Data Structures
struct	SL_Quaternion
	Quaternion. More...

struct	SL_Vector2
	Vector2. More...

struct	SL_Vector3
	Vector3. More...

struct	SL_Vector4
	Vector4. More...

struct	SL_Uchar2
	uchar2 More...

struct	SL_Uchar3
	uchar3 More...

struct	SL_Uchar4
	uchar4 More...

struct	SL_Matrix4f
	Matric4x4. More...

struct	SL_Matrix3f
	Matrix3x3. More...

struct	SL_PoseData

struct	SL_PlaneData

struct	SL_IMUData
	IMU Data structure. More...

struct	SL_BarometerData
	Barometer Data structure. More...

struct	SL_MagnetometerData
	Magnometer Data structure. More...

struct	SL_TemperatureData
	Temperature Data structure. More...

struct	SL_SensorData
	Sensor Data structure. More...

struct	USB_product

struct	SL_Resolution
	Resolution. More...

struct	SL_InitParameters

struct	SL_RuntimeParameters

struct	SL_DeviceProperties

struct	SL_CameraParameters

struct	SL_CalibrationParameters

struct	SL_SensorParameters
	Structure containing information about a single sensor available in the current device. More...

struct	SL_CameraConfiguration
	Structure containing information about the camera sensor. More...

struct	SL_SensorsConfiguration

struct	SL_CameraInformation
	Structure containing information of a single camera (serial number, model, input type, etc.) More...

struct	SL_PositionalTrackingParameters

struct	SL_RecordingStatus
	Recording structure that contains information about SVO. More...

struct	SL_RecordingParameters
	Sets the recording parameters. More...

struct	SL_StreamingParameters
	Sets the streaming parameters. More...

struct	SL_StreamingProperties

struct	SL_SpatialMappingParameters

struct	SL_BatchParameters

struct	SL_AI_Model_status
	contains AI model status. More...

struct	SL_ObjectDetectionParameters

struct	SL_ObjectDetectionRuntimeParameters

struct	SL_ObjectData

struct	SL_CustomBoxObjectData
	Container to store the externally detected objects. The objects can be ingested using sl_ingest_custom_box_objects() functions to extract 3D information and tracking over time. More...

struct	SL_Objects

struct	SL_ObjectsBatch
	Objects batch structure. More...

struct	SL_Rect

Macros
#define	WITH_OBJECT_DETECTION 1

#define	MAX_CAMERA_PLUGIN 4

#define	MAX_SUBMESH 1000

#define	MAX_NUMBER_OBJECT 75

#define	MAX_TRAJECTORY_SIZE 200

Enumerations
enum	UNITY_PLAN_TYPE

enum	SL_HEADING_STATE
	Heading state enum. More...

enum	USB_DEVICE

enum	SL_ERROR_CODE
	Lists error codes in the ZED SDK. More...

enum	SL_RESOLUTION
	Represents the available resolution defined in the cameraResolution list. More...

enum	SL_UNIT
	Lists available unit for measures. More...

enum	SL_COORDINATE_SYSTEM
	Lists available coordinates systems for positional tracking and 3D measures. More...

enum	SL_CAMERA_STATE
	List of possible camera state. More...

enum	SL_MODEL
	Lists compatible ZED Camera model. More...

enum	SL_MEM
	List available memory type. More...

enum	SL_SENSOR_TYPE
	List of the available onboard sensors. More...

enum	SL_SENSORS_UNIT
	List of the available onboard sensors measurement units. More...

enum	SL_SIDE

enum	SL_INPUT_TYPE

enum	SL_REFERENCE_FRAME
	Defines which type of position matrix is used to store camera path and pose. More...

enum	SL_SENSOR_WORLD
	Lists different World frame available More...

enum	SL_TIME_REFERENCE
	Lists specific and particular timestamps. More...

enum	SL_STREAMING_CODEC
	List of codec. More...

enum	SL_VIDEO_SETTINGS
	Lists available camera settings for the ZED camera (contrast, hue, saturation, gain...). More...

enum	SL_MEASURE
	Lists retrievable measures. More...

enum	SL_VIEW
	Lists available views. More...

enum	SL_OBJECT_TRACKING_STATE
	Lists available object tracking state. More...

enum	SL_POSITIONAL_TRACKING_STATE
	Lists the different states of positional tracking. More...

enum	SL_AREA_EXPORTING_STATE
	Lists the different states of spatial memory area export. More...

enum	SL_SPATIAL_MAPPING_STATE
	Gives the spatial mapping state. More...

enum	SL_SPATIAL_MAP_TYPE
	Lists the types of spatial maps that can be created. More...

enum	SL_MESH_FILTER
	Lists available mesh filtering intensity. More...

enum	SL_MESH_FILE_FORMAT
	Lists available mesh file formats. More...

enum	SL_SENSING_MODE
	Lists available depth sensing modes. More...

enum	SL_DEPTH_MODE
	Lists available depth computation modes. More...

enum	SL_FLIP_MODE
	Gives the camera flip mode. More...

enum	SL_COPY_TYPE
	List available copy operation on Mat. More...

enum	SL_SVO_COMPRESSION_MODE
	Lists available compression modes for SVO recording. More...

