FusionConfiguration Class Reference

Useful struct to store the Fusion configuration, can be read from /write to a JSON file. More...

Functions
bool	save (String filename, SERIALIZATION_FORMAT format=SERIALIZATION_FORMAT::JSON) const
	Saves the current set of parameters into a file to be reloaded with the load() method. More...
bool	load (String filename, SERIALIZATION_FORMAT format=SERIALIZATION_FORMAT::JSON)
	Loads a set of parameters from the values contained in a previously saved file. More...
bool	encode (String &serialized_content, SERIALIZATION_FORMAT format=SERIALIZATION_FORMAT::JSON) const
	Generate a JSON Object (with the struct type as a key) containing the serialized struct, converted into a string. More...
bool	decode (const String &serialized_content, SERIALIZATION_FORMAT format=SERIALIZATION_FORMAT::JSON)
	Fill the structure from the serialized json object contained in the input string. More...
bool	operator== (const FusionConfiguration &param1) const
	Comparison operator ==. More...
bool	operator!= (const FusionConfiguration &param1) const
	Comparison operator !=. More...

Attributes
int	serial_number
	The serial number of the used ZED camera. More...
CommunicationParameters	communication_parameters
	The communication parameters to connect this camera to the Fusion. More...
Transform	pose
	The WORLD Pose of the camera for Fusion in the unit and coordinate system defined by the user in the InitFusionParameters. More...
InputType	input_type
	The input type for the current camera. More...
bool	override_gravity = false
	Indicates the behavior of the fusion with respect to given calibration pose. If true : The calibration pose directly specifies the camera's absolute pose relative to a global reference frame. If false : The calibration pose (Pose_rel) is defined relative to the camera's IMU rotational pose. To determine the true absolute position, the Fusion process will compute Pose_abs = Pose_rel * Rot_IMU_camera. More...

Detailed Description

Useful struct to store the Fusion configuration, can be read from /write to a JSON file.

Functions

save()

bool save	(	String	filename,
		SERIALIZATION_FORMAT	format = SERIALIZATION_FORMAT::JSON
	)		const

Saves the current set of parameters into a file to be reloaded with the load() method.

Parameters

filename

: Name of the file which will be created to store the parameters (extension '.yml' will be added if not set).

Returns

True if the file was successfully saved, otherwise false.

Warning

For security reasons, the file must not already exist.

In case a file already exists, the method will return false and existing file will not be updated.

load()

bool load	(	String	filename,
		SERIALIZATION_FORMAT	format = SERIALIZATION_FORMAT::JSON
	)

Loads a set of parameters from the values contained in a previously saved file.

Parameters

filename

: Path to the file from which the parameters will be loaded (extension '.yml' will be added at the end of the filename if not detected).

Returns

True if the file was successfully loaded, otherwise false.

encode()

bool encode	(	String &	serialized_content,
		SERIALIZATION_FORMAT	format = SERIALIZATION_FORMAT::JSON
	)		const

Generate a JSON Object (with the struct type as a key) containing the serialized struct, converted into a string.

Parameters

serialized_content	output string containing the JSON Object
format	serialization format, default is JSON

Returns

True if file was successfully saved, otherwise false.

decode()

bool decode	(	const String &	serialized_content,
		SERIALIZATION_FORMAT	format = SERIALIZATION_FORMAT::JSON
	)

Fill the structure from the serialized json object contained in the input string.

Parameters

serialized_content	input string containing the JSON Object
format	serialization format, default is JSON

Returns

True if the decoding was successful, otherwise false.

operator==()

bool operator==

(

const FusionConfiguration &

param1

)

const

Comparison operator ==.

Parameters

FusionConfiguration

to compare

Returns

true if the two struct are identical

operator!=()

bool operator!=

(

const FusionConfiguration &

param1

)

const

Comparison operator !=.

Parameters

FusionConfiguration

to compare

Returns

true if the two struct are different

Variables

serial_number

int serial_number

The serial number of the used ZED camera.

communication_parameters

CommunicationParameters communication_parameters

The communication parameters to connect this camera to the Fusion.

pose

Transform pose

The WORLD Pose of the camera for Fusion in the unit and coordinate system defined by the user in the InitFusionParameters.

input_type

InputType input_type

The input type for the current camera.

override_gravity

bool override_gravity = false

Indicates the behavior of the fusion with respect to given calibration pose. If true : The calibration pose directly specifies the camera's absolute pose relative to a global reference frame. If false : The calibration pose (Pose_rel) is defined relative to the camera's IMU rotational pose. To determine the true absolute position, the Fusion process will compute Pose_abs = Pose_rel * Rot_IMU_camera.