Data Structures
struct	SL_Quaternion
	Structure representing a quaternion. More...

struct	SL_Vector2
	Structure representing a generic 2-dimensional vector. More...

struct	SL_Vector3
	Structure representing a generic 3-dimensional vector. More...

struct	SL_Vector4
	Structure representing a generic 4-dimensional vector. More...

struct	SL_Transform
	Structure representing a transformation (translation and rotation) More...

struct	SL_Uchar2
	Structure representing an unsigned char 2-dimensional vector. More...

struct	SL_Uchar3
	Structure representing an unsigned char 3-dimensional vector. More...

struct	SL_Uchar4
	Structure representing an unsigned char 4-dimensional vector. More...

struct	SL_Matrix4f
	Structure representing a generic 4*4 matrix. More...

struct	SL_Matrix3f
	Structure representing a generic 3*3 matrix. More...

struct	SL_PoseData
	Structure containing positional tracking data giving the position and orientation of the camera in 3D space. More...

struct	SL_PlaneData
	Structure representing a plane defined by a point and a normal, or a plane equation. More...

struct	SL_IMUData
	Structure containing data from the IMU sensor. More...

struct	SL_BarometerData
	Structure containing data from the barometer sensor. More...

struct	SL_MagnetometerData
	Structure containing data from the magnetometer sensor. More...

struct	SL_TemperatureData
	Structure containing data from the temperature sensors. More...

struct	SL_SensorsData
	Structure containing all sensors data (except image sensors) to be used for positional tracking or environment study. More...

struct	USB_product

struct	SL_PositionalTrackingStatus
	Lists the different status of positional tracking. More...

struct	SL_Resolution
	Structure containing the width and height of an image. More...

struct	SL_InitParameters
	Structure containing the options used to initialize a camera. More...

struct	SL_RuntimeParameters
	Structure containing parameters that defines the behavior of sl_grab(). More...

struct	SL_DeviceProperties
	Structure containing information about the properties of a camera. More...

struct	SL_CameraParameters
	Structure containing the intrinsic parameters of a camera. More...

struct	SL_CalibrationParameters
	Structure containing intrinsic and extrinsic parameters of the camera (translation and rotation). More...

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
	Structure containing information about all the sensors available in the current device. More...

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

struct	SL_PositionalTrackingParameters
	Structure containing a set of parameters for the positional tracking module initialization. More...

struct	SL_RegionOfInterestParameters
	Structure containing a set of parameters for the region of interest. More...

struct	SL_PlaneDetectionParameters
	Structure containing a set of parameters for the plane detection functionality. More...

struct	SL_RecordingStatus
	Structure containing information about the status of the recording. More...

struct	SL_RecordingParameters
	Structure containing the options used to record. More...

struct	SL_SVOData
	Structure containing data that can be stored in and retrieved from SVOs. That information will be ingested with sl_ingest_data_into_svo and retrieved with sl_retrieve_svo_data. More...

struct	SL_StreamingParameters
	Structure containing the options used to stream with the ZED SDK. More...

struct	SL_StreamingProperties
	Structure containing information about the properties of a streaming device. More...

struct	SL_SpatialMappingParameters
	Structure containing a set of parameters for the spatial mapping module. More...

struct	SL_BatchParameters
	Structure containing a set of parameters for batch object detection. More...

struct	SL_AI_Model_status
	Structure containing AI model status. More...

struct	SL_ObjectDetectionParameters
	Structure containing a set of parameters for the object detection module. More...

struct	SL_ObjectDetectionRuntimeParameters
	Structure containing a set of runtime parameters for the object detection module. More...

struct	SL_CustomObjectDetectionProperties
	Structure containing a set of runtime properties of a certain class ID for the object detection module using a custom model. More...

struct	SL_CustomObjectDetectionRuntimeParameters
	Structure containing a set of runtime parameters for the object detection module using your own model ran by the SDK. More...

struct	SL_BodyTrackingParameters
	Structure containing a set of parameters for the body tracking module. More...

struct	SL_BodyTrackingRuntimeParameters
	Structure containing a set of runtime parameters for the body tracking module. More...

struct	SL_ObjectData
	Structure containing data of a detected object such as its bounding_box, label, id and its 3D position. More...

struct	SL_CustomBoxObjectData
	Structure that store externally detected objects. More...

struct	SL_CustomMaskObjectData

struct	SL_Objects
	Structure containing the results of the object detection module. More...

struct	SL_BodyData
	Structure containing data of a detected body/person such as its bounding_box, id and its 3D position. More...

struct	SL_Bodies
	Structure containing the results of the body tracking module. More...

struct	SL_ObjectsBatch
	Structure containing batched data of a detected objects from the object detection module. More...

struct	SL_Rect
	Structure defining a 2D rectangle with top-left corner coordinates and width/height in pixels. More...

struct	SL_InputType
	Structure defining the input type used in the ZED SDK. More...

struct	SL_FusedPositionalTrackingStatus
	Class containing the overall position fusion status. More...

struct	SL_CommunicationParameters

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

struct	SL_SynchronizationParameter
	Configuration parameters for data synchronization. More...

struct	SL_InitFusionParameters
	Holds the options used to initialize the Fusion object. More...

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

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

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

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

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

struct	SL_GNSSData
	Structure containing GNSS data to be used for positional tracking as prior. More...

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

struct	SL_GeoPose
	Holds Geo reference position. More...

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

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

struct	SL_GNSSCalibrationParameters
	Holds the options used for calibrating GNSS / VIO. More...

struct	SL_PositionalTrackingFusionParameters
	Holds the options used for initializing the positional tracking fusion module. More...

Macros
#define	MAX_FUSED_CAMERAS 20

#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
	Lists the different states of the magnetic heading. More...

enum	USB_DEVICE

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

enum	SL_RESOLUTION
	Lists available resolutions. More...

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

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

enum	SL_CAMERA_STATE
	Lists possible camera states. More...

enum	SL_MODEL
	Lists ZED camera model. More...

enum	SL_MEM
	Lists available memory type. More...

enum	SL_SENSOR_TYPE
	Lists available sensor types. More...

enum	SL_SENSORS_UNIT
	Lists available measurement units of onboard sensors. More...

enum	SL_SIDE
	Lists possible sides on which to get data from. More...

enum	SL_INPUT_TYPE
	Lists available input types in the ZED SDK. More...

enum	SL_REFERENCE_FRAME
	Lists possible types of position matrix used to store camera path and pose. More...

enum	SL_TIME_REFERENCE
	Lists possible time references for timestamps or data. More...

enum	SL_STREAMING_CODEC
	Lists the different encoding types for image streaming. More...

enum	SL_VIDEO_SETTINGS
	Lists available camera settings for the 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 the different states of object tracking. More...

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

enum	SL_ODOMETRY_STATUS
	Report the status of current odom tracking. More...

enum	SL_SPATIAL_MEMORY_STATUS
	Report the status of current map tracking. More...

enum	SL_POSITIONAL_TRACKING_MODE
	Lists the mode of positional tracking that can be used. More...

enum	SL_POSITIONAL_TRACKING_FUSION_STATUS
	Report the status of the positional tracking fusion.

enum	SL_REGION_OF_INTEREST_AUTO_DETECTION_STATE
	Lists the different states of region of interest auto detection. More...

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

enum	SL_SPATIAL_MAPPING_STATE
	Lists the different states of spatial mapping. 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 intensities. More...

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

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

enum	SL_FLIP_MODE
	Lists possible flip modes of the camera. More...

enum	SL_COPY_TYPE
	Lists available copy operation on matrix. More...

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

enum	SL_MAT_TYPE
	Lists available matrix formats. More...

enum	SL_OBJECT_SUBCLASS
	List available object subclasses. More...

enum	SL_OBJECT_ACTION_STATE
	Lists the different states of an object's actions. More...

enum	SL_OBJECT_DETECTION_MODEL
	Lists available models for the object detection module. More...

enum	SL_BODY_TRACKING_MODEL
	Lists available models for the body tracking module. More...

enum	SL_AI_MODELS
	Lists available AI models. More...

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

enum	SL_INFERENCE_PRECISION
	Report the actual inference precision used.

enum	SL_BODY_FORMAT
	Lists supported skeleton body models. More...

enum	SL_BODY_KEYPOINTS_SELECTION
	Lists supported models for skeleton keypoints selection. More...

enum	SL_BODY_18_PARTS
	Semantic of human body parts and order of SL_BodyData::keypoint for SL_BODY_FORMAT_BODY_18. More...

enum	SL_BODY_34_PARTS
	Semantic of human body parts and order of SL_BodyData::keypoint for SL_BODY_FORMAT_BODY_34. More...

enum	SL_BODY_38_PARTS
	Semantic of human body parts and order of SL_BodyData::keypoint for SL_BODY_FORMAT_BODY_38. More...

enum	SL_MODULE

enum	SL_POSITION_TYPE
	Lists the types of possible position outputs. More...

enum	SL_OBJECT_CLASS
	Lists available object classes. More...

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

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

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

enum	SL_GNSS_STATUS
	Class representing the fix quality of GNSS signal. More...

enum	SL_GNSS_MODE

enum	SL_GNSS_FUSION_STATUS
	Class containing the current GNSS fusion status. More...

Variables
const int	SL_VIDEO_SETTINGS_VALUE_AUTO = -1

Enumeration Type Documentation

◆ SL_HEADING_STATE

enum SL_HEADING_STATE

Lists the different states of the magnetic heading.

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 magnetometer sensor is not available.

◆ SL_ERROR_CODE

enum SL_ERROR_CODE

Lists error codes in the ZED SDK.

Enumerator
SL_ERROR_CODE_CONFIGURATION_FALLBACK	The operation could not proceed with the target configuration but did success with a fallback.
SL_ERROR_CODE_SENSORS_DATA_REQUIRED	The input data does not contains the high frequency sensors data, this is usually because it requires newer SVO/Streaming. In order to work this modules needs inertial data present in it input.
SL_ERROR_CODE_CORRUPTED_FRAME	The image could be corrupted, Enabled with the parameter InitParameters::enable_image_validity_check.
SL_ERROR_CODE_CAMERA_REBOOTING	The camera is currently rebooting.
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 SL_DEPTH_MODE_PERFORMANCE), or increase the minimum depth value (see SL_InitParameters.depth_minimum_distance).
SL_ERROR_CODE_CAMERA_NOT_DETECTED	No camera was 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 by launching the ZED Diagnostic tool from the command line with the option `-r`.
SL_ERROR_CODE_SENSORS_NOT_AVAILABLE	A camera with sensor is detected but the sensors (IMU, barometer, ...) cannot be opened. Only the SL_MODEL_ZED does not has sensors. Unplug/replug is required.
SL_ERROR_CODE_INVALID_RESOLUTION	In case of invalid resolution parameter, such as an upsize beyond the original image size in sl_retrieve_image.
SL_ERROR_CODE_LOW_USB_BANDWIDTH	Insufficient bandwidth for the correct use of the camera. This issue can occur when you use multiple cameras or a USB 2.0 port.
SL_ERROR_CODE_CALIBRATION_FILE_NOT_AVAILABLE	The calibration file of the camera is not found on the host machine. Use ZED Explorer or ZED Calibration to download the factory calibration file.
SL_ERROR_CODE_INVALID_CALIBRATION_FILE	The calibration file is not valid. Try to download the factory calibration file 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 error occurred while trying to record an SVO (not enough free storage, invalid file, ...).
SL_ERROR_CODE_SVO_UNSUPPORTED_COMPRESSION	An SVO related error, occurs when NVIDIA based compression cannot be loaded.
SL_ERROR_CODE_END_OF_SVOFILE_REACHED	SVO end of file has been reached. 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 camera is out of date. Update to the latest version.
SL_ERROR_CODE_INVALID_FUNCTION_PARAMETERS	Invalid parameters have been given for the function.
SL_ERROR_CODE_CUDA_ERROR	A CUDA error has been detected in the process, in sl_grab() or sl_retrieve_xxx() only. Activate verbose in sl_open_camera() for more info.
SL_ERROR_CODE_CAMERA_NOT_INITIALIZED	The ZED SDK is not initialized. Probably a missing call to sl_open_camera().
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_open_camera().
SL_ERROR_CODE_CORRUPTED_SDK_INSTALLATION	The ZED SDK was not able to load its dependencies or some assets are missing. Reinstall the ZED SDK or check for missing dependencies (cuDNN, TensorRT).
SL_ERROR_CODE_INCOMPATIBLE_SDK_VERSION	The installed ZED SDK is incompatible with the one 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 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.
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 camera can not be opened. Try replugging it to another port or flipping the USB-C connector (if there is one).
SL_ERROR_CODE_CANNOT_START_CAMERA_STREAM	Cannot start the 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 module you try to use is not compatible with your camera SL_MODEL. Note SL_MODEL_ZED does not has an IMU and does not support the AI modules.
SL_ERROR_CODE_MOTION_SENSORS_REQUIRED	The module needs the sensors to be enabled (see SL_InitParameters.sensors_required).
SL_ERROR_CODE_MODULE_NOT_COMPATIBLE_WITH_CUDA_VERSION	The module needs a newer version of CUDA.

◆ SL_RESOLUTION

enum SL_RESOLUTION

Lists available resolutions.

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

Warning: All resolutions are not available for every camera.; You can find the available resolutions for each camera in our documentation.

Enumerator
SL_RESOLUTION_HD4K	3856x2180 for imx678 mono
SL_RESOLUTION_QHDPLUS	3800x1800
SL_RESOLUTION_HD2K	2208*1242 (x2) Available FPS: 15
SL_RESOLUTION_HD1080	1920*1080 (x2) Available FPS: 15, 30
SL_RESOLUTION_HD1200	1920*1200 (x2) Available FPS: 15, 30, 60
SL_RESOLUTION_HD720	1280*720 (x2) Available FPS: 15, 30, 60
SL_RESOLUTION_SVGA	960*600 (x2) Available FPS: 15, 30, 60, 120
SL_RESOLUTION_VGA	672*376 (x2) Available FPS: 15, 30, 60, 100
SL_RESOLUTION_AUTO	Select the resolution compatible with the camera: ZED X/X Mini: SL_RESOLUTION_HD1200 other cameras: SL_RESOLUTION_HD720

◆ SL_UNIT

enum SL_UNIT

Lists available units for measures.

Enumerator
SL_UNIT_MILLIMETER	International System (1/1000 meters)
SL_UNIT_CENTIMETER	International System (1/100 meters)
SL_UNIT_METER	International System (1 meter)
SL_UNIT_INCH	Imperial Unit (1/12 feet)
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.
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

Lists possible camera states.

Enumerator
SL_CAMERA_STATE_AVAILABLE	The camera can be opened by the ZED SDK.
SL_CAMERA_STATE_NOT_AVAILABLE	The camera is already opened and unavailable.

◆ SL_MODEL

enum SL_MODEL

Lists ZED camera model.

Enumerator
SL_MODEL_ZED	ZED camera model
SL_MODEL_ZED_M	ZED Mini (ZED M) camera model
SL_MODEL_ZED2	ZED 2 camera model
SL_MODEL_ZED2i	ZED 2i camera model
SL_MODEL_ZED_X	ZED X camera model
SL_MODEL_ZED_XM	ZED X Mini (ZED XM) camera model
SL_MODEL_VIRTUAL_ZED_X	Virtual ZED-X generated from 2 ZED-XOne
SL_MODEL_ZED_XONE_GS	ZED XOne with global shutter AR0234 sensor
SL_MODEL_ZED_XONE_UHD	ZED XOne with 4K rolling shutter IMX678 sensor

◆ SL_MEM

enum SL_MEM

Lists available memory type.

Enumerator
SL_MEM_CPU	Data will be stored on the CPU (processor side).
SL_MEM_GPU	Data will be stored on the GPU (graphic card side).

◆ SL_SENSOR_TYPE

enum SL_SENSOR_TYPE

Lists available sensor types.

Note: Sensors are not available on SL_MODEL_ZED.

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 velocities.
SL_SENSOR_TYPE_MAGNETOMETER	Three-axis magnetometer sensor to measure the orientation of the device with respect to the Earth's magnetic field.
SL_SENSOR_TYPE_BAROMETER	Barometer sensor to measure the atmospheric pressure.

◆ SL_SENSORS_UNIT

enum SL_SENSORS_UNIT

Lists available measurement units of onboard sensors.

Note: Sensors are not available on SL_MODEL_ZED.

Enumerator
SL_SENSORS_UNIT_M_SEC_2	m/s² (acceleration)
SL_SENSORS_UNIT_DEG_SEC	deg/s (angular velocity)
SL_SENSORS_UNIT_U_T	μT (magnetic field)
SL_SENSORS_UNIT_HPA	hPa (atmospheric pressure)
SL_SENSORS_UNIT_CELSIUS	°C (temperature)
SL_SENSORS_UNIT_HERTZ	Hz (frequency)

◆ SL_SIDE

enum SL_SIDE

Lists possible sides on which to get data from.

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

◆ SL_INPUT_TYPE

enum SL_INPUT_TYPE

Lists available input types in the ZED SDK.

Enumerator
SL_INPUT_TYPE_USB	USB input mode
SL_INPUT_TYPE_SVO	SVO file input mode
SL_INPUT_TYPE_STREAM	STREAM input mode (requires to use sl_enable_streaming() / sl_disable_streaming() on the "sender" side)
SL_INPUT_TYPE_GMSL	GMSL input mode (only on NVIDIA Jetson)

◆ SL_REFERENCE_FRAME

enum SL_REFERENCE_FRAME

Lists possible types of position matrix used to store camera path and pose.

Enumerator
SL_REFERENCE_FRAME_WORLD	SL_PoseData will contain the motion with reference to the world frame (previously called SL_PATH).
SL_REFERENCE_FRAME_CAMERA	SL_PoseData will contain the motion with reference to the previous camera frame (previously called SL_POSE)

◆ SL_TIME_REFERENCE

enum SL_TIME_REFERENCE

Lists possible time references for timestamps or data.

Enumerator
SL_TIME_REFERENCE_IMAGE	The requested timestamp or data will be at the time of the frame extraction.
SL_TIME_REFERENCE_CURRENT	The requested timestamp or data will be at the time of the function call.

◆ SL_STREAMING_CODEC

enum SL_STREAMING_CODEC

Lists the different encoding types for image streaming.

Enumerator
SL_STREAMING_CODEC_H264	AVCHD/H264 encoding
SL_STREAMING_CODEC_H265	HEVC/H265 encoding

◆ SL_VIDEO_SETTINGS

enum SL_VIDEO_SETTINGS

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

Warning: SL_VIDEO_SETTINGS_GAIN and SL_VIDEO_SETTINGS_EXPOSURE are linked in auto/default mode (see sl_set_camera_settings()).

Enumerator
SL_VIDEO_SETTINGS_BRIGHTNESS	Brightness control Affected value should be between 0 and 8. Note Not available for ZED X/X Mini cameras.
SL_VIDEO_SETTINGS_CONTRAST	Contrast control Affected value should be between 0 and 8. Note Not available for ZED X/X Mini cameras.
SL_VIDEO_SETTINGS_HUE	Hue control Affected value should be between 0 and 11. Note Not available for ZED X/X Mini cameras.
SL_VIDEO_SETTINGS_SATURATION	Saturation control Affected value should be between 0 and 8.
SL_VIDEO_SETTINGS_SHARPNESS	Digital sharpening control Affected value should be between 0 and 8.
SL_VIDEO_SETTINGS_GAMMA	ISP gamma control Affected value should be between 1 and 9.
SL_VIDEO_SETTINGS_GAIN	Gain control Affected value should be between 0 and 100 for manual control. Note If SL_VIDEO_SETTINGS_EXPOSURE is set to -1 (automatic mode), then SL_VIDEO_SETTINGS_GAIN will be automatic as well.
SL_VIDEO_SETTINGS_EXPOSURE	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 `SL_VIDEO_SETTINGS_EXPOSURE = 0` that corresponds to 0.17072ms. The conversion to milliseconds depends on the framerate: 15fps & `SL_VIDEO_SETTINGS_EXPOSURE = 100` -> 19.97ms 30fps & `SL_VIDEO_SETTINGS_EXPOSURE = 100` -> 19.97ms 60fps & `SL_VIDEO_SETTINGS_EXPOSURE = 100` -> 10.84072ms 100fps & `SL_VIDEO_SETTINGS_EXPOSURE = 100` -> 10.106624ms
SL_VIDEO_SETTINGS_AEC_AGC	Defines if the SL_VIDEO_SETTINGS_GAIN and SL_VIDEO_SETTINGS_EXPOSURE are in automatic mode or not. Setting SL_VIDEO_SETTINGS_GAIN or SL_VIDEO_SETTINGS_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 dedicated sl_set_roi_for_aec_agc() / sl_get_roi_for_aec_agc() functions.
SL_VIDEO_SETTINGS_WHITEBALANCE_TEMPERATURE	Color temperature control Affected value should be between 2800 and 6500 with a step of 100. Note Setting a value will automatically set SL_VIDEO_SETTINGS_WHITEBALANCE_AUTO to 0.
SL_VIDEO_SETTINGS_WHITEBALANCE_AUTO	Defines if the white balance is in automatic mode or not.
SL_VIDEO_SETTINGS_LED_STATUS	Status of the front LED of the camera. Set to 0 to disable the light, 1 to enable the light. Default value is on. Note Requires camera firmware 1523 at least.
SL_VIDEO_SETTINGS_EXPOSURE_TIME	Real exposure time control in microseconds. Note Only available for ZED X/X Mini cameras. Replace SL_VIDEO_SETTINGS_EXPOSURE setting.
SL_VIDEO_SETTINGS_ANALOG_GAIN	Real analog gain (sensor) control in mDB. The range is defined by Jetson DTS and by default [1000-16000]. Note Only available for ZED X/X Mini cameras. Replace SL_VIDEO_SETTINGS_GAIN settings.
SL_VIDEO_SETTINGS_DIGITAL_GAIN	Real digital gain (ISP) as a factor. The range is defined by Jetson DTS and by default [1-256]. Note Only available for ZED X/X Mini cameras. Replace SL_VIDEO_SETTINGS_GAIN settings.
SL_VIDEO_SETTINGS_AUTO_EXPOSURE_TIME_RANGE	Range of exposure auto control in microseconds. Used with sl_get_camera_settings_min_max(). Min/max range between max range defined in DTS. By default: [28000 - <fps_time> or 19000] us. Note Only available for ZED X/X Mini cameras.
SL_VIDEO_SETTINGS_AUTO_ANALOG_GAIN_RANGE	Range of sensor gain in automatic control. Used with sl_get_camera_settings_min_max(). Min/max range between max range defined in DTS. By default: [1000 - 16000] mdB. Note Only available for ZED X/X Mini cameras.
SL_VIDEO_SETTINGS_AUTO_DIGITAL_GAIN_RANGE	Range of digital ISP gain in automatic control. Used with sl_get_camera_settings_min_max(). Min/max range between max range defined in DTS. By default: [1 - 256]. Note Only available for ZED X/X Mini cameras.
SL_VIDEO_SETTINGS_EXPOSURE_COMPENSATION	Exposure-target compensation made after auto exposure. Reduces the overall illumination target by factor of F-stops. Affected value should be between 0 and 100 (mapped between [-2.0,2.0]). Default value is 50, i.e. no compensation applied. Note Only available for ZED X/X Mini cameras.
SL_VIDEO_SETTINGS_DENOISING	Level of denoising applied on both left and right images. Affected value should be between 0 and 100. Default value is 50. Note Only available for ZED X/X Mini cameras.

◆ SL_MEASURE

enum SL_MEASURE

Lists retrievable measures.

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

◆ SL_VIEW

enum SL_VIEW

Lists available views.

Enumerator
SL_VIEW_LEFT	Left BGRA image. Each pixel contains 4 unsigned char (B, G, R, A). Type: SL_MAT_TYPE_U8_C4
SL_VIEW_RIGHT	Right BGRA image. Each pixel contains 4 unsigned char (B, G, R, A). Type: SL_MAT_TYPE_U8_C4
SL_VIEW_LEFT_GRAY	Left gray image. Each pixel contains 1 unsigned char. Type: SL_MAT_TYPE_U8_C1
SL_VIEW_RIGHT_GRAY	Right gray image. Each pixel contains 1 unsigned char. Type: SL_MAT_TYPE_U8_C1
SL_VIEW_LEFT_UNRECTIFIED	Left BGRA unrectified image. Each pixel contains 4 unsigned char (B, G, R, A). Type: SL_MAT_TYPE_U8_C4
SL_VIEW_RIGHT_UNRECTIFIED	Right BGRA unrectified image. Each pixel contains 4 unsigned char (B, G, R, A). Type: SL_MAT_TYPE_U8_C4
SL_VIEW_LEFT_UNRECTIFIED_GRAY	Left gray unrectified image. Each pixel contains 1 unsigned char. Type: SL_MAT_TYPE_U8_C1
SL_VIEW_RIGHT_UNRECTIFIED_GRAY	Right gray unrectified image. Each pixel contains 1 unsigned char. Type: SL_MAT_TYPE_U8_C1
SL_VIEW_SIDE_BY_SIDE	Left and right image (the image width is therefore doubled). Each pixel contains 4 unsigned char (B, G, R, A). Type: SL_MAT_TYPE_U8_C4
SL_VIEW_DEPTH	Color rendering of the depth. Each pixel contains 4 unsigned char (B, G, R, A). Type: SL_MAT_TYPE_U8_C4 Note Use SL_MEASURE_DEPTH with sl_retrieve_measure() to get depth values.
SL_VIEW_CONFIDENCE	Color rendering of the depth confidence. Each pixel contains 4 unsigned char (B, G, R, A). Type: SL_MAT_TYPE_U8_C4 Note Use SL_MEASURE_CONFIDENCE with sl_retrieve_measure() to get confidence values.
SL_VIEW_NORMALS	Color rendering of the normals. Each pixel contains 4 unsigned char (B, G, R, A). Type: SL_MAT_TYPE_U8_C4 Note Use SL_MEASURE_NORMALS with sl_retrieve_measure() to get normal values.
SL_VIEW_DEPTH_RIGHT	Color rendering of the right depth mapped on right sensor. Each pixel contains 4 unsigned char (B, G, R, A). Type: SL_MAT_TYPE_U8_C4 Note Use SL_MEASURE_DEPTH_RIGHT with sl_retrieve_measure() to get depth right values.
SL_VIEW_NORMALS_RIGHT	Color rendering of the normals mapped on right sensor. Each pixel contains 4 unsigned char (B, G, R, A). Type: SL_MAT_TYPE_U8_C4 Note Use SL_MEASURE_NORMALS_RIGHT with sl_retrieve_measure() to get normal right values.

◆ SL_OBJECT_TRACKING_STATE

enum SL_OBJECT_TRACKING_STATE

Lists the different states of object tracking.

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 could not 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 sl_retrieve_objects().

◆ SL_POSITIONAL_TRACKING_STATE

enum SL_POSITIONAL_TRACKING_STATE

Lists the different states of positional tracking.

Enumerator
SL_POSITIONAL_TRACKING_STATE_SEARCHING	\warn DEPRECATED: This state is no longer in use.
SL_POSITIONAL_TRACKING_STATE_OK	The positional tracking is working normally.
SL_POSITIONAL_TRACKING_STATE_OFF	The positional tracking is not enabled.
SL_POSITIONAL_TRACKING_STATE_FPS_TOO_LOW	The effective FPS is too low to give proper results for motion tracking. Consider using performance parameters (SL_DEPTH_MODE_PERFORMANCE, low camera resolution (SL_RESOLUTION_VGA / SL_RESOLUTION_SVGA or SL_RESOLUTION_HD720).
SL_POSITIONAL_TRACKING_STATE_SEARCHING_FLOOR_PLANE	The camera is searching for the floor plane to locate itself with respect to it. The SL_REFERENCE_FRAME_WORLD will be set afterward.
SL_POSITIONAL_TRACKING_STATE_UNAVAILABLE	The tracking module was unable to perform tracking from the previous frame to the current frame.

◆ SL_ODOMETRY_STATUS

enum SL_ODOMETRY_STATUS

Report the status of current odom tracking.

Enumerator
SL_ODOMETRY_STATUS_OK	The positional tracking module successfully tracked from the previous frame to the current frame.
SL_ODOMETRY_STATUS_UNAVAILABLE	The positional tracking module failed to track from the previous frame to the current frame.

◆ SL_SPATIAL_MEMORY_STATUS

enum SL_SPATIAL_MEMORY_STATUS

Report the status of current map tracking.

Enumerator
SL_MAP_TRACKING_STATUS_OK	The positional tracking module is operating normally.
SL_MAP_TRACKING_STATUS_LOOP_CLOSED	The positional tracking module detected a loop and corrected its position.
SL_MAP_TRACKING_STATUS_SEARCHING	The positional tracking module is searching for recognizable areas in the global map to relocate.
SL_MAP_TRACKING_STATUS_OFF	Spatial memory is disabled

◆ SL_POSITIONAL_TRACKING_MODE

enum SL_POSITIONAL_TRACKING_MODE

Lists the mode of positional tracking that can be used.

Enumerator
SL_POSITIONAL_TRACKING_MODE_GEN_1	Default mode. Best compromise in performance and accuracy.
SL_POSITIONAL_TRACKING_MODE_GEN_2	Next generation of positional tracking, allow better accuracy.

◆ SL_REGION_OF_INTEREST_AUTO_DETECTION_STATE

enum SL_REGION_OF_INTEREST_AUTO_DETECTION_STATE

Lists the different states of region of interest auto detection.

Enumerator
SL_REGION_OF_INTEREST_AUTO_DETECTION_STATE_RUNNING	The region of interest auto detection is initializing.
SL_REGION_OF_INTEREST_AUTO_DETECTION_STATE_READY	The region of interest mask is ready, if auto_apply was enabled, the region of interest mask is being used
SL_REGION_OF_INTEREST_AUTO_DETECTION_STATE_NOT_ENABLED	The region of interest auto detection is not enabled

◆ 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 being 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 disabled. No file can be created.

◆ SL_SPATIAL_MAPPING_STATE

enum SL_SPATIAL_MAPPING_STATE

Lists the different states of spatial mapping.

Enumerator
SL_SPATIAL_MAPPING_STATE_INITIALIZING	The spatial mapping is initializing.
SL_SPATIAL_MAPPING_STATE_OK	The depth and tracking data were correctly integrated in the mapping algorithm.
SL_SPATIAL_MAPPING_STATE_NOT_ENOUGH_MEMORY	The maximum memory dedicated to the scanning has been reached. The mesh will no longer be updated.
SL_SPATIAL_MAPPING_STATE_NOT_ENABLED	sl_enable_spatial_mapping() wasn't called or the scanning was stopped and not relaunched.
SL_SPATIAL_MAPPING_STATE_FPS_TOO_LOW	The effective FPS is too low to give proper results for spatial mapping. Consider using performance parameters (SL_DEPTH_MODE_PERFORMANCE, low camera resolution (SL_RESOLUTION_VGA / SL_RESOLUTION_SVGA or SL_RESOLUTION_HD720).

◆ 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	The geometry is represented by a set of vertices connected by edges and forming faces. No color information is available.
SL_SPATIAL_MAP_TYPE_FUSED_POINT_CLOUD	The geometry is represented by a set of 3D colored points.

◆ SL_MESH_FILTER

enum SL_MESH_FILTER

Lists available mesh filtering intensities.

Enumerator
SL_MESH_FILTER_LOW	Clean the mesh by closing small holes and removing isolated faces.
SL_MESH_FILTER_MEDIUM	Soft faces decimation and smoothing.
SL_MESH_FILTER_HIGH	Drastically reduce the number of faces 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 texture information (if possible).

◆ SL_DEPTH_MODE

enum SL_DEPTH_MODE

Lists available depth computation modes.

Enumerator
SL_DEPTH_MODE_PERFORMANCE	No depth map computation. Only rectified stereo images will be available.
SL_DEPTH_MODE_QUALITY	Computation mode optimized for speed. Computation mode designed for challenging areas with untextured surfaces.
SL_DEPTH_MODE_ULTRA	Computation mode that favors edges and sharpness. Requires more GPU memory and computation power.
SL_DEPTH_MODE_NEURAL	End to End Neural disparity estimation. Requires AI module.
SL_DEPTH_MODE_NEURAL_PLUS	More accurate Neural disparity estimation. Requires AI module.

◆ SL_FLIP_MODE

enum SL_FLIP_MODE

Lists possible flip modes of the camera.

Enumerator
SL_FLIP_MODE_OFF	No flip applied. Default behavior.
SL_FLIP_MODE_ON	Images and camera sensors' data are flipped useful when your camera is mounted upside down.
SL_FLIP_MODE_AUTO	In LIVE mode, use the camera orientation (if an IMU is available) to set the flip mode. In SVO mode, read the state of this enum when recorded.

◆ SL_COPY_TYPE

enum SL_COPY_TYPE

Lists available copy operation on matrix.

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.

Note: 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. Average size: 42% of RAW
SL_SVO_COMPRESSION_MODE_H264	H264 (AVCHD) GPU based compression. Average size: 1% of RAW Note Requires a NVIDIA GPU.
SL_SVO_COMPRESSION_MODE_H265	H265 (HEVC) GPU based compression. Average size: 1% of RAW Note Requires a NVIDIA GPU.
SL_SVO_COMPRESSION_MODE_H264_LOSSLESS	H264 Lossless GPU/Hardware based compression. Average size: 25% of RAW Provides a SSIM/PSNR result (vs RAW) >= 99.9%. Note Requires a NVIDIA GPU.
SL_SVO_COMPRESSION_MODE_H265_LOSSLESS	H265 Lossless GPU/Hardware based compression. Average size: 25% of RAW Provides a SSIM/PSNR result (vs RAW) >= 99.9%. Note Requires a NVIDIA GPU.

◆ SL_MAT_TYPE

enum SL_MAT_TYPE

Lists available matrix formats.

Note: Matrix type depends on image or measure type.; For the dependencies, see SL_VIEW and SL_MEASURE.

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

◆ SL_OBJECT_SUBCLASS

enum SL_OBJECT_SUBCLASS

List available object subclasses.

Given as hint, when using object tracking an object can change of SL_OBJECT_SUBCLASS while keeping the same SL_OBJECT_CLASS (i.e.: frame n: SL_OBJECT_SUBCLASS_MOTORBIKE, frame n+1: SL_OBJECT_SUBCLASS_BICYCLE).

Enumerator
SL_OBJECT_SUBCLASS_PERSON	SL_OBJECT_CLASS_PERSON
SL_OBJECT_SUBCLASS_BICYCLE	SL_OBJECT_CLASS_VEHICLE
SL_OBJECT_SUBCLASS_CAR	SL_OBJECT_CLASS_VEHICLE
SL_OBJECT_SUBCLASS_MOTORBIKE	SL_OBJECT_CLASS_VEHICLE
SL_OBJECT_SUBCLASS_BUS	SL_OBJECT_CLASS_VEHICLE
SL_OBJECT_SUBCLASS_TRUCK	SL_OBJECT_CLASS_VEHICLE
SL_OBJECT_SUBCLASS_BOAT	SL_OBJECT_CLASS_VEHICLE
SL_OBJECT_SUBCLASS_BACKPACK	SL_OBJECT_CLASS_BAG
SL_OBJECT_SUBCLASS_HANDBAG	SL_OBJECT_CLASS_BAG
SL_OBJECT_SUBCLASS_SUITCASE	SL_OBJECT_CLASS_BAG
SL_OBJECT_SUBCLASS_BIRD	SL_OBJECT_CLASS_ANIMAL
SL_OBJECT_SUBCLASS_CAT	SL_OBJECT_CLASS_ANIMAL
SL_OBJECT_SUBCLASS_DOG	SL_OBJECT_CLASS_ANIMAL
SL_OBJECT_SUBCLASS_HORSE	SL_OBJECT_CLASS_ANIMAL
SL_OBJECT_SUBCLASS_SHEEP	SL_OBJECT_CLASS_ANIMAL
SL_OBJECT_SUBCLASS_COW	SL_OBJECT_CLASS_ANIMAL
SL_OBJECT_SUBCLASS_CELLPHONE	SL_OBJECT_CLASS_ELECTRONICS
SL_OBJECT_SUBCLASS_LAPTOP	SL_OBJECT_CLASS_ELECTRONICS
SL_OBJECT_SUBCLASS_BANANA	SL_OBJECT_CLASS_FRUIT_VEGETABLE
SL_OBJECT_SUBCLASS_APPLE	SL_OBJECT_CLASS_FRUIT_VEGETABLE
SL_OBJECT_SUBCLASS_ORANGE	SL_OBJECT_CLASS_FRUIT_VEGETABLE
SL_OBJECT_SUBCLASS_CARROT	SL_OBJECT_CLASS_FRUIT_VEGETABLE
SL_OBJECT_SUBCLASS_PERSON_HEAD	SL_OBJECT_CLASS_PERSON
SL_OBJEC_SUBCLASS_SPORTSBALL	SL_OBJECT_CLASS_SPORT

◆ SL_OBJECT_ACTION_STATE

enum SL_OBJECT_ACTION_STATE

Lists the different states of an object's actions.

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

◆ SL_OBJECT_DETECTION_MODEL

enum SL_OBJECT_DETECTION_MODEL

Lists available models for the object detection module.

Enumerator
SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX_FAST	Any objects, bounding box based.
SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX_MEDIUM	Any objects, bounding box based, compromise between accuracy and speed.
SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX_ACCURATE	Any objects, bounding box based, more accurate but slower than the base model.
SL_OBJECT_DETECTION_MODEL_PERSON_HEAD_BOX_FAST	Bounding box detector specialized in person heads particularly well suited for crowded environments. The person localization is also improved.
SL_OBJECT_DETECTION_MODEL_PERSON_HEAD_BOX_ACCURATE	Bounding box detector specialized in person heads, particularly well suited for crowded environments. The person localization is also improved, more accurate but slower than the base model.
SL_OBJECT_DETECTION_MODEL_CUSTOM_BOX_OBJECTS	For external inference, using your own custom model and/or frameworks. This mode disables the internal inference engine, the 2D bounding box detection must be provided.
SL_OBJECT_DETECTION_MODEL_CUSTOM_YOLOLIKE_BOX_OBJECTS	For internal inference using your own custom YOLO-like model. This mode requires a onnx file to be passed in the ObjectDetectionParameters. This model will be used for inference.

◆ SL_BODY_TRACKING_MODEL

enum SL_BODY_TRACKING_MODEL

Lists available models for the body tracking module.

Enumerator
SL_BODY_TRACKING_MODEL_HUMAN_BODY_FAST	Keypoints based, specific to human skeleton, real time performance even on Jetson or low end GPU cards.
SL_BODY_TRACKING_MODEL_HUMAN_BODY_MEDIUM	Keypoints based, specific to human skeleton, compromise between accuracy and speed.
SL_BODY_TRACKING_MODEL_HUMAN_BODY_ACCURATE	Keypoints based, specific to human skeleton, state of the art accuracy, requires powerful GPU.

◆ SL_AI_MODELS

enum SL_AI_MODELS

Lists available AI models.

Enumerator
SL_AI_MODELS_MULTI_CLASS_DETECTION	Related to SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX_FAST
SL_AI_MODELS_MULTI_CLASS_MEDIUM_DETECTION	Related to SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX_MEDIUM
SL_AI_MODELS_MULTI_CLASS_ACCURATE_DETECTION	Related to SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX_ACCURATE
SL_AI_MODELS_HUMAN_BODY_FAST_DETECTION	Related to SL_BODY_TRACKING_MODEL_HUMAN_BODY_FAST
SL_AI_MODELS_HUMAN_BODY_MEDIUM_DETECTION	Related to SL_BODY_TRACKING_MODEL_HUMAN_BODY_MEDIUM
SL_AI_MODELS_HUMAN_BODY_ACCURATE_DETECTION	Related to SL_BODY_TRACKING_MODEL_HUMAN_BODY_ACCURATE
SL_AI_MODELS_HUMAN_BODY_38_FAST_DETECTION	Related to SL_BODY_TRACKING_MODEL_HUMAN_BODY_FAST
SL_AI_MODELS_HUMAN_BODY_38_MEDIUM_DETECTION	Related to SL_BODY_TRACKING_MODEL_HUMAN_BODY_FAST
SL_AI_MODELS_HUMAN_BODY_38_ACCURATE_DETECTION	Related to SL_BODY_TRACKING_MODEL_HUMAN_BODY_FAST
SL_AI_MODELS_PERSON_HEAD_DETECTION	Related to SL_BODY_TRACKING_MODEL_HUMAN_BODY_FAST
SL_AI_MODELS_PERSON_HEAD_ACCURATE_DETECTION	Related to SL_OBJECT_DETECTION_MODEL_PERSON_HEAD_BOX_ACCURATE
SL_AI_MODELS_REID_ASSOCIATION	Related to SL_BatchParameters::enable
SL_AI_MODELS_NEURAL_DEPTH	Related to SL_DEPTH_MODE_NEURAL
SL_AI_MODELS_NEURAL_PLUS_DEPTH	Related to SL_DEPTH_MODE_NEURAL_PLUS

◆ SL_OBJECT_FILTERING_MODE

enum SL_OBJECT_FILTERING_MODE

Lists supported bounding box preprocessing.

Enumerator
SL_OBJECT_FILTERING_MODE_NONE	The ZED SDK will not apply any preprocessing to the detected objects.
SL_OBJECT_FILTERING_MODE_NMS_3D	The ZED SDK will remove objects that are in the same 3D position as an already tracked object (independent of class id).
SL_OBJECT_FILTERING_MODE_NMS_3D_PER_CLASS	The ZED 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 supported skeleton body models.

Enumerator

SL_BODY_FORMAT_BODY_18

18-keypoint model
Basic body model

SL_BODY_FORMAT_BODY_34

34-keypoint model

Note: Requires body fitting enabled.

SL_BODY_FORMAT_BODY_38

38-keypoint model
Including simplified face, hands and feet.

Note: Early Access

◆ SL_BODY_KEYPOINTS_SELECTION

enum SL_BODY_KEYPOINTS_SELECTION

Lists supported models for skeleton keypoints selection.

Enumerator
SL_BODY_KEYPOINTS_SELECTION_FULL	Full keypoint model.
SL_BODY_KEYPOINTS_SELECTION_UPPER_BODY	Upper body keypoint model Will output only upper body (from hip).

◆ SL_BODY_18_PARTS

enum SL_BODY_18_PARTS

Semantic of human body parts and order of SL_BodyData::keypoint for SL_BODY_FORMAT_BODY_18.

Enumerator
SL_BODY_18_PARTS_NOSE	0
SL_BODY_18_PARTS_NECK	1
SL_BODY_18_PARTS_RIGHT_SHOULDER	2
SL_BODY_18_PARTS_RIGHT_ELBOW	3
SL_BODY_18_PARTS_RIGHT_WRIST	4
SL_BODY_18_PARTS_LEFT_SHOULDER	5
SL_BODY_18_PARTS_LEFT_ELBOW	6
SL_BODY_18_PARTS_LEFT_WRIST	7
SL_BODY_18_PARTS_RIGHT_HIP	8
SL_BODY_18_PARTS_RIGHT_KNEE	9
SL_BODY_18_PARTS_RIGHT_ANKLE	10
SL_BODY_18_PARTS_LEFT_HIP	11
SL_BODY_18_PARTS_LEFT_KNEE	12
SL_BODY_18_PARTS_LEFT_ANKLE	13
SL_BODY_18_PARTS_RIGHT_EYE	14
SL_BODY_18_PARTS_LEFT_EYE	15
SL_BODY_18_PARTS_RIGHT_EAR	16
SL_BODY_18_PARTS_LEFT_EAR	17

◆ SL_BODY_34_PARTS

enum SL_BODY_34_PARTS

Semantic of human body parts and order of SL_BodyData::keypoint for SL_BODY_FORMAT_BODY_34.

Enumerator
SL_BODY_34_PARTS_PELVIS	0
SL_BODY_34_PARTS_NAVAL_SPINE	1
SL_BODY_34_PARTS_CHEST_SPINE	2
SL_BODY_34_PARTS_NECK	3
SL_BODY_34_PARTS_LEFT_CLAVICLE	4
SL_BODY_34_PARTS_LEFT_SHOULDER	5
SL_BODY_34_PARTS_LEFT_ELBOW	6
SL_BODY_34_PARTS_LEFT_WRIST	7
SL_BODY_34_PARTS_LEFT_HAND	8
SL_BODY_34_PARTS_LEFT_HANDTIP	9
SL_BODY_34_PARTS_LEFT_THUMB	10
SL_BODY_34_PARTS_RIGHT_CLAVICLE	11
SL_BODY_34_PARTS_RIGHT_SHOULDER	12
SL_BODY_34_PARTS_RIGHT_ELBOW	13
SL_BODY_34_PARTS_RIGHT_WRIST	14
SL_BODY_34_PARTS_RIGHT_HAND	15
SL_BODY_34_PARTS_RIGHT_HANDTIP	16
SL_BODY_34_PARTS_RIGHT_THUMB	17
SL_BODY_34_PARTS_LEFT_HIP	18
SL_BODY_34_PARTS_LEFT_KNEE	19
SL_BODY_34_PARTS_LEFT_ANKLE	20
SL_BODY_34_PARTS_LEFT_FOOT	21
SL_BODY_34_PARTS_RIGHT_HIP	22
SL_BODY_34_PARTS_RIGHT_KNEE	23
SL_BODY_34_PARTS_RIGHT_ANKLE	24
SL_BODY_34_PARTS_RIGHT_FOOT	25
SL_BODY_34_PARTS_HEAD	26
SL_BODY_34_PARTS_NOSE	27
SL_BODY_34_PARTS_LEFT_EYE	28
SL_BODY_34_PARTS_LEFT_EAR	29
SL_BODY_34_PARTS_RIGHT_EYE	30
SL_BODY_34_PARTS_RIGHT_EAR	31
SL_BODY_34_PARTS_LEFT_HEEL	32
SL_BODY_34_PARTS_RIGHT_HEEL	33

◆ SL_BODY_38_PARTS

enum SL_BODY_38_PARTS

Semantic of human body parts and order of SL_BodyData::keypoint for SL_BODY_FORMAT_BODY_38.

Enumerator
SL_BODY_38_PARTS_PELVIS	0
SL_BODY_38_PARTS_SPINE_1	1
SL_BODY_38_PARTS_SPINE_2	2
SL_BODY_38_PARTS_SPINE_3	3
SL_BODY_38_PARTS_NECK	4
SL_BODY_38_PARTS_NOSE	5
SL_BODY_38_PARTS_LEFT_EYE	6
SL_BODY_38_PARTS_RIGHT_EYE	7
SL_BODY_38_PARTS_LEFT_EAR	8
SL_BODY_38_PARTS_RIGHT_EAR	9
SL_BODY_38_PARTS_LEFT_CLAVICLE	10
SL_BODY_38_PARTS_RIGHT_CLAVICLE	11
SL_BODY_38_PARTS_LEFT_SHOULDER	12
SL_BODY_38_PARTS_RIGHT_SHOULDER	13
SL_BODY_38_PARTS_LEFT_ELBOW	14
SL_BODY_38_PARTS_RIGHT_ELBOW	15
SL_BODY_38_PARTS_LEFT_WRIST	16
SL_BODY_38_PARTS_RIGHT_WRIST	17
SL_BODY_38_PARTS_LEFT_HIP	18
SL_BODY_38_PARTS_RIGHT_HIP	19
SL_BODY_38_PARTS_LEFT_KNEE	20
SL_BODY_38_PARTS_RIGHT_KNEE	21
SL_BODY_38_PARTS_LEFT_ANKLE	22
SL_BODY_38_PARTS_RIGHT_ANKLE	23
SL_BODY_38_PARTS_LEFT_BIG_TOE	24
SL_BODY_38_PARTS_RIGHT_BIG_TOE	25
SL_BODY_38_PARTS_LEFT_SMALL_TOE	26
SL_BODY_38_PARTS_RIGHT_SMALL_TOE	27
SL_BODY_38_PARTS_LEFT_HEEL	28
SL_BODY_38_PARTS_RIGHT_HEEL	29
SL_BODY_38_PARTS_LEFT_HAND_THUMB_4	30
SL_BODY_38_PARTS_RIGHT_HAND_THUMB_4	31
SL_BODY_38_PARTS_LEFT_HAND_INDEX_1	32
SL_BODY_38_PARTS_RIGHT_HAND_INDEX_1	33
SL_BODY_38_PARTS_LEFT_HAND_MIDDLE_4	34
SL_BODY_38_PARTS_RIGHT_HAND_MIDDLE_4	35
SL_BODY_38_PARTS_LEFT_HAND_PINKY_1	36
SL_BODY_38_PARTS_RIGHT_HAND_PINKY_1	37

◆ SL_MODULE

enum SL_MODULE

Enumerator
SL_MODULE_ALL	All modules

◆ SL_POSITION_TYPE

enum SL_POSITION_TYPE

Lists the types of possible position outputs.

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

◆ SL_OBJECT_CLASS

enum SL_OBJECT_CLASS

Lists available object classes.

Enumerator
SL_OBJECT_CLASS_PERSON	For people detection
SL_OBJECT_CLASS_VEHICLE	For vehicle detection (cars, trucks, buses, motorcycles, etc.)
SL_OBJECT_CLASS_BAG	For bag detection (backpack, handbag, suitcase, etc.)
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 object detection (sport ball, etc.)

◆ SL_FUSION_ERROR_CODE

enum SL_FUSION_ERROR_CODE

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

Enumerator
SL_FUSION_ERROR_CODE_GNSS_DATA_COVARIANCE_MUST_VARY	Ingested covariance data must vary between ingest
SL_FUSION_ERROR_CODE_BODY_FORMAT_MISMATCH	The senders are using different body formats. Consider changing them.
SL_FUSION_ERROR_CODE_MODULE_NOT_ENABLED	The following module was not enabled.
SL_FUSION_ERROR_CODE_SOURCE_MISMATCH	Some sources are provided by SVO and others by LIVE stream.
SL_FUSION_ERROR_CODE_CONNECTION_TIMED_OUT	Connection timed out. Unable to reach the sender. Verify the sender's IP/port.
SL_FUSION_ERROR_CODE_MEMORY_ALREADY_USED	Intra-process shared memory allocation issue. Multiple connections to the same data.
SL_FUSION_ERROR_CODE_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.
SL_FUSION_ERROR_CODE_FAILURE	Standard code for unsuccessful behavior.
SL_FUSION_ERROR_CODE_SUCCESS	Standard code for successful behavior.
SL_FUSION_ERROR_CODE_FUSION_INCONSISTENT_FPS	Significant differences observed between sender's FPS.
SL_FUSION_ERROR_CODE_FUSION_FPS_TOO_LOW	At least one sender has an FPS lower than 10 FPS.
SL_FUSION_ERROR_CODE_INVALID_TIMESTAMP	Problem detected with the ingested timestamp. Sample data will be ignored.
SL_FUSION_ERROR_CODE_INVALID_COVARIANCE	Problem detected with the ingested covariance. Sample data will be ignored.
SL_FUSION_ERROR_CODE_NO_NEW_DATA_AVAILABLE	All data from all sources has been consumed. No new data is available for processing.

◆ SL_SENDER_ERROR_CODE

enum SL_SENDER_ERROR_CODE

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

Enumerator
SL_SENDER_ERROR_CODE_DISCONNECTED	The sender has been disconnected.
SL_SENDER_ERROR_CODE_SUCCESS	Standard code for successful behavior.
SL_SENDER_ERROR_CODE_GRAB_ERROR	The sender encountered a grab error.
SL_SENDER_ERROR_CODE_INCONSISTENT_FPS	The sender does not run with a constant frame rate.
SL_SENDER_ERROR_CODE_FPS_TOO_LOW	The frame rate of the sender is lower than 10 FPS.

◆ SL_COMM_TYPE

enum SL_COMM_TYPE

Lists the different types of communications available for Fusion module.

Enumerator
SL_COMM_TYPE_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.
SL_COMM_TYPE_INTRA_PROCESS	Both sender and receiver are declared by the same process and can be in different threads. This type of communication is optimized.

◆ SL_GNSS_STATUS

enum SL_GNSS_STATUS

Class representing the fix quality of GNSS signal.

Enumerator
SL_GNSS_STATUS_UNKNOWN	No GNSS fix data is available.
SL_GNSS_STATUS_SINGLE	Single Point Positioning
SL_GNSS_STATUS_DGNSS	Differential GNSS
SL_GNSS_STATUS_RTK_FIX	Real-Time Kinematic (RTK) GNSS fix in fixed mode.
SL_GNSS_STATUS_RTK_FLOAT	Real-Time Kinematic (RTK) GNSS fix in float mode.
SL_GNSS_STATUS_PPS	Precise Positioning Service

◆ SL_GNSS_MODE

enum SL_GNSS_MODE

Enumerator
SL_GNSS_MODE_UNKNOWN	No GNSS fix data is available.
SL_GNSS_MODE_NO_FIX	No GNSS fix is available.
SL_GNSS_MODE_FIX_2D	2D GNSS fix, providing latitude and longitude coordinates but without altitude information.
SL_GNSS_MODE_FIX_3D	3D GNSS fix, providing latitude, longitude, and altitude coordinates.

◆ SL_GNSS_FUSION_STATUS

enum SL_GNSS_FUSION_STATUS

Class containing the current GNSS fusion status.

Enumerator
SL_GNSS_FUSION_STATUS_OK	The GNSS fusion module is calibrated and working successfully.
SL_GNSS_FUSION_STATUS_OFF	The GNSS fusion module is not enabled.
SL_GNSS_FUSION_STATUS_CALIBRATION_IN_PROGRESS	Calibration of the GNSS/VIO fusion module is in progress.
SL_GNSS_FUSION_STATUS_RECALIBRATION_IN_PROGRESS	Re-alignment of GNSS/VIO data is in progress, leading to potentially inaccurate global position.

Data Structures

Macros

Enumerations

Variables