This class serves as the primary interface between the camera and the various features provided by the SDK. More...

Functions
float	GetRequestedCameraFPS ()
	Desired FPS from the ZED camera. More...

	Camera (int id)
	Default constructor. More...

ERROR_CODE	Open (ref InitParameters initParameters)
	Opens the ZED camera from the provided InitParameters. More...

void	Close ()
	Closes the camera. More...

sl.ERROR_CODE	Grab (ref sl.RuntimeParameters runtimeParameters)
	This method will grab the latest images from the camera, rectify them, and compute the measurements based on the RuntimeParameters provided (depth, point cloud, tracking, etc.). More...

ERROR_CODE	StartPublishing (ref CommunicationParameters commParams)
	Set this camera as a data provider for the Fusion module. More...

ERROR_CODE	StopPublishing ()
	Set this camera as normal camera(without data providing). More...

sl.INPUT_TYPE	GetInputType ()
	Return the sl.INPUT_TYPE currently used. More...

CalibrationParameters	GetCalibrationParameters (bool raw=false)
	Return the calibration parameters of the camera. More...

sl.MODEL	GetCameraModel ()
	Gets the camera model (sl.MODEL). More...

int	GetCameraFirmwareVersion ()
	Gets the camera firmware version. More...

int	GetSensorsFirmwareVersion ()
	Gets the sensors firmware version. More...

int	GetZEDSerialNumber ()
	Gets the camera's serial number. More...

float	GetFOV ()
	Returns the camera's vertical field of view in radians. More...

void	UpdateSelfCalibration ()
	Perform a new self calibration process. More...

uint	GetFrameDroppedCount ()
	Gets the number of frames dropped since Grab() was called for the first time. More...

sl.ERROR_CODE	SaveCurrentImageInFile (sl.VIEW view, String filename)
	Save current image (specified by view) in a file defined by filename. More...

sl.ERROR_CODE	SaveCurrentDepthInFile (SIDE side, String filename)
	Save the current depth in a file defined by filename. More...

sl.ERROR_CODE	SaveCurrentPointCloudInFile (SIDE side, String filename)
	Save the current point cloud in a file defined by filename. More...

Depth Sensing
sl.ERROR_CODE	RetrieveMeasure (sl.Mat mat, sl.MEASURE measure, sl.MEM mem=sl.MEM.CPU, sl.Resolution resolution=new sl.Resolution())
	Retrieves a measure texture from the ZED SDK and loads it into a sl.Mat. More...

int	GetConfidenceThreshold ()
	Gets the current confidence threshold value for the disparity map (and by extension the depth map). More...

float	GetDepthMinRangeValue ()
	Gets the closest measurable distance by the camera, according to the camera type and depth map parameters. More...

sl.ERROR_CODE	GetCurrentMixMaxDepth (ref float min, ref float max)
	Gets the current range of perceived depth. More...

float	GetDepthMaxRangeValue ()
	Returns the current maximum distance of depth/disparity estimation. More...

sl.ERROR_CODE	EnablePositionalTracking (ref PositionalTrackingParameters positionalTrackingParameters)
	Initializes and starts the positional tracking processes. More...

void	DisablePositionalTracking (string path="")
	Disables the positional tracking. More...

bool	IsPositionalTrackingEnabled ()
	Tells if the tracking module is enabled. More...

ERROR_CODE	SaveAreaMap (string areaFilePath)
	Saves the current area learning file. More...

AREA_EXPORT_STATE	GetAreaExportState ()
	Returns the state of the spatial memory export process. More...

sl.ERROR_CODE	ResetPositionalTracking (Quaternion rotation, Vector3 translation)
	Resets the tracking, and re-initializes the position with the given translation vector and rotation quaternion. More...

SensorsConfiguration	GetSensorsConfiguration ()
	Returns the sensor configuration of the camera. More...

CameraInformation	GetCameraInformation (Resolution resolution=new Resolution())
	Returns the CameraInformation associated the camera being used. More...

