Classes
struct	InitFusionParameters
	Holds the options used to initialize the Fusion object. More...

struct	CommunicationParameters
	Holds the communication parameter to configure the connection between senders and receiver More...

struct	FusionConfiguration
	Stores the Fusion configuration, can be read from /write to a Json file. More...

struct	BodyTrackingFusionParameters
	Holds the options used to initialize the body tracking module of the Fusion. More...

struct	BodyTrackingFusionRuntimeParameters
	Holds the options used to change the behavior of the body tracking module at runtime. More...

struct	CameraIdentifier
	Used to identify a specific camera in the Fusion API More...

struct	CameraMetrics
	Holds the metrics of a sender in the fusion process. More...

struct	FusionMetrics
	Holds the metrics of the fusion process. More...

struct	GeoPose
	Holds Geo reference position. More...

struct	ECEF
	Represents a world position in ECEF format. More...

struct	LatLng
	Represents a world position in LatLng format. More...

struct	UTM
	Represents a world position in UTM format. More...

class	GNSSCalibrationParameters
	Holds the options used for calibrating GNSS / VIO. More...

class	PositionalTrackingFusionParameters
	Holds the options used for initializing the positional tracking fusion module. More...

class	Fusion
	Holds Fusion process data and functions More...

Enumerations
enum class	POSITION_TYPE
	Lists the types of possible position outputs. More...

enum class	FUSION_ERROR_CODE
	Lists the types of error that can be raised by the Fusion. More...

enum class	SENDER_ERROR_CODE
	Lists the types of error that can be raised during the Fusion by senders. More...

enum class	COMM_TYPE
	Lists the different types of communications available for Fusion module. More...

enum class	GNSS_FUSION_STATUS
	Lists the different states of the GNSS fusion. More...

Enumeration Type Documentation

◆ POSITION_TYPE

strong

Lists the types of possible position outputs.

Enumerator
RAW	The output position will be the raw position data.
FUSION	The output position will be the fused position projected into the requested camera repository.

strong

Lists the types of error that can be raised by the Fusion.

Enumerator
GNSS_DATA_COVARIANCE_MUST_VARY	Ingested covariance data must vary between ingest.
BODY_FORMAT_MISMATCH	The senders are using different body formats. Consider changing them.
MODULE_NOT_ENABLED	The following module was not enabled.
SOURCE_MISMATCH	Some sources are provided by SVO and others by LIVE stream.
CONNECTION_TIMED_OUT	Connection timed out. Unable to reach the sender. Verify the sender's IP/port.
MEMORY_ALREADY_USED	Intra-process shared memory allocation issue. Multiple connections to the same data.
INVALID_IP_ADDRESS	The provided IP address format is incorrect. Please provide the IP in the format 'a.b.c.d', where (a, b, c, d) are numbers between 0 and 255.
FAILURE	Standard code for unsuccessful behavior.
SUCCESS	Standard code for successful behavior.
FUSION_INCONSISTENT_FPS	Significant differences observed between sender's FPS.
FPS_TOO_LOW	At least one sender has an FPS lower than 10 FPS.
INVALID_TIMESTAMP	Problem detected with the ingested timestamp. Sample data will be ignored.
INVALID_COVARIANCE	Problem detected with the ingested covariance. Sample data will be ignored.
NO_NEW_DATA_AVAILABLE	All data from all sources has been consumed. No new data is available for processing.

strong

Lists the types of error that can be raised during the Fusion by senders.

Enumerator
DISCONNECTED	The sender has been disconnected.
SUCCESS	Standard code for successful behavior.
GRAB_ERROR	The sender encountered a grab error.
INCONSISTENT_FPS	The sender does not run with a constant frame rate.
FPS_TOO_LOW	The frame rate of the sender is lower than 10 FPS.

strong

Lists the different types of communications available for Fusion module.

Enumerator
LOCAL_NETWORK	The sender and receiver are on the same local network and communicate by RTP. The communication can be affected by the local network load.
INTRA_PROCESS	Both sender and receiver are declared by the same process and can be in different threads. This type of communication is optimized.

strong

Lists the different states of the GNSS fusion.

Enumerator
OK	The GNSS fusion module is calibrated and working successfully.
OFF	The GNSS fusion module is not enabled.
CALIBRATION_IN_PROGRESS	Calibration of the GNSS/VIO fusion module is in progress.
RECALIBRATION_IN_PROGRESS	Re-alignment of GNSS/VIO data is in progress, leading to potentially inaccurate global position