enum	SL_MAT_TYPE
	List available Mat formats. More...

enum	SL_OBJECT_SUBCLASS
	Available object subclass, given as hint, when using object tracking an object can change of OBJECT_SUBCLASS while keeping the same OBJECT_CLASS and id (i.e: frame M: MOTORBIKE, frame N:BICYCLE) More...

enum	SL_OBJECT_ACTION_STATE
	Lists available object action state. More...

enum	SL_DETECTION_MODEL
	List available models for detection. More...

enum	SL_AI_MODELS
	Lists available AI moles.

enum	SL_OBJECT_FILTERING_MODE
	Lists of supported bounding box preprocessing. More...

enum	SL_BODY_FORMAT
	Lists of supported skeleton body model. More...

enum	SL_BODY_PARTS_POSE_18
	semantic of human body parts and order of ObjectData::keypoint.

enum	SL_BODY_PARTS_POSE_34
	semantic of human body parts and order of ObjectData::keypoint for BODY_FORMAT::POSE_34.

enum	SL_OBJECT_CLASS
	Lists available object class. More...

Variables
const int	SL_VIDEO_SETTINGS_VALUE_AUTO = -1

Enumeration Type Documentation

◆ SL_HEADING_STATE

enum SL_HEADING_STATE

Heading state enum.

Enumerator
SL_HEADING_STATE_GOOD	The heading is reliable and not affected by iron interferences.
SL_HEADING_STATE_OK	The heading is reliable, but affected by slight iron interferences.
SL_HEADING_STATE_NOT_GOOD	The heading is not reliable because affected by strong iron interferences.
SL_HEADING_STATE_NOT_CALIBRATED	The magnetometer has not been calibrated.
SL_HEADING_STATE_MAG_NOT_AVAILABLE	The magnetomer sensor is not available.

◆ SL_ERROR_CODE

enum SL_ERROR_CODE

Lists error codes in the ZED SDK.

Enumerator
SL_ERROR_CODE_SUCCESS	Standard code for successful behavior.
SL_ERROR_CODE_FAILURE	Standard code for unsuccessful behavior.
SL_ERROR_CODE_NO_GPU_COMPATIBLE	No GPU found or CUDA capability of the device is not supported.
SL_ERROR_CODE_NOT_ENOUGH_GPU_MEMORY	Not enough GPU memory for this depth mode, try a different mode (such as PERFORMANCE), or increase the minimum depth value (see InitParameters::depth_minimum_distance).
SL_ERROR_CODE_CAMERA_NOT_DETECTED	The ZED camera is not plugged or detected.
SL_ERROR_CODE_SENSORS_NOT_INITIALIZED	The MCU that controls the sensors module has an invalid Serial Number. You can try to recover it launching the 'ZED Diagnostic' tool from the command line with the option '-r'.
SL_ERROR_CODE_SENSORS_NOT_AVAILABLE	a ZED-M or ZED2/2i camera is detected but the sensors (imu,barometer...) cannot be opened. Only for ZED-M or ZED2/2i devices. Unplug/replug is required
SL_ERROR_CODE_INVALID_RESOLUTION	In case of invalid resolution parameter, such as a upsize beyond the original image size in Camera::retrieveImage
SL_ERROR_CODE_LOW_USB_BANDWIDTH	This issue can occurs when you use multiple ZED or a USB 2.0 port (bandwidth issue).
SL_ERROR_CODE_CALIBRATION_FILE_NOT_AVAILABLE	ZED calibration file is not found on the host machine. Use ZED Explorer or ZED Calibration to get one.
SL_ERROR_CODE_INVALID_CALIBRATION_FILE	ZED calibration file is not valid, try to download the factory one or recalibrate your camera using 'ZED Calibration'.
SL_ERROR_CODE_INVALID_SVO_FILE	The provided SVO file is not valid.
SL_ERROR_CODE_SVO_RECORDING_ERROR	An recorder related error occurred (not enough free storage, invalid file).
SL_ERROR_CODE_SVO_UNSUPPORTED_COMPRESSION	An SVO related error when NVIDIA based compression cannot be loaded.
SL_ERROR_CODE_END_OF_SVOFILE_REACHED	SVO end of file has been reached, and no frame will be available until the SVO position is reset.
SL_ERROR_CODE_INVALID_COORDINATE_SYSTEM	The requested coordinate system is not available.
SL_ERROR_CODE_INVALID_FIRMWARE	The firmware of the ZED is out of date. Update to the latest version.
SL_ERROR_CODE_INVALID_FUNCTION_PARAMETERS	An invalid parameter has been set for the function.
SL_ERROR_CODE_CUDA_ERROR	In grab() or retrieveXXX() only, a CUDA error has been detected in the process. Activate verbose in SL_Camera::open for more info.
SL_ERROR_CODE_CAMERA_NOT_INITIALIZED	In grab() only, ZED SDK is not initialized. Probably a missing call to SL_Camera::open.
SL_ERROR_CODE_NVIDIA_DRIVER_OUT_OF_DATE	Your NVIDIA driver is too old and not compatible with your current CUDA version.
SL_ERROR_CODE_INVALID_FUNCTION_CALL	The call of the function is not valid in the current context. Could be a missing call of SL_Camera::open.
SL_ERROR_CODE_CORRUPTED_SDK_INSTALLATION	The SDK wasn't able to load its dependencies or somes assets are missing, the installer should be launched.
SL_ERROR_CODE_INCOMPATIBLE_SDK_VERSION	The installed SDK is incompatible SDK used to compile the program.
SL_ERROR_CODE_INVALID_AREA_FILE	The given area file does not exist, check the path.
SL_ERROR_CODE_INCOMPATIBLE_AREA_FILE	The area file does not contain enought data to be used or the SL_DEPTH_MODE used during the creation of the area file is different from the one currently set.
SL_ERROR_CODE_CAMERA_FAILED_TO_SETUP	Failed to open the camera at the proper resolution. Try another resolution or make sure that the UVC driver is properly installed.
SL_ERROR_CODE_CAMERA_DETECTION_ISSUE	Your ZED can not be opened, try replugging it to another USB port or flipping the USB-C connector.
SL_ERROR_CODE_CANNOT_START_CAMERA_STREAM	Cannot start camera stream. Make sure your camera is not already used by another process or blocked by firewall or antivirus.
SL_ERROR_CODE_NO_GPU_DETECTED	No GPU found, CUDA is unable to list it. Can be a driver/reboot issue.
SL_ERROR_CODE_PLANE_NOT_FOUND	Plane not found, either no plane is detected in the scene, at the location or corresponding to the floor, or the floor plane doesn't match the prior given
SL_ERROR_CODE_MODULE_NOT_COMPATIBLE_WITH_CAMERA	The Object detection module is only compatible with the ZED 2
SL_ERROR_CODE_MOTION_SENSORS_REQUIRED	The module needs the sensors to be enabled (see InitParameters::disable_sensors)
SL_ERROR_CODE_MODULE_NOT_COMPATIBLE_WITH_CUDA_VERSION	The module needs a newer version of CUDA