POSITIONAL_TRACKING_STATE	GetPosition (ref Quaternion rotation, ref Vector3 position, REFERENCE_FRAME referenceType=REFERENCE_FRAME.WORLD)
	Gets the position of the camera and the current state of the camera Tracking. More...

PositionalTrackingStatus	GetPositionalTrackingStatus ()
	Returns the current status of positional tracking module. More...

POSITIONAL_TRACKING_STATE	GetPosition (ref Quaternion rotation, ref Vector3 translation, ref Quaternion targetQuaternion, ref Vector3 targetTranslation, REFERENCE_FRAME referenceFrame=REFERENCE_FRAME.WORLD)
	Gets the current position of the camera and state of the tracking, with an optional offset to the tracking frame. More...

POSITIONAL_TRACKING_STATE	GetPosition (ref Quaternion rotation, ref Vector3 translation, TRACKING_FRAME trackingFrame, REFERENCE_FRAME referenceFrame=REFERENCE_FRAME.WORLD)
	Gets the current position of the camera and state of the tracking, with a defined tracking frame. More...

POSITIONAL_TRACKING_STATE	GetPosition (ref Pose pose, REFERENCE_FRAME referenceType=REFERENCE_FRAME.WORLD)
	Gets the current position of the camera and state of the tracking, filling a Pose struct useful for AR pass-through. More...

ERROR_CODE	SetIMUOrientationPrior (ref Quaternion rotation)
	Sets a prior to the IMU orientation (not for MODEL.ZED). More...

ERROR_CODE	GetIMUOrientation (ref Quaternion rotation, TIME_REFERENCE referenceTime=TIME_REFERENCE.IMAGE)
	Gets the rotation given by the IMU. More...

ERROR_CODE	GetSensorsData (ref SensorsData data, TIME_REFERENCE referenceTime=TIME_REFERENCE.IMAGE)
	Retrieves the SensorsData (IMU, magnetometer, barometer) at a specific time reference. More...

ERROR_CODE	SetRegionOfInterest (sl.Mat roiMask, bool[] module)
	Defines a region of interest to focus on for all the SDK, discarding other parts. More...

ERROR_CODE	GetRegionOfInterest (sl.Mat roiMask, sl.Resolution resolution=new sl.Resolution(), MODULE module=MODULE.ALL)
	Get the previously set or computed region of interest. More...

ERROR_CODE	StartRegionOfInterestAutoDetection (RegionOfInterestParameters roiParams)
	Start the auto detection of a region of interest to focus on for all the SDK, discarding other parts. This detection is based on the general motion of the camera combined with the motion in the scene. The camera must move for this process, an internal motion detector is used, based on the Positional Tracking module. It requires a few hundreds frames of motion to compute the mask. More...

REGION_OF_INTEREST_AUTO_DETECTION_STATE	GetRegionOfInterestAutoDetectionStatus ()
	Return the status of the automatic Region of Interest Detection. The automatic Region of Interest Detection is enabled by using StartRegionOfInterestAutoDetection More...

Recording
ERROR_CODE	EnableRecording (string videoFileName, SVO_COMPRESSION_MODE compressionMode=SVO_COMPRESSION_MODE.H264_BASED, uint bitrate=0, int targetFPS=0, bool transcode=false)
	Creates an SVO file to be filled by EnableRecording() and DisableRecording(). More...

ERROR_CODE	EnableRecording (RecordingParameters recordingParameters)
	Creates an SVO file to be filled by EnableRecording() and DisableRecording(). More...

sl.RecordingStatus	GetRecordingStatus ()
	Get the recording information. More...

sl.RecordingParameters	GetRecordingParameters ()
	Returns the RecordingParameters used. More...

void	PauseRecording (bool status)
	Pauses or resumes the recording. More...

void	DisableRecording ()
	Disables the recording initiated by EnableRecording() and closes the generated file. More...

ERROR_CODE	IngestDataIntoSVO (ref SVOData data)
	Ingest SVOData in a SVO file. More...

ERROR_CODE	RetrieveSVOData (string key, ref List< SVOData > data, ulong tsBegin, ulong tsEnd)
	Retrieves SVO data from the SVO file at the given channel key and in the given timestamp range. More...

