pose
	Contains positional tracking data which gives the position and orientation of the ZED in 3D space. More...
struct	RecordingState
	Recording structure that contains information about SVO. More...
struct	Resolution
	Width and height of an array. More...
class	Rotation
	Designed to contain rotation data of the positional tracking. It inherits from the generic Matrix3f. More...
class	RuntimeParameters
	Parameters that defines the behavior of the grab. More...
class	SpatialMappingParameters
	Sets the spatial mapping parameters. More...
class	StreamingParameters
	Sets the streaming parameters. More...
struct	StreamingProperties
	Properties of a all streaming devices. More...
class	String
	Defines a string. More...
class	Texture
	Contains information about texture image associated to a Mesh. More...
class	TrackingParameters
	Parameters for positional tracking initialization. More...
class	Transform
	Designed to contain translation and rotation data of the positional tracking. More...
class	Translation
	Designed to contain translation data of the positional tracking. More...
class	Vector2
	Represents a two dimensions vector for both CPU and GPU. More...
class	Vector3
	Represents a three dimensions vector for both CPU and GPU. More...
class	Vector4
	Represents a four dimensions vector for both CPU and GPU. More...

Typedefs
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 uint64_t	timeStamp

Enumerations
enum	UNIT
	Lists available unit for measures. More...
enum	COORDINATE_SYSTEM
	Lists available coordinates systems for positional tracking and 3D measures. More...
enum	ERROR_CODE
	Lists error codes in the ZED SDK. More...
enum	MODEL
	Lists compatible ZED Camera model. More...
enum	INPUT_TYPE
	Lists availble input type in SDK. More...
enum	CAMERA_STATE
	List of possible camera state. More...
enum	STREAMING_CODEC
	List of possible camera state. More...
enum	MESH_FILE_FORMAT
	Lists available mesh file formats. More...
enum	MESH_TEXTURE_FORMAT
	Lists available mesh texture formats. More...
enum	PLANE_TYPE
	List available plane type detected from the orientation. More...
enum	MEM
	List available memory type. More...
enum	COPY_TYPE
	List available copy operation on Mat. More...
enum	MAT_TYPE
	List available Mat formats. More...
enum	RESOLUTION
	Represents the available resolution defined in the cameraResolution list. More...
enum	CAMERA_SETTINGS
	Lists available camera settings for the ZED camera (contrast, hue, saturation, gain...). More...
enum	SELF_CALIBRATION_STATE
	Status for asynchrnous self-calibration. More...
enum	DEPTH_MODE
	Lists available depth computation modes. More...
enum	SENSING_MODE
	Lists available depth sensing modes. More...
enum	MEASURE
	Lists retrievable measures. More...
enum	VIEW
	Lists available views. More...
enum	TIME_REFERENCE
	Lists specific and particular timestamps. More...
enum	DEPTH_FORMAT
	Lists available file formats for saving depth maps. More...
enum	POINT_CLOUD_FORMAT
	Lists available file formats for saving point clouds. Stores the spatial coordinates (x,y,z) of each pixel and optionally its RGB color. More...
enum	TRACKING_STATE
	Lists the different states of positional tracking. More...
enum	AREA_EXPORT_STATE
	Lists the different states of spatial memory area export. More...
enum	REFERENCE_FRAME
	Defines which type of position matrix is used to store camera path and pose. More...
enum	SPATIAL_MAPPING_STATE
	Gives the spatial mapping state. More...
enum	SVO_COMPRESSION_MODE
	Lists available compression modes for SVO recording. More...

