Core Module

Classes
struct	Matrix3x3
	Holds a 3x3 matrix that can be marshaled between the wrapper and C# scripts. More...
struct	Resolution
	Holds a camera resolution as two pointers (for height and width) for easy passing back and forth to the ZED wrapper. More...
struct	Rect
	Rect structure to define a rectangle or a ROI in pixels Use to set ROI target for AEC/AGC 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	Mat
	Mirrors the sl::Mat class used in the ZED C++ SDK to store images. Can be used to retrieve individual images from GPU or CPU memory: see Camera.RetrieveImage() and Camera.RetrieveMeasure(). More...

Enumerations
enum class	ERROR_CODE
	List of error codes in the ZED SDK. More...
enum class	COORDINATE_SYSTEM
	List of available coordinate systems. More...
enum class	UNIT
	Units used by the SDK for measurements and tracking. More...
enum class	MAT_TYPE
	Type of mat, indicating the data type and the number of channels it holds. Proper mat type depends on the image type. See sl.VIEW and sl.MEASURE (in ZEDCommon.cs) More...
enum class	COPY_TYPE
	Categories for copying data within or between the CPU (processor) memory and GPU (graphics card) memory. More...
enum class	MEM
	Which memory to store an image/mat: CPU/processor memory or GPU (graphics card) memory. More...

Enumeration Type Documentation

ERROR_CODE

enum ERROR_CODE

strong

List of error codes in the ZED SDK.

Mirrors ERROR_CODE in the ZED C++ SDK. For more info, read: https://www.stereolabs.com/docs/api_3.X/group__Core__group.html#ga4db9ee29f2ff83c71567c12f6bfbf28c

Enumerator
SUCCESS	Operation was successful.
FAILURE	Standard, generic code for unsuccessful behavior when no other code is more appropriate.
NO_GPU_COMPATIBLE	No GPU found, or CUDA capability of the device is not supported.
NOT_ENOUGH_GPUMEM	Not enough GPU memory for this depth mode. Try a different mode (such as PERFORMANCE).
CAMERA_NOT_DETECTED	The ZED camera is not plugged in or detected.
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'.
SENSOR_NOT_DETECTED	a ZED Mini is detected but the inertial sensor cannot be opened. (Never called for original ZED)
INVALID_RESOLUTION	For Nvidia Jetson X1 only - resolution not yet supported (USB3.0 bandwidth).
LOW_USB_BANDWIDTH	USB communication issues. Occurs when the camera FPS cannot be reached, due to a lot of corrupted frames. Try changing the USB port.
CALIBRATION_FILE_NOT_AVAILABLE	ZED calibration file is not found on the host machine. Use ZED Explorer or ZED Calibration to get one.
INVALID_CALIBRATION_FILE	ZED calibration file is not valid. Try downloading the factory one or recalibrating using the ZED Calibration tool.
INVALID_SVO_FILE	The provided SVO file is not valid.
SVO_RECORDING_ERROR	An SVO recorder-related error occurred (such as not enough free storage or an invalid file path).
SVO_UNSUPPORTED_COMPRESSION	An SVO related error when NVIDIA based compression cannot be loaded
INVALID_COORDINATE_SYSTEM	The requested coordinate system is not available.
INVALID_FIRMWARE	The firmware of the ZED is out of date. Update to the latest version.
INVALID_FUNCTION_PARAMETERS	An invalid parameter has been set for the function.
NOT_A_NEW_FRAME	In grab() only, the current call return the same frame as last call. Not a new frame.
CUDA_ERROR	In grab() only, a CUDA error has been detected in the process. Activate wrapperVerbose in ZEDManager.cs for more info.
CAMERA_NOT_INITIALIZED	In grab() only, ZED SDK is not initialized. Probably a missing call to sl::Camera::open.
NVIDIA_DRIVER_OUT_OF_DATE	Your NVIDIA driver is too old and not compatible with your current CUDA version.
INVALID_FUNCTION_CALL	The function call is not valid in the current context. Could be a missing a call to sl::Camera::open.
CORRUPTED_SDK_INSTALLATION	The SDK wasn't able to load its dependencies, the installer should be launched.
INCOMPATIBLE_SDK_VERSION	The installed SDK is not the SDK used to compile the program.
INVALID_AREA_FILE	The given area file does not exist. Check the file path.
INCOMPATIBLE_AREA_FILE	The area file does not contain enough data to be used ,or the sl::DEPTH_MODE used during the creation of the area file is different from the one currently set.
CAMERA_FAILED_TO_SETUP	Camera failed to set up.
CAMERA_DETECTION_ISSUE	Your ZED cannot be opened. Try replugging it to another USB port or flipping the USB-C connector (if using ZED Mini).
CAMERA_ALREADY_IN_USE	The Camera is already in use by another process.
NO_GPU_DETECTED	No GPU found or CUDA is unable to list it. Can be a driver/reboot issue.
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.
MODULE_NOT_COMPATIBLE_WITH_CAMERA	The Object detection module is only compatible with the ZED 2
MOTION_SENSORS_REQUIRED	The module needs the sensors to be enabled (see InitParameters::sensors_required)
MODULE_NOT_COMPATIBLE_WITH_CUDA_VERSION	The module needs a newer version of CUDA
ERROR_CODE_LAST	End of ERROR_CODE

COORDINATE_SYSTEM

enum COORDINATE_SYSTEM

strong

List of available coordinate systems.

Enumerator
IMAGE	Standard coordinates system used in computer vision. Used in OpenCV. See: http://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html
LEFT_HANDED_Y_UP	Left-Handed with Y up and Z forward. Used in Unity3D with DirectX
RIGHT_HANDED_Y_UP	Right-Handed with Y pointing up and Z backward. Used in OpenGL.
RIGHT_HANDED_Z_UP	Right-Handed with Z pointing up and Y forward. Used in 3DSMax.
LEFT_HANDED_Z_UP	Left-Handed with Z axis pointing up and X forward. Used in Unreal Engine.
RIGHT_HANDED_Z_UP_X_FWD	Right-Handed with Z pointing up and X forward. Used in ROS (REP 103)

UNIT

enum UNIT

strong

Units used by the SDK for measurements and tracking.

Enumerator
MILLIMETER	International System, 1/1000 meters.
CENTIMETER	International System, 1/100 meters.
METER	International System, 1/1 meters.
INCH	Imperial Unit, 1/12 feet.
FOOT	Imperial Unit, 1/1 feet.

MAT_TYPE

enum MAT_TYPE

strong

Type of mat, indicating the data type and the number of channels it holds. Proper mat type depends on the image type. See sl.VIEW and sl.MEASURE (in ZEDCommon.cs)

Enumerator
MAT_32F_C1	Float, one channel. Used for depth and disparity Measure-type textures.
MAT_32F_C2	Float, two channels.
MAT_32F_C3	Float, three channels. float 3 channels.
MAT_32F_C4	Float, four channels. Used for normals and XYZ (point cloud) measure-type textures
MAT_8U_C1	Unsigned char, one channel. Used for greyscale image-type textures like depth and confidence displays.
MAT_8U_C2	Unsigned char, two channels.
MAT_8U_C3	Unsigned char, three channels.
MAT_8U_C4	Unsigned char, four channels. Used for color images, like the main RGB image from each sensor.
MAT_16U_C1	Unsigned short 1 channel.
MAT_S8_C4	signed char 4 channels.

COPY_TYPE

enum COPY_TYPE

strong

Categories for copying data within or between the CPU (processor) memory and GPU (graphics card) memory.

Enumerator
CPU_CPU	Copies data from one place in CPU memory to another. copy data from CPU to CPU.
CPU_GPU	Copies data from CPU memory to GPU memory. copy data from CPU to GPU.
GPU_GPU	Copies data from one place in GPU memory to another. copy data from GPU to GPU.
GPU_CPU	Copies data from GPU memory to CPU memory. copy data from GPU to CPU.

MEM

enum MEM

strong

Which memory to store an image/mat: CPU/processor memory or GPU (graphics card) memory.

Enumerator
CPU	Store on memory accessible by the CPU.
GPU	Store on memory accessible by the GPU.