List< string >	GetSVODataKeys ()
	Gets the external channels that can be retrieved from the SVO file. More...

Streaming
ERROR_CODE	EnableStreaming (STREAMING_CODEC codec=STREAMING_CODEC.H264_BASED, uint bitrate=8000, ushort port=30000, int gopSize=-1, bool adaptativeBitrate=false, int chunkSize=32768, int targetFPS=0)
	Creates an streaming pipeline. More...

ERROR_CODE	EnableStreaming (ref StreamingParameters streamingParameters)
	Creates an streaming pipeline. More...

bool	IsStreamingEnabled ()
	Tells if the streaming is running. More...

void	DisableStreaming ()
	Disables the streaming initiated by EnableStreaming(). More...

sl.StreamingParameters	GetStreamingParameters ()
	Returns the StreamingParameters used. More...

Static Functions
static void	UnloadPlugin ()

static void	UnloadInstance (int id)

static string	GenerateUniqueID ()
	Generate a UUID like unique id to help identify and track AI detections. More...

static string	GetSDKVersion ()
	Gets the version of the currently installed ZED SDK. More...

static sl.ERROR_CODE	ConvertCoordinateSystem (ref Quaternion rotation, ref Vector3 translation, sl.COORDINATE_SYSTEM coordinateSystemSrc, sl.COORDINATE_SYSTEM coordinateSystemDest)
	Change the coordinate system of a transform matrix. More...

static void	GetSDKVersion (ref int major, ref int minor, ref int patch)
	Gets the version of the currently installed ZED SDK. More...

static sl.DeviceProperties[]	GetDeviceList (out int nbDevices)
	List all the connected devices with their associated information. More...

static sl.StreamingProperties[]	GetStreamingDeviceList (out int nbDevices)
	List all the streaming devices with their associated information. More...

static sl.ERROR_CODE	Reboot (int serialNumber, bool fullReboot=true)
	Performs a hardware reset of the ZED 2 and the ZED 2i. More...

Attributes
int	CameraID = 0
	Camera ID (for multiple cameras) More...

Properties
int	ImageWidth `[get]`
	Width of the images returned by the camera in pixels. More...

int	ImageHeight `[get]`
	Height of the images returned by the camera in pixels. More...

float	Baseline `[get]`
	Baseline of the camera (distance between the cameras). More...

float	HorizontalFieldOfView `[get]`
	Current horizontal field of view in degrees of the camera. More...

float	VerticalFieldOfView `[get]`
	Current vertical field of view in degrees of the camera. More...

SensorsConfiguration	SensorsConfiguration `[get]`

CalibrationParameters	CalibrationParametersRaw `[get]`
	Stereo parameters for current ZED camera prior to rectification (distorted). More...

CalibrationParameters	CalibrationParametersRectified `[get]`
	Stereo parameters for current ZED camera after rectification (undistorted). More...

sl.MODEL	CameraModel `[get]`
	Model of the camera. More...

bool	IsCameraReady `[get]`
	Whether the camera has been successfully initialized. More...

Video
sl.ERROR_CODE	RetrieveImage (sl.Mat mat, sl.VIEW view, sl.MEM mem=sl.MEM.CPU, sl.Resolution resolution=new sl.Resolution())
	Retrieves an image texture from the ZED SDK and loads it into a sl.Mat. More...

InitParameters	GetInitParameters ()
	Returns the InitParameters associated with the Camera object. More...

RuntimeParameters	GetRuntimeParameters ()
	Returns the RuntimeParameters used. More...

PositionalTrackingParameters	GetPositionalTrackingParameters ()
	Returns the PositionalTrackingParameters used. More...

bool	IsCameraSettingSupported (VIDEO_SETTINGS setting)
	Test if the video setting is supported by the camera. More...

void	SetCameraSettings (VIDEO_SETTINGS settings, int minvalue, int maxvalue)
	Sets the min and max range values of the requested camera setting (used for settings with a range). More...

sl.ERROR_CODE	GetCameraSettings (VIDEO_SETTINGS settings, ref int minvalue, ref int maxvalue)
	Returns the current range of the requested camera setting. More...

void	SetCameraSettings (VIDEO_SETTINGS settings, int value)
	Sets the value of the requested camera setting (gain, brightness, hue, exposure, etc.). More...

int	GetCameraSettings (VIDEO_SETTINGS settings)
	Returns the current value of the requested camera setting (gain, brightness, hue, exposure, etc.). More...