Functions
String	toString (const UNIT &unit)
	Converts the given enum to a readable string. More...
String	toString (const COORDINATE_SYSTEM &coord_system)
	Converts the given enum to a readable string. More...
String	toString (const ERROR_CODE &errorCode)
	Converts the given enum to a readable string. More...
String	toVerbose (const ERROR_CODE &errorCode)
	Return a text explaining how to fix the given ERROR_CODE. More...
String	toString (const MODEL &model)
	Converts the given enum to a readable string. More...
String	toString (const INPUT_TYPE &input_type)
	Converts the given enum to a readable string. More...
String	toString (const CAMERA_STATE &camera_state)
	Converts the given enum to a readable string. More...
String	toString (const DeviceProperties &properties)
	Converts the given struct to a readable string. More...
String	toString (const StreamingProperties &properties)
	Converts the given struct to a readable string. More...
void	sleep_ms (int time)
	Tells the program to wait for x ms. More...
void	sleep_us (int time)
	Tells the program to wait for x us. More...
String	toString (const MESH_FILE_FORMAT &mesh_frmt)
	Converts the given enumerated value into readable text. More...
String	toString (const MESH_TEXTURE_FORMAT &text_frmt)
	Converts the given enumerated value into readable text. More...
String	toString (const MeshFilterParameters::MESH_FILTER &mesh_filter)
	Converts the given enumerated value into readable text. More...
String	toString (const PLANE_TYPE &type)
	Converts the given enumerated value into readable text. More...
bool	saveDepthAs (Camera &zed, DEPTH_FORMAT format, String name, float factor=1.)
	Writes the current depth map into a file. More...
bool	saveDepthAs (Mat &depth, DEPTH_FORMAT format, String name, float factor=1.)
	Writes the current depth map into a file. More...
bool	savePointCloudAs (Camera &zed, POINT_CLOUD_FORMAT format, String name, bool with_color=false)
	Writes the current point cloud into a file. More...
bool	savePointCloudAs (Mat &cloud, POINT_CLOUD_FORMAT format, String name, bool with_color=false)
	Writes the current point cloud into a file. More...
String	toString (const SpatialMappingParameters::MAPPING_RESOLUTION &resolution)
	Converts the given enumerated value into readable text. More...
String	toString (const SpatialMappingParameters::MAPPING_RANGE &range)
	Converts the given enumerated value into readable text. More...
String	toString (const SpatialMappingParameters::SPATIAL_MAP_TYPE &map_type)
	Converts the given enumerated value into readable text. More...
String	toString (const MEM &mem)
	Convert the given enumerated value into readable text. More...
String	toString (const COPY_TYPE &cpy)
	Convert the given enumerated value into readable text. More...
String	toString (const MAT_TYPE &type)
	Convert the given enumerated value into readable text. 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...
String	toString (const RESOLUTION &resolution)
	Converts the given enumerated value into readable text. More...
String	toString (const CAMERA_SETTINGS &camSettings)
	Converts the given enumerated value into readable text. More...
String	toString (const SELF_CALIBRATION_STATE &selfCalibState)
	Converts the given enumerated value into readable text. More...
String	toString (const DEPTH_MODE &depthMode)
	Converts the given enumerated value into readable text. More...
String	toString (const SENSING_MODE &sensingMode)
	Converts the given enumerated value into readable text. More...
String	toString (const MEASURE &measure)
	Converts the given enumerated value into readable text. More...
String	toString (const VIEW &view)
	Converts the given enumerated value into readable text. More...
String	toString (const TIME_REFERENCE &time_reference)
	Converts the given enumerated value into readable text. More...
String	toString (const DEPTH_FORMAT &depth_frmt)
	Converts the given enumerated value into readable text. More...
String	toString (const POINT_CLOUD_FORMAT &pc_frmt)
	Converts the given enumerated value into readable text. More...
String	toString (const TRACKING_STATE &track_state)
	Converts the given enumerated value into readable text. More...
String	toString (const AREA_EXPORT_STATE &area_export)
	Converts the given enumerated value into readable text. More...
String	toString (const REFERENCE_FRAME &ref_frame)
	Converts the given enumerated value into readable text. More...
String	toString (const SPATIAL_MAPPING_STATE &mapping_state)
	Converts the given enumerated value into readable text. More...
String	toString (const SVO_COMPRESSION_MODE &svo_compression)
	Converts the given enumerated value into readable text. More...
String	resolution2str (RESOLUTION res)
	Converts the given RESOLUTION into a string. More...
String	statusCode2str (SELF_CALIBRATION_STATE state)
	Converts the given SELF_CALIBRATION_STATE into a string. More...
DEPTH_MODE	str2mode (String mode)
	Converts the given string into a DEPTH_MODE. More...
String	depthMode2str (DEPTH_MODE mode)
	Converts the given DEPTH_MODE into a string. More...
String	sensingMode2str (SENSING_MODE mode)
	Converts the given SENSING_MODE into a string. More...
String	trackingState2str (TRACKING_STATE state)
	Converts the given TRACKING_STATE into a string. More...
String	spatialMappingState2str (SPATIAL_MAPPING_STATE state)
	Converts the given SPATIAL_MAPPING_STATE into a string. More...
Enumeration conversion
String	model2str (MODEL model)
	Converts the given MODEL into a string. More...
String	errorCode2str (ERROR_CODE errorCode)
	Converts the given ERROR_CODE into a string. More...
String	unit2str (UNIT unit)
	Converts the given UNIT into a string. More...
UNIT	str2unit (String unit)
	Converts the given string into a UNIT. More...

Variables
static const float	INVALID_VALUE = NAN
Unavailable Values
static const float	TOO_FAR = INFINITY
static const float	TOO_CLOSE = -INFINITY
static const float	OCCLUSION_VALUE = NAN
ZED Camera Resolution
static const std::vector< std::pair< int, int > >	cameraResolution
	Lists available video modes for the ZED camera. std::vector<std::pair(width, height)> More...

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

timeStamp

typedef uint64_t timeStamp

Enumeration Type Documentation

PLANE_TYPE

enum PLANE_TYPE

List available plane type detected from the orientation.

Enumerator
PLANE_TYPE_HORIZONTAL
PLANE_TYPE_VERTICAL
PLANE_TYPE_UNKNOWN
PLANE_TYPE_LAST

Function Documentation

toString()

String sl::toString

(

const PLANE_TYPE &

type

)

Converts the given enumerated value into readable text.

Returns

The enumerated value as a string.

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_32F_C4 (the fourth value will be ignored as it contained the color information) or a MAT_TYPE_32F_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_32F_C4 (the fourth value will be ignored as it contained the color information), MAT_TYPE_32F_C3 or a MAT_TYPE_32F_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

floatMat	: (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.

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

Referenced by Camera::isOpened().