◆ SL_RESOLUTION

enum SL_RESOLUTION

Represents the available resolution defined in the cameraResolution list.

Note: The VGA resolution does not respect the 640*480 standard to better fit the camera sensor (672*376 is used).

Enumerator
SL_RESOLUTION_HD2K	2208*1242, available framerates: 15 fps.
SL_RESOLUTION_HD1080	1920*1080, available framerates: 15, 30 fps.
SL_RESOLUTION_HD720	1280*720, available framerates: 15, 30, 60 fps.
SL_RESOLUTION_VGA	672*376, available framerates: 15, 30, 60, 100 fps.

◆ SL_UNIT

enum SL_UNIT

Lists available unit for measures.

Enumerator
SL_UNIT_MILLIMETER	International System, 1/1000 METER.
SL_UNIT_CENTIMETER	International System, 1/100 METER.
SL_UNIT_METER	International System, 1 METER
SL_UNIT_INCH	Imperial Unit, 1/12 FOOT
SL_UNIT_FOOT	Imperial Unit, 1 FOOT

◆ SL_COORDINATE_SYSTEM

enum SL_COORDINATE_SYSTEM

Lists available coordinates systems for positional tracking and 3D measures.

Enumerator
SL_COORDINATE_SYSTEM_IMAGE	Standard coordinates system in computer vision. Used in OpenCV : see here : http://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html
SL_COORDINATE_SYSTEM_LEFT_HANDED_Y_UP	Left-Handed with Y up and Z forward. Used in Unity with DirectX.
SL_COORDINATE_SYSTEM_RIGHT_HANDED_Y_UP	Right-Handed with Y pointing up and Z backward. Used in OpenGL.
SL_COORDINATE_SYSTEM_RIGHT_HANDED_Z_UP	Right-Handed with Z pointing up and Y forward. Used in 3DSMax.
SL_COORDINATE_SYSTEM_LEFT_HANDED_Z_UP	Left-Handed with Z axis pointing up and X forward. Used in Unreal Engine.
SL_COORDINATE_SYSTEM_RIGHT_HANDED_Z_UP_X_FWD	Right-Handed with Z pointing up and X forward. Used in ROS (REP 103).

◆ SL_CAMERA_STATE

enum SL_CAMERA_STATE

List of possible camera state.

Enumerator
SL_CAMERA_STATE_AVAILABLE	Defines if the camera can be opened by the SDK
SL_CAMERA_STATE_NOT_AVAILABLE	Defines if the camera is already opened and unavailable

◆ SL_MODEL

enum SL_MODEL

Lists compatible ZED Camera model.

Enumerator
SL_MODEL_ZED	Defines ZED Camera model
SL_MODEL_ZED_M	Defines ZED Mini (ZED-M) Camera model
SL_MODEL_ZED2	Defines ZED 2 Camera model
SL_MODEL_ZED2i	Defines ZED 2i Camera model

◆ SL_MEM

enum SL_MEM

List available memory type.

Enumerator
SL_MEM_CPU	CPU Memory (Processor side).
SL_MEM_GPU	GPU Memory (Graphic card side).

◆ SL_SENSOR_TYPE

enum SL_SENSOR_TYPE

List of the available onboard sensors.

Enumerator
SL_SENSOR_TYPE_ACCELEROMETER	Three axis Accelerometer sensor to measure the inertial accelerations.
SL_SENSOR_TYPE_GYROSCOPE	Three axis Gyroscope sensor to measure the angular velocitiers.
SL_SENSOR_TYPE_MAGNETOMETER	Three axis Magnetometer sensor to measure the orientation of the device respect to the earth magnetic field.
SL_SENSOR_TYPE_BAROMETER	Barometer sensor to measure the atmospheric pressure.

◆ SL_SENSORS_UNIT

enum SL_SENSORS_UNIT

List of the available onboard sensors measurement units.

Enumerator
SL_SENSORS_UNIT_M_SEC_2	Acceleration [m/s²].
SL_SENSORS_UNIT_DEG_SEC	Angular velocity [deg/s].
SL_SENSORS_UNIT_U_T	MAgnetic Fiels [uT].
SL_SENSORS_UNIT_HPA	Atmospheric pressure [hPa].
SL_SENSORS_UNIT_CELSIUS	Temperature [°C].
SL_SENSORS_UNIT_HERTZ	Frequency [Hz].

◆ SL_SIDE

enum SL_SIDE

Enumerator
SL_SIDE_LEFT	Left side only.
SL_SIDE_RIGHT	Right side only.
SL_SIDE_BOTH	Left and Right side.

◆ SL_REFERENCE_FRAME

enum SL_REFERENCE_FRAME

Defines which type of position matrix is used to store camera path and pose.

Enumerator
SL_REFERENCE_FRAME_WORLD	The transform of SL_Pose will contains the motion with reference to the world frame (previously called PATH).
SL_REFERENCE_FRAME_CAMERA	The transform of SL_Pose will contains the motion with reference to the previous camera frame (previously called POSE).

◆ SL_SENSOR_WORLD

enum SL_SENSOR_WORLD

Lists different World frame available

Enumerator
SL_SENSOR_WORLD_OFF	default behavior.
SL_SENSOR_WORLD_IMU_GRAVITY	align world to imu gravity measurement. keep the yaw from the user

◆ SL_TIME_REFERENCE

enum SL_TIME_REFERENCE

Lists specific and particular timestamps.

Enumerator
SL_TIME_REFERENCE_CURRENT	Defines the timestamp at the time the frame has been extracted from USB stream.

◆ SL_STREAMING_CODEC

enum SL_STREAMING_CODEC

List of codec.

Enumerator
SL_STREAMING_CODEC_H264	AVCHD/H264 encoding used in image streaming.
SL_STREAMING_CODEC_H265	HEVC/H265 encoding used in image streaming.

◆ SL_VIDEO_SETTINGS

enum SL_VIDEO_SETTINGS

Lists available camera settings for the ZED camera (contrast, hue, saturation, gain...).

Warning: GAIN and EXPOSURE are linked in auto/default mode (see SL_Camera::setCameraSettings).

Enumerator
SL_VIDEO_SETTINGS_BRIGHTNESS	Defines the brightness control. Affected value should be between 0 and 8.
SL_VIDEO_SETTINGS_CONTRAST	Defines the contrast control. Affected value should be between 0 and 8.
SL_VIDEO_SETTINGS_HUE	Defines the hue control. Affected value should be between 0 and 11.
SL_VIDEO_SETTINGS_SATURATION	Defines the saturation control. Affected value should be between 0 and 8.
SL_VIDEO_SETTINGS_SHARPNESS	Defines the digital sharpening control. Affected value should be between 0 and 8.
SL_VIDEO_SETTINGS_GAMMA	Defines the ISP gamma control. Affected value should be between 1 and 9.
SL_VIDEO_SETTINGS_GAIN	Defines the gain control. Affected value should be between 0 and 100 for manual control.
SL_VIDEO_SETTINGS_EXPOSURE	Defines the exposure control. Affected value should be between 0 and 100 for manual control. The exposition is mapped linearly in a percentage of the following max values. Special case for the setExposure(0) that corresponds to 0.17072ms. The conversion to milliseconds depends on the framerate: 15fps setExposure(100) -> 19.97ms 30fps setExposure(100) -> 19.97ms 60fps setExposure(100) -> 10.84072ms 100fps setExposure(100) -> 10.106624ms
SL_VIDEO_SETTINGS_AEC_AGC	Defines if the Gain and Exposure are in automatic mode or not. Setting a Gain or Exposure through @GAIN or @EXPOSURE values will automatically set this value to 0.
SL_VIDEO_SETTINGS_AEC_AGC_ROI	Defines the region of interest for automatic exposure/gain computation. To be used with overloaded @setCameraSettings/@getCameraSettings functions.
SL_VIDEO_SETTINGS_WHITEBALANCE_TEMPERATURE	Defines the color temperature value. Setting a value will automatically set @WHITEBALANCE_AUTO to 0. Affected value should be between 2800 and 6500 with a step of 100.
SL_VIDEO_SETTINGS_WHITEBALANCE_AUTO	Defines if the White balance is in automatic mode or not
SL_VIDEO_SETTINGS_LED_STATUS	Defines the status of the camera front LED. Set to 0 to disable the light, 1 to enable the light. Default value is on. Requires Camera FW 1523 at least.

◆ SL_MEASURE

enum SL_MEASURE

Lists retrievable measures.