ERROR_CODE	SetCameraSettings (VIDEO_SETTINGS settings, SIDE side, Rect roi, bool reset=false)
	Overloaded method for VIDEO_SETTINGS.AEC_AGC_ROI which takes a Rect as parameter. More...

ERROR_CODE	GetCameraSettings (VIDEO_SETTINGS settings, SIDE side, ref Rect roi)
	Overloaded method for VIDEO_SETTINGS.AEC_AGC_ROI which takes a Rect as parameter. More...

void	ResetCameraSettings ()
	Reset camera settings to default. More...

ulong	GetCameraTimeStamp ()
	Gets the timestamp at the time the latest grabbed frame was extracted from the USB stream. More...

ulong	GetCurrentTimeStamp ()
	Gets the current timestamp at the time the method is called. More...

int	GetSVOPosition ()
	Returns the current playback position in the SVO file. More...

int	GetSVOPositionAtTimestamp (ulong timestamp)
	Retrieves the frame index within the SVO file corresponding to the provided timestamp. More...

int	GetSVONumberOfFrames ()
	Returns the number of frames in the SVO file. More...

void	SetSVOPosition (int frame)
	Sets the position of the SVO file currently being read to a desired frame. More...

float	GetCameraFPS ()
	Returns the current camera FPS. More...

bool	IsOpened ()
	Reports if the camera has been successfully opened. More...

static sl.Resolution	GetResolution (RESOLUTION resolution)
	Gets the corresponding sl.Resolution from an sl.RESOLUTION. More...

Spatial Mapping
sl.ERROR_CODE	EnableSpatialMapping (ref SpatialMappingParameters spatialMappingParameters)
	Initializes and begins the spatial mapping processes. More...

sl.ERROR_CODE	EnableSpatialMapping (SPATIAL_MAP_TYPE type=SPATIAL_MAP_TYPE.MESH, MAPPING_RESOLUTION mappingResolution=MAPPING_RESOLUTION.MEDIUM, MAPPING_RANGE mappingRange=MAPPING_RANGE.MEDIUM, bool saveTexture=false)
	Initializes and begins the spatial mapping processes. More...

SpatialMappingParameters	GetSpatialMappingParameters ()
	Returns the SpatialMappingParameters used. More...

void	DisableSpatialMapping ()
	Disables the spatial mapping process. More...

sl.ERROR_CODE	UpdateMesh (int[] nbVerticesInSubmeshes, int[] nbTrianglesInSubmeshes, ref int nbUpdatedSubmesh, int[] updatedIndices, ref int nbVertices, ref int nbTriangles, int nbSubmeshMax)
	Updates the internal version of the mesh and returns the sizes of the meshes. More...

sl.ERROR_CODE	UpdateMesh (ref Mesh mesh)
	Updates the internal version of the mesh and returns the sizes of the meshes. More...

sl.ERROR_CODE	RetrieveMesh (Vector3[] vertices, int[] triangles, byte[] colors, int nbSubmeshMax, Vector2[] uvs, IntPtr textures)
	Retrieves all chunks of the current generated mesh. More...

sl.ERROR_CODE	RetrieveMesh (ref Mesh mesh)
	Retrieves all chunks of the current generated mesh. More...

sl.ERROR_CODE	RetrieveChunks (ref Mesh mesh)
	Retrieve all chunks of the generated mesh. More...

sl.ERROR_CODE	RetrieveSpatialMap (ref Mesh mesh)
	Retrieves the current generated mesh. More...

sl.ERROR_CODE	RetrieveSpatialMap (ref FusedPointCloud fusedPointCloud)
	Retrieves the current fused point cloud. More...

sl.ERROR_CODE	UpdateFusedPointCloud (ref int nbVertices)
	Updates the fused point cloud (if spatial map type was FUSED_POINT_CLOUD). More...

sl.ERROR_CODE	RetrieveFusedPointCloud (Vector4[] vertices)
	Retrieves all points of the fused point cloud. More...

ERROR_CODE	ExtractWholeSpatialMap ()
	Extracts the current spatial map from the spatial mapping process. More...

void	RequestSpatialMap ()
	Starts the mesh generation process in a thread that does not block the spatial mapping process. More...

void	PauseSpatialMapping (bool status)
	Pauses or resumes the spatial mapping processes. More...

sl.ERROR_CODE	GetMeshRequestStatus ()
	Returns the mesh generation status. More...

bool	SaveMesh (string filename, MESH_FILE_FORMAT format)
	Saves the scanned mesh in a specific file format. More...

bool	SavePointCloud (string filename, MESH_FILE_FORMAT format)
	Saves the scanned point cloud in a specific file format. More...

bool	LoadMesh (string filename, int[] nbVerticesInSubmeshes, int[] nbTrianglesInSubmeshes, ref int nbSubmeshes, int[] updatedIndices, ref int nbVertices, ref int nbTriangles, int nbSubmeshMax, int[] textureSize=null)
	Loads a saved mesh file. More...

bool	FilterMesh (MESH_FILTER filterParameters, int[] nbVerticesInSubmeshes, int[] nbTrianglesInSubmeshes, ref int nbSubmeshes, int[] updatedIndices, ref int nbVertices, ref int nbTriangles, int nbSubmeshMax)
	Filters a mesh to remove triangles while still preserving its overall shape (though less accurate). More...

bool	FilterMesh (MESH_FILTER filterParameters, ref Mesh mesh)
	Filters a mesh to remove triangles while still preserving its overall shape (though less accurate). More...

bool	ApplyTexture (int[] nbVerticesInSubmeshes, int[] nbTrianglesInSubmeshes, ref int nbSubmeshes, int[] updatedIndices, ref int nbVertices, ref int nbTriangles, int[] textureSize, int nbSubmeshMax)
	Applies the scanned texture onto the internal scanned mesh. More...

bool	ApplyTexture (ref Mesh mesh)
	Applies the texture on a mesh. More...

SPATIAL_MAPPING_STATE	GetSpatialMappingState ()
	Returns the current spatial mapping state. More...

Vector3	GetGravityEstimate ()
	Gets a vector pointing toward the direction of gravity. More...

void	MergeChunks (int numberFaces, int[] nbVerticesInSubmeshes, int[] nbTrianglesInSubmeshes, ref int nbSubmeshes, int[] updatedIndices, ref int nbVertices, ref int nbTriangles, int nbSubmesh)
	Consolidates the chunks from a scan. More...

Plane Detection
sl.ERROR_CODE	findFloorPlane (ref PlaneData plane, out float playerHeight, Quaternion priorQuat, Vector3 priorTrans)
	Detect the floor plane of the scene. More...

sl.ERROR_CODE	FindFloorPlane (ref PlaneData plane, out float playerHeight, Quaternion priorQuat, Vector3 priorTrans)
	Detect the floor plane of the scene. More...

int	convertFloorPlaneToMesh (Vector3[] vertices, int[] triangles, out int numVertices, out int numTriangles)
	Using data from a detected floor plane, updates supplied vertex and triangle arrays with data needed to make a mesh that represents it. More...

int	ConvertFloorPlaneToMesh (Vector3[] vertices, int[] triangles, out int numVertices, out int numTriangles)
	Using data from a detected floor plane, updates supplied vertex and triangle arrays with data needed to make a mesh that represents it. More...

sl.ERROR_CODE	findPlaneAtHit (ref PlaneData plane, Vector2 coord, ref PlaneDetectionParameters planeDetectionParameters)
	Checks the plane at the given left image coordinates. More...

sl.ERROR_CODE	FindPlaneAtHit (ref PlaneData plane, Vector2 coord, ref PlaneDetectionParameters planeDetectionParameters)
	Checks the plane at the given left image coordinates. More...

int	convertHitPlaneToMesh (Vector3[] vertices, int[] triangles, out int numVertices, out int numTriangles)
	Using data from a detected hit plane, updates supplied vertex and triangle arrays with data needed to make a mesh that represents it. More...

int	ConvertHitPlaneToMesh (Vector3[] vertices, int[] triangles, out int numVertices, out int numTriangles)
	Using data from a detected hit plane, updates supplied vertex and triangle arrays with data needed to make a mesh that represents it. More...

static float	ConvertRangePreset (MAPPING_RANGE rangePreset)
	Updates the range to match the specified preset. More...

static float	ConvertResolutionPreset (MAPPING_RESOLUTION resolutionPreset)
	Updates the resolution to match the specified preset. More...

Object Detection
sl.ERROR_CODE	EnableObjectDetection (ref ObjectDetectionParameters od_params)
	Initializes and starts object detection module. More...

sl.ERROR_CODE	EnableBodyTracking (ref BodyTrackingParameters bt_params)
	Initializes and starts body tracking module. More...

void	DisableObjectDetection (uint instanceID=0, bool disableAllInstance=false)
	Disable object detection module and release the resources. More...

void	DisableBodyTracking (uint instanceID=0, bool disableAllInstance=false)
	Disable body tracking module and release the resources. More...

sl.ObjectDetectionParameters	GetObjectDetectionParameters ()
	Returns the ObjectDetectionParameters used. More...

sl.BodyTrackingParameters	GetBodyTrackingParameters ()
	Returns the BodyTrackingParameters used. More...

sl.ERROR_CODE	IngestCustomBoxObjects (List< CustomBoxObjectData > objects_in)
	Feed the 3D Object tracking method with your own 2D bounding boxes from your own detection algorithm. More...

sl.ERROR_CODE	RetrieveObjects (ref Objects objs, ref ObjectDetectionRuntimeParameters od_params, uint instanceID=0)
	Retrieve objects detected by the object detection module. More...

sl.ERROR_CODE	RetrieveBodies (ref Bodies bodies, ref BodyTrackingRuntimeParameters bt_params, uint instanceID=0)
	Retrieve bodies detected by the body tracking module. More...

sl.ERROR_CODE	UpdateObjectsBatch (out int nbBatches)
	Update the batch trajectories and retrieve the number of batches. More...

sl.ERROR_CODE	GetObjectsBatch (int batch_index, ref ObjectsBatch objectsBatch)
	Retrieve a batch of objects. More...

static AI_Model_status	CheckAIModelStatus (AI_MODELS model, int gpu_id=0)
	Check if a corresponding optimized engine is found for the requested model based on your rig configuration. More...

static sl.ERROR_CODE	OptimizeAIModel (AI_MODELS model, int gpu_id=0)
	Optimize the requested model, possible download if the model is not present on the host. More...

Detailed Description

This class serves as the primary interface between the camera and the various features provided by the SDK.

It enables seamless integration and access to a wide array of capabilities, including video streaming, depth sensing, object tracking, mapping, and much more.

Constructor and Destructor

◆ Camera()

Camera ( int id )

inline

Default constructor.

Creates an empty Camera object.

Parameters

id

Functions

◆ GetRequestedCameraFPS()

float GetRequestedCameraFPS ( )

inline

Desired FPS from the ZED camera.

This is the maximum FPS for the camera's current resolution unless a lower setting was specified in Open().
Maximum values are bound by the camera's output, not system performance.

◆ UnloadPlugin()

static void UnloadPlugin ( )

inlinestatic

◆ UnloadInstance()

static void UnloadInstance ( int id )

inlinestatic

◆ GenerateUniqueID()

static string GenerateUniqueID ( )

inlinestatic

Generate a UUID like unique id to help identify and track AI detections.

Returns: A UUID like unique id.

◆ Open()

ERROR_CODE Open ( ref InitParameters initParameters )

inline

Opens the ZED camera from the provided InitParameters.

The method will also check the hardware requirements and run a self-calibration.

Parameters

initParameters A structure containing all the initial parameters. Default: a preset of InitParameters.

Returns: An error code giving information about the internal process. If ERROR_CODE.SUCCESS is returned, the camera is ready to use. Every other code indicates an error and the program should be stopped.

◆ Close()

void Close ( )

inline

Closes the camera.

Once destroyed, you need to recreate a camera instance to restart again.

◆ Grab()

sl.ERROR_CODE Grab ( ref sl.RuntimeParameters runtimeParameters )

inline

This method will grab the latest images from the camera, rectify them, and compute the measurements based on the RuntimeParameters provided (depth, point cloud, tracking, etc.).

The grabbing method is typically called in the main loop in a separate thread.

Note: For more info, read about the SDK method it calls: grab.

Parameters

runtimeParameters A structure containing all the runtime parameters. Default: a preset of RuntimeParameters.

Returns: false if no problem was encountered, true otherwise.

◆ StartPublishing()

ERROR_CODE StartPublishing ( ref CommunicationParameters commParams )

inline

Set this camera as a data provider for the Fusion module.

Parameters

jsonConfigFileName

Returns: ERROR_CODE "ERROR_CODE.SUCCESS" if everything went fine, ERROR_CODE.FAILURE otherwise.

◆ StopPublishing()

ERROR_CODE StopPublishing ( )

inline

Set this camera as normal camera(without data providing).

◆ GetInputType()

sl.INPUT_TYPE GetInputType ( )

inline

Return the sl.INPUT_TYPE currently used.

Returns: The current sl.INPUT_TYPE.

◆ RetrieveImage()

sl.ERROR_CODE RetrieveImage	(	sl.Mat	mat,
		sl.VIEW	view,
		sl.MEM	mem = `sl.MEM.CPU`,
		sl.Resolution	resolution = `new sl.Resolution()`
	)

inline

Retrieves an image texture from the ZED SDK and loads it into a sl.Mat.

Use this to get an individual texture from the last grabbed frame in a human-viewable format. Image textures work for when you want the result to be visible, such as the direct RGB image from the camera, or a greyscale image of the depth. However it will lose accuracy if used to show measurements like depth or confidence, unlike measure textures.

Note: If you want to access the texture via script, you'll usually want to specify CPU memory. Then you can use Marshal.Copy to move them into a new byte array, which you can load into a Texture2D. Note that you may need to change the color space and/or flip the image.

Note: For more info, read about the SDK method it calls: retrieveImage.

Parameters

mat	sl.Mat to fill with the new texture.
view	Image type (left RGB, right depth map, etc.)
mem	Whether the image should be on CPU or GPU memory.
resolution	Resolution of the texture.

Returns: sl.ERROR_CODE indicating if the retrieval was successful, and why it wasn't otherwise.

◆ GetInitParameters()

InitParameters GetInitParameters ( )

inline

Returns the InitParameters associated with the Camera object.

It corresponds to the structure given as argument to Open() method.

Returns: InitParameters containing the parameters used to initialize the Camera object.

◆ GetRuntimeParameters()

RuntimeParameters GetRuntimeParameters ( )

inline

Returns the RuntimeParameters used.

It corresponds to the structure given as argument to the Grab() method.

Returns: RuntimeParameters containing the parameters that define the behavior of the Grab method.

◆ GetPositionalTrackingParameters()

PositionalTrackingParameters GetPositionalTrackingParameters ( )

inline

Returns the PositionalTrackingParameters used.

It corresponds to the structure given as argument to the EnablePositionalTracking() method.

Returns: PositionalTrackingParameters containing the parameters used for positional tracking initialization.

◆ GetResolution()

static sl.Resolution GetResolution ( RESOLUTION resolution )

inlinestatic

Gets the corresponding sl.Resolution from an sl.RESOLUTION.

Parameters

resolution The wanted sl.RESOLUTION.

Returns: The sl.Resolution corresponding to sl.RESOLUTION given as argument.

◆ IsCameraSettingSupported()

bool IsCameraSettingSupported ( VIDEO_SETTINGS setting )

inline

Test if the video setting is supported by the camera.

Parameters

setting The video setting to test.

Returns: true if the VIDEO_SETTINGS is supported by the camera, false otherwise.

◆ SetCameraSettings() [1/3]

void SetCameraSettings	(	VIDEO_SETTINGS	settings,
		int	minvalue,
		int	maxvalue
	)

inline

Sets the min and max range values of the requested camera setting (used for settings with a range).

Parameters

settings	The setting to be set.
minvalue	The min value of the range to set.
maxvalue	The min value of the range to set.

Referenced by Camera.ResetCameraSettings().

◆ GetCameraSettings() [1/3]

sl.ERROR_CODE GetCameraSettings	(	VIDEO_SETTINGS	settings,
		ref int	minvalue,
		ref int	maxvalue
	)

inline

Returns the current range of the requested camera setting.

Parameters

settings	Setting to be retrieved (setting with range value).
minvalue	Will be set to the value of the lower bound of the range of the setting.
maxvalue	Will be set to the value of the higher bound of the range of the setting.

Returns: An sl.ERROR_CODE to indicate if the method was successful.

◆ SetCameraSettings() [2/3]

void SetCameraSettings	(	VIDEO_SETTINGS	settings,
		int	value
	)

inline

Sets the value of the requested camera setting (gain, brightness, hue, exposure, etc.).

Parameters

settings	The setting to be set.
value	The value to set. Default: auto mode

◆ GetCameraSettings() [2/3]

int GetCameraSettings ( VIDEO_SETTINGS settings )

inline

Returns the current value of the requested camera setting (gain, brightness, hue, exposure, etc.).

Parameters

settings Setting to be retrieved (brightness, contrast, gain, exposure, etc.).

Returns: The value of the requested camera setting.

◆ SetCameraSettings() [3/3]

ERROR_CODE SetCameraSettings	(	VIDEO_SETTINGS	settings,
		SIDE	side,
		Rect	roi,
		bool	reset = `false`
	)

inline

Overloaded method for VIDEO_SETTINGS.AEC_AGC_ROI which takes a Rect as parameter.

Parameters

settings	Must be set at VIDEO_SETTINGS.AEC_AGC_ROI, otherwise the method will have no impact.
side	sl.SIDE on which to be applied for AEC/AGC computation.
roi	Rect that defines the target to be applied for AEC/AGC computation. Must be given according to camera resolution.
reset	Cancel the manual ROI and reset it to the full image.

Returns: An sl.ERROR_CODE to indicate if the method was successful.

◆ GetCameraSettings() [3/3]

ERROR_CODE GetCameraSettings	(	VIDEO_SETTINGS	settings,
		SIDE	side,
		ref Rect	roi
	)

inline

Overloaded method for VIDEO_SETTINGS.AEC_AGC_ROI which takes a Rect as parameter.

Parameters

settings	Must be set at VIDEO_SETTINGS.AEC_AGC_ROI, otherwise the method will have no impact.
side	sl.SIDE on which to get the ROI from.
roi	Roi that will be filled.

Returns: An sl.ERROR_CODE to indicate if the method was successful.

◆ ResetCameraSettings()

void ResetCameraSettings ( )

inline

Reset camera settings to default.

◆ GetCameraTimeStamp()

ulong GetCameraTimeStamp ( )

inline

Gets the timestamp at the time the latest grabbed frame was extracted from the USB stream.

This is the closest timestamp you can get from when the image was taken.

Note: Must be called after calling Grab().

Returns: Current timestamp in nanoseconds. -1 means it's is not available, such as with an .SVO file without compression.

◆ GetCurrentTimeStamp()

ulong GetCurrentTimeStamp ( )

inline

Gets the current timestamp at the time the method is called.

Can be compared to the camera timestamp for synchronization, since they have the same reference (the computer's start time).

Returns: The timestamp in nanoseconds.

◆ GetSVOPosition()

int GetSVOPosition ( )

inline

Returns the current playback position in the SVO file.

Returns: The current frame position in the SVO file. -1 if the SDK is not reading an SVO.

◆ GetSVOPositionAtTimestamