Core Module

Classes
struct	Timestamp
	Timesamp representation and utilities. More...
class	String
	Defines a string. More...
struct	Resolution
	Width and height of an array. More...
class	Rect
	Defines a 2D rectangle with top-left corner coordinates and width/height in pixels. More...
class	Matrix3f
	Represents a generic 3*3 matrix. More...
class	Matrix4f
	Represents a generic 4*4 matrix. More...
class	Vector2< T >
	Represents a two dimensions vector for both CPU and GPU. More...
class	Vector3< T >
	Represents a three dimensions vector for both CPU and GPU. More...
class	Vector4< T >
	Represents a four dimensions vector for both CPU and GPU. More...
class	Mat
	The Mat class can handle multiple matrix formats from 1 to 4 channels, with different value types (float or uchar), and can be stored CPU and/or GPU side. 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...

Enumerations
enum class	UNIT
	Lists available unit for measures. More...
enum class	COORDINATE_SYSTEM
	Lists available coordinates systems for positional tracking and 3D measures. More...
enum class	ERROR_CODE
	Lists error codes in the ZED SDK. More...
enum class	MEM
	List available memory type. More...
enum class	COPY_TYPE
	List available copy operation on Mat. More...
enum class	MAT_TYPE
	List available Mat formats. More...

Functions
int	getZEDSDKRuntimeVersion (int &major, int &minor, int &patch)
	Dynamic version verification: Returns the ZED SDK version currently installed on the computer. The major, minor, patch parameters will be filled by reference. More...
const void	getZEDSDKBuildVersion (int &major, int &minor, int &patch)
	Returns the ZED SDK version which the current program has been compiled with. The major, minor, patch parameters will be filled by reference. 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...

Enumeration Type Documentation

UNIT

enum UNIT

strong

Lists available unit for measures.

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

COORDINATE_SYSTEM

enum COORDINATE_SYSTEM

strong

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

Enumerator
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
LEFT_HANDED_Y_UP	Left-Handed with Y up and Z forward. Used in Unity 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).

ERROR_CODE

enum ERROR_CODE

strong

Lists error codes in the ZED SDK.

Enumerator
SUCCESS	Standard code for successful behavior.
FAILURE	Standard code for unsuccessful behavior.
NO_GPU_COMPATIBLE	No GPU found or CUDA capability of the device is not supported.
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).
CAMERA_NOT_DETECTED	The ZED camera is not plugged 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'.
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
INVALID_RESOLUTION	In case of invalid resolution parameter, such as a upsize beyond the original image size in Camera::retrieveImage
LOW_USB_BANDWIDTH	This issue can occurs when you use multiple ZED or a USB 2.0 port (bandwidth issue).
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 to download the factory one or recalibrate your camera using 'ZED Calibration'.
INVALID_SVO_FILE	The provided SVO file is not valid.
SVO_RECORDING_ERROR	An recorder related error occurred (not enough free storage, invalid file).
SVO_UNSUPPORTED_COMPRESSION	An SVO related error when NVIDIA based compression cannot be loaded.
END_OF_SVOFILE_REACHED	SVO end of file has been reached, and no frame will be available until the SVO position is reset.
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.
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.
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 call of the function is not valid in the current context. Could be a missing call of sl::Camera::open.
CORRUPTED_SDK_INSTALLATION	The SDK wasn't able to load its dependencies or somes assets are missing, reinstall the ZED or check for missing dependencies (cudnn, TensorRt).
INCOMPATIBLE_SDK_VERSION	The installed SDK is incompatible SDK used to compile the program.
INVALID_AREA_FILE	The given area file does not exist, check the path.
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.
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.
CAMERA_DETECTION_ISSUE	Your ZED can not be opened, try replugging it to another USB port or flipping the USB-C connector.
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.
NO_GPU_DETECTED	No GPU found, 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

MEM

enum MEM

strong

List available memory type.

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

COPY_TYPE

enum COPY_TYPE

strong

List available copy operation on Mat.

Enumerator
CPU_CPU	copy data from CPU to CPU.
CPU_GPU	copy data from CPU to GPU.
GPU_GPU	copy data from GPU to GPU.
GPU_CPU	copy data from GPU to CPU.

MAT_TYPE

enum MAT_TYPE

strong

List available Mat formats.

Enumerator
F32_C1	float 1 channel.
F32_C2	float 2 channels.
F32_C3	float 3 channels.
F32_C4	float 4 channels.
U8_C1	unsigned char 1 channel.
U8_C2	unsigned char 2 channels.
U8_C3	unsigned char 3 channels.
U8_C4	unsigned char 4 channels.
U16_C1	unsigned short 1 channel.
S8_C4	signed char 4 channels.

Function Documentation

getZEDSDKRuntimeVersion()

int getZEDSDKRuntimeVersion	(	int &	major,
		int &	minor,
		int &	patch
	)

Dynamic version verification: Returns the ZED SDK version currently installed on the computer. The major, minor, patch parameters will be filled by reference.

Returns

-1 if the SDK wasn't found, -2 if the version wasn't found, 0 if success.

getZEDSDKBuildVersion()

const void getZEDSDKBuildVersion ( int &  major, int &  minor, int &  patch  )

inline

Returns the ZED SDK version which the current program has been compiled with. The major, minor, patch parameters will be filled by reference.

// [Windows only]
//using /delayload on the ZED SDK DLLs, this snippet gives you boolean to decide if the SDK should be loaded.
int major_dll, minor_dll, patch_dll;
int major_prg, minor_prg, patch_prg;
bool older_ZED_SDK_available = false;
bool same_ZED_SDK_available = false;
bool newer_ZED_SDK_available = false;
bool ZED_SDK_available = false;
if (getZEDSDKRuntimeVersion(major_dll, minor_dll, patch_dll) == 0) {
        getZEDSDKBuildVersion(major_prg, minor_prg, patch_prg);
        if (major_dll == major_prg && minor_dll == minor_prg && patch_dll == patch_prg)
                same_ZED_SDK_available = true;
        if (major_dll > major_prg || (major_dll == major_prg && minor_dll > minor_prg) || (major_dll == major_prg && minor_dll == minor_prg && patch_dll > patch_prg))
                newer_ZED_SDK_available = true;
        else
                older_ZED_SDK_available = true;
        if (older_ZED_SDK_available || same_ZED_SDK_available || newer_ZED_SDK_available)
                ZED_SDK_available = true;
}
//use ZED_SDK_available or older_ZED_SDK_available or same_ZED_SDK_available or newer_ZED_SDK_available

sleep_ms()

void sl::sleep_ms ( int  time )

inline

Tells the program to wait for x ms.

Parameters

time	: the number of ms to wait.

sleep_us()

void sl::sleep_us ( int  time )

inline

Tells the program to wait for x us.

Parameters

time	: the number of us to wait.