Enumerator
SL_MEASURE_DEPTH	Disparity map. Each pixel contains 1 float. SL_MAT_TYPE_F32_C1.
SL_MEASURE_CONFIDENCE	Depth map. In SL_UNIT defined in SL_InitParameters. Each pixel contains 1 float. SL_MAT_TYPE_F32_C1.
SL_MEASURE_XYZ	Certainty/confidence of the depth map. Each pixel contains 1 float. SL_MAT_TYPE_F32_C1.
SL_MEASURE_XYZRGBA	Point cloud. Each pixel contains 4 float (X, Y, Z, not used). SL_MAT_TYPE_F32_C4.
SL_MEASURE_XYZBGRA	Colored point cloud. Each pixel contains 4 float (X, Y, Z, color). The color need to be read as an unsigned char[4] representing the RGBA color. SL_MAT_TYPE_F32_C4.
SL_MEASURE_XYZARGB	Colored point cloud. Each pixel contains 4 float (X, Y, Z, color). The color need to be read as an unsigned char[4] representing the BGRA color. SL_MAT_TYPE_F32_C4.
SL_MEASURE_XYZABGR	Colored point cloud. Each pixel contains 4 float (X, Y, Z, color). The color need to be read as an unsigned char[4] representing the ARGB color. SL_MAT_TYPE_F32_C4.
SL_MEASURE_NORMALS	Colored point cloud. Each pixel contains 4 float (X, Y, Z, color). The color need to be read as an unsigned char[4] representing the ABGR color. SL_MAT_TYPE_F32_C4.
SL_MEASURE_DISPARITY_RIGHT	Normals vector. Each pixel contains 4 float (X, Y, Z, 0). SL_MAT_TYPE_F32_C4. Disparity map for right sensor. Each pixel contains 1 float. SL_MAT_TYPE_F32_C1.
SL_MEASURE_XYZ_RIGHT	Depth map for right sensor. Each pixel contains 1 float. SL_MAT_TYPE_F32_C1.
SL_MEASURE_XYZRGBA_RIGHT	Point cloud for right sensor. Each pixel contains 4 float (X, Y, Z, not used). SL_MAT_TYPE_F32_C4.
SL_MEASURE_XYZBGRA_RIGHT	Colored point cloud for right sensor. Each pixel contains 4 float (X, Y, Z, color). The color need to be read as an unsigned char[4] representing the RGBA color. SL_MAT_TYPE_F32_C4.
SL_MEASURE_XYZARGB_RIGHT	Colored point cloud for right sensor. Each pixel contains 4 float (X, Y, Z, color). The color need to be read as an unsigned char[4] representing the BGRA color. SL_MAT_TYPE_F32_C4.
SL_MEASURE_XYZABGR_RIGHT	Colored point cloud for right sensor. Each pixel contains 4 float (X, Y, Z, color). The color need to be read as an unsigned char[4] representing the ARGB color. SL_MAT_TYPE_F32_C4.
SL_MEASURE_NORMALS_RIGHT	Colored point cloud for right sensor. Each pixel contains 4 float (X, Y, Z, color). The color need to be read as an unsigned char[4] representing the ABGR color. SL_MAT_TYPE_F32_C4.
SL_MEASURE_DEPTH_U16_MM	Normals vector for right view. Each pixel contains 4 float (X, Y, Z, 0). SL_MAT_TYPE_F32_C4.
SL_MEASURE_DEPTH_U16_MM_RIGHT	Depth map in millimeter whatever the SL_UNIT defined in SL_InitParameters. Invalid values are set to 0, depth values are clamped at 65000. Each pixel contains 1 unsigned short. SL_MAT_TYPE_U16_C1. Depth map in millimeter for right sensor. Each pixel contains 1 unsigned short. SL_MAT_TYPE_U16_C1.

◆ SL_VIEW

enum SL_VIEW

Lists available views.

Enumerator
SL_VIEW_RIGHT	Left BGRA image. Each pixel contains 4 unsigned char (B,G,R,A). SL_MAT_TYPE_U8_C4.
SL_VIEW_LEFT_GRAY	Right BGRA image. Each pixel contains 4 unsigned char (B,G,R,A). SL_MAT_TYPE_U8_C4.
SL_VIEW_RIGHT_GRAY	Left GRAY image. Each pixel contains 1 unsigned char. SL_MAT_TYPE_U8_C1.
SL_VIEW_LEFT_UNRECTIFIED	Right GRAY image. Each pixel contains 1 unsigned char. SL_MAT_TYPE_U8_C1.
SL_VIEW_RIGHT_UNRECTIFIED	Left BGRA unrectified image. Each pixel contains 4 unsigned char (B,G,R,A). SL_MAT_TYPE_U8_C4.
SL_VIEW_LEFT_UNRECTIFIED_GRAY	Right BGRA unrectified image. Each pixel contains 4 unsigned char (B,G,R,A). SL_MAT_TYPE_U8_C4.
SL_VIEW_RIGHT_UNRECTIFIED_GRAY	Left GRAY unrectified image. Each pixel contains 1 unsigned char. SL_MAT_TYPE_U8_C1.
SL_VIEW_SIDE_BY_SIDE	Right GRAY unrectified image. Each pixel contains 1 unsigned char. SL_MAT_TYPE_U8_C1.
SL_VIEW_DEPTH	Left and right image (the image width is therefore doubled). Each pixel contains 4 unsigned char (B,G,R,A). SL_MAT_TYPE_U8_C4.
SL_VIEW_CONFIDENCE	Color rendering of the depth. Each pixel contains 4 unsigned char (B,G,R,A). SL_MAT_TYPE_U8_C4. Use MEASURE_DEPTH with Camera.retrieveMeasure() to get depth values.
SL_VIEW_NORMALS	Color rendering of the depth confidence. Each pixel contains 4 unsigned char (B,G,R,A). SL_MAT_TYPE_U8_C4.
SL_VIEW_DEPTH_RIGHT	Color rendering of the normals. Each pixel contains 4 unsigned char (B,G,R,A). SL_MAT_TYPE_U8_C4.
SL_VIEW_NORMALS_RIGHT	Color rendering of the right depth mapped on right sensor. Each pixel contains 4 unsigned char (B,G,R,A). SL_MAT_TYPE_U8_C4. Color rendering of the normals mapped on right sensor. Each pixel contains 4 unsigned char (B,G,R,A). SL_MAT_TYPE_U8_C4.

◆ SL_OBJECT_TRACKING_STATE

enum SL_OBJECT_TRACKING_STATE

Lists available object tracking state.

Enumerator
SL_OBJECT_TRACKING_STATE_OFF	The tracking is not yet initialized, the object ID is not usable
SL_OBJECT_TRACKING_STATE_OK	The object is tracked
SL_OBJECT_TRACKING_STATE_SEARCHING	The object couldn't be detected in the image and is potentially occluded, the trajectory is estimated
SL_OBJECT_TRACKING_STATE_TERMINATE	This is the last searching state of the track, the track will be deleted in the next retreiveObject

◆ SL_POSITIONAL_TRACKING_STATE

enum SL_POSITIONAL_TRACKING_STATE

Lists the different states of positional tracking.

Enumerator
SL_POSITIONAL_TRACKING_STATE_OK	The camera is searching for a previously known position to locate itself.
SL_POSITIONAL_TRACKING_STATE_OFF	Positional tracking is working normally.
SL_POSITIONAL_TRACKING_STATE_FPS_TOO_LOW	Positional tracking is not enabled.
SL_POSITIONAL_TRACKING_STATE_SEARCHING_FLOOR_PLANE	Effective FPS is too low to give proper results for motion tracking. Consider using PERFORMANCES parameters (DEPTH_MODE_PERFORMANCE, low camera resolution (VGA,HD720)) The camera is searching for the floor plane to locate itself related to it, the REFERENCE_FRAME::WORLD will be set afterward.

◆ SL_AREA_EXPORTING_STATE

enum SL_AREA_EXPORTING_STATE

Lists the different states of spatial memory area export.

Enumerator
SL_AREA_EXPORTING_STATE_SUCCESS	The spatial memory file has been successfully created.
SL_AREA_EXPORTING_STATE_RUNNING	The spatial memory is currently written.
SL_AREA_EXPORTING_STATE_NOT_STARTED	The spatial memory file exportation has not been called.
SL_AREA_EXPORTING_STATE_FILE_EMPTY	The spatial memory contains no data, the file is empty.
SL_AREA_EXPORTING_STATE_FILE_ERROR	The spatial memory file has not been written because of a wrong file name.
SL_AREA_EXPORTING_STATE_SPATIAL_MEMORY_DISABLED	The spatial memory learning is disable, no file can be created.

◆ SL_SPATIAL_MAPPING_STATE

enum SL_SPATIAL_MAPPING_STATE

Gives the spatial mapping state.

Enumerator
SL_SPATIAL_MAPPING_STATE_OK	The spatial mapping is initializing.
SL_SPATIAL_MAPPING_STATE_NOT_ENOUGH_MEMORY	The depth and tracking data were correctly integrated in the fusion algorithm.
SL_SPATIAL_MAPPING_STATE_NOT_ENABLED	The maximum memory dedicated to the scanning has been reach, the mesh will no longer be updated.
SL_SPATIAL_MAPPING_STATE_FPS_TOO_LOW	Camera::enableSpatialMapping() wasn't called (or the scanning was stopped and not relaunched).

◆ SL_SPATIAL_MAP_TYPE

enum SL_SPATIAL_MAP_TYPE

Lists the types of spatial maps that can be created.

Enumerator
SL_SPATIAL_MAP_TYPE_MESH	Represents a surface with faces, 3D points are linked by edges, no color information.
SL_SPATIAL_MAP_TYPE_FUSED_POINT_CLOUD	Geometry is represented by a set of 3D colored points.

◆ SL_MESH_FILTER

enum SL_MESH_FILTER

Lists available mesh filtering intensity.

Enumerator
SL_MESH_FILTER_LOW	Clean the mesh by closing small holes and removing isolated faces.
SL_MESH_FILTER_MEDIUM	Soft decimation and smoothing.
SL_MESH_FILTER_HIGH	Decimate the number of triangles and apply a soft smooth.

◆ SL_MESH_FILE_FORMAT

enum SL_MESH_FILE_FORMAT

Lists available mesh file formats.

Enumerator
SL_MESH_FILE_FORMAT_PLY	Contains only vertices and faces.
SL_MESH_FILE_FORMAT_PLY_BIN	Contains only vertices and faces, encoded in binary.
SL_MESH_FILE_FORMAT_OBJ	Contains vertices, normals, faces and textures informations if possible.

◆ SL_SENSING_MODE

enum SL_SENSING_MODE

Lists available depth sensing modes.

Enumerator
SL_SENSING_MODE_STANDARD	This mode outputs ZED standard depth map that preserves edges and depth accuracy. Applications example: Obstacle detection, Automated navigation, People detection, 3D reconstruction, measurements.
SL_SENSING_MODE_FILL	This mode outputs a smooth and fully dense depth map. Applications example: AR/VR, Mixed-reality capture, Image post-processing.

◆ SL_DEPTH_MODE

enum SL_DEPTH_MODE

Lists available depth computation modes.

Enumerator
SL_DEPTH_MODE_PERFORMANCE	This mode does not compute any depth map. Only rectified stereo images will be available.
SL_DEPTH_MODE_QUALITY	Computation mode optimized for speed.
SL_DEPTH_MODE_ULTRA	Computation mode designed for challenging areas with untextured surfaces.
SL_DEPTH_MODE_NEURAL	Computation mode favorising edges and sharpness. Requires more GPU memory and computation power. End to End Neural disparity estimation, requires AI module

◆ SL_FLIP_MODE

enum SL_FLIP_MODE

Gives the camera flip mode.

Enumerator
SL_FLIP_MODE_ON	default behavior.
SL_FLIP_MODE_AUTO	Images and camera sensors data are flipped useful when your camera is mounted upside down.

◆ SL_COPY_TYPE

enum SL_COPY_TYPE

List available copy operation on Mat.

Enumerator
SL_COPY_TYPE_CPU_CPU	copy data from CPU to CPU.
SL_COPY_TYPE_CPU_GPU	copy data from CPU to GPU.
SL_COPY_TYPE_GPU_GPU	copy data from GPU to GPU.
SL_COPY_TYPE_GPU_CPU	copy data from GPU to CPU.

◆ SL_SVO_COMPRESSION_MODE

enum SL_SVO_COMPRESSION_MODE

Lists available compression modes for SVO recording.

SL_SVO_COMPRESSION_MODE_LOSSLESS is an improvement of previous lossless compression (used in ZED Explorer), even if size may be bigger, compression time is much faster.

Enumerator
SL_SVO_COMPRESSION_MODE_LOSSLESS	PNG/ZSTD (lossless) CPU based compression : avg size = 42% (of RAW).
SL_SVO_COMPRESSION_MODE_H264	H264(AVCHD) GPU based compression : avg size = 1% (of RAW). Requires a NVIDIA GPU
SL_SVO_COMPRESSION_MODE_H265	H265(HEVC) GPU based compression: avg size = 1% (of RAW). Requires a NVIDIA GPU, Pascal architecture or newer
SL_SVO_COMPRESSION_MODE_H264_LOSSLESS	H264 Lossless GPU/Hardware based compression: avg size = 25% (of RAW). Provides a SSIM/PSNR result (vs RAW) >= 99.9%. Requires a NVIDIA GPU
SL_SVO_COMPRESSION_MODE_H265_LOSSLESS	H265 Lossless GPU/Hardware based compression: avg size = 25% (of RAW). Provides a SSIM/PSNR result (vs RAW) >= 99.9%. Requires a NVIDIA GPU

◆ SL_MAT_TYPE

enum SL_MAT_TYPE

List available Mat formats.

Enumerator
SL_MAT_TYPE_F32_C1	float 1 channel.
SL_MAT_TYPE_F32_C2	float 2 channels.
SL_MAT_TYPE_F32_C3	float 3 channels.
SL_MAT_TYPE_F32_C4	float 4 channels.
SL_MAT_TYPE_U8_C1	unsigned char 1 channel.
SL_MAT_TYPE_U8_C2	unsigned char 2 channels.
SL_MAT_TYPE_U8_C3	unsigned char 3 channels.
SL_MAT_TYPE_U8_C4	unsigned char 4 channels.
SL_MAT_TYPE_U16_C1	unsigned short 1 channel.
SL_MAT_TYPE_S8_C4	signed char 4 channels.

◆ SL_OBJECT_SUBCLASS

enum SL_OBJECT_SUBCLASS

Available object subclass, given as hint, when using object tracking an object can change of OBJECT_SUBCLASS while keeping the same OBJECT_CLASS and id (i.e: frame M: MOTORBIKE, frame N:BICYCLE)

Enumerator
SL_OBJECT_SUBCLASS_PERSON	PERSON / PERSON_BODY
SL_OBJECT_SUBCLASS_BICYCLE	VEHICLE
SL_OBJECT_SUBCLASS_CAR	VEHICLE
SL_OBJECT_SUBCLASS_MOTORBIKE	VEHICLE
SL_OBJECT_SUBCLASS_BUS	VEHICLE
SL_OBJECT_SUBCLASS_TRUCK	VEHICLE
SL_OBJECT_SUBCLASS_BOAT	VEHICLE
SL_OBJECT_SUBCLASS_BACKPACK	BAG
SL_OBJECT_SUBCLASS_HANDBAG	BAG
SL_OBJECT_SUBCLASS_SUITCASE	BAG
SL_OBJECT_SUBCLASS_BIRD	ANIMAL
SL_OBJECT_SUBCLASS_CAT	ANIMAL
SL_OBJECT_SUBCLASS_DOG	ANIMAL
SL_OBJECT_SUBCLASS_HORSE	ANIMAL
SL_OBJECT_SUBCLASS_SHEEP	ANIMAL
SL_OBJECT_SUBCLASS_COW	ANIMAL
SL_OBJECT_SUBCLASS_CELLPHONE	ELECTRONIC
SL_OBJECT_SUBCLASS_LAPTOP	ELECTRONIC
SL_OBJECT_SUBCLASS_BANANA	FRUIT/VEGETABLE
SL_OBJECT_SUBCLASS_APPLE	FRUIT/VEGETABLE
SL_OBJECT_SUBCLASS_ORANGE	FRUIT/VEGETABLE
SL_OBJECT_SUBCLASS_CARROT	FRUIT/VEGETABLE
SL_OBJECT_SUBCLASS_PERSON_HEAD	PERSON
SL_OBJEC_SUBCLASS_SPORTSBALL	SPORTSBALL >

◆ SL_OBJECT_ACTION_STATE

enum SL_OBJECT_ACTION_STATE

Lists available object action state.

Enumerator
SL_OBJECT_ACTION_STATE_IDLE	The object is staying static.
SL_OBJECT_ACTION_STATE_MOVING	The object is moving.

◆ SL_DETECTION_MODEL

enum SL_DETECTION_MODEL

List available models for detection.

Enumerator
SL_DETECTION_MODEL_MULTI_CLASS_BOX	Any objects, bounding box based
SL_DETECTION_MODEL_MULTI_CLASS_BOX_ACCURATE	Any objects, bounding box based, more accurate but slower than the base model
SL_DETECTION_MODEL_HUMAN_BODY_FAST	Keypoints based, specific to human skeleton, real time performance even on Jetson or low end GPU cards
SL_DETECTION_MODEL_HUMAN_BODY_ACCURATE	Keypoints based, specific to human skeleton, state of the art accuracy, requires powerful GPU
SL_DETECTION_MODEL_MULTI_CLASS_BOX_MEDIUM	Any objects, bounding box based, compromise between accuracy and speed
SL_DETECTION_MODEL_HUMAN_BODY_MEDIUM	Keypoints based, specific to human skeleton, compromise between accuracy and speed
SL_DETECTION_MODEL_PERSON_HEAD_BOX	Bounding Box detector specialized in person heads, particulary well suited for crowded environement, the person localization is also improved
SL_DETECTION_MODEL_PERSON_HEAD_BOX_ACCURATE	Bounding Box detector specialized in person heads, particulary well suited for crowded environments, the person localization is also improved, state of the art accuracy
SL_DETECTION_MODEL_CUSTOM_BOX_OBJECTS	For external inference, using your own custom model and/or frameworks. This mode disable the internal inference engine, the 2D bounding box detection must be provided

◆ SL_OBJECT_FILTERING_MODE

enum SL_OBJECT_FILTERING_MODE

Lists of supported bounding box preprocessing.

Enumerator
SL_OBJECT_FILTERING_MODE_NONE	SDK will not apply any preprocessing to the detected objects.
SL_OBJECT_FILTERING_MODE_NMS_3D	SDK will remove objects that are in the same 3D position as an already tracked object (independant of class ID)
SL_OBJECT_FILTERING_MODE_NMS_3D_PER_CLASS	SDK will remove objects that are in the same 3D position as an already tracked object of the same class ID.

◆ SL_BODY_FORMAT

enum SL_BODY_FORMAT

Lists of supported skeleton body model.

Enumerator

SL_BODY_FORMAT_POSE_18

18 keypoint model of COCO 18.

Note: local keypoint angle and position are not available with this format

SL_BODY_FORMAT_POSE_34

34 keypoint model.

Note: local keypoint angle and position are available

Warning: The SDK will automatically enable fitting.

◆ SL_OBJECT_CLASS

enum SL_OBJECT_CLASS

Lists available object class.

Enumerator
SL_OBJECT_CLASS_PERSON	For people detection
SL_OBJECT_CLASS_VEHICLE	For vehicle detection. It can be cars, trucks, buses, motorcycles etc
SL_OBJECT_CLASS_BAG	For bag detection (backpack, handbag, suitcase)
SL_OBJECT_CLASS_ANIMAL	For animal detection (cow, sheep, horse, dog, cat, bird, etc)
SL_OBJECT_CLASS_ELECTRONICS	For electronic device detection (cellphone, laptop, etc)
SL_OBJECT_CLASS_FRUIT_VEGETABLE	For fruit and vegetable detection (banana, apple, orange, carrot, etc)
SL_OBJECT_CLASS_SPORT	For sport related objects (sports ball etc)

Data Structures

Macros

Enumerations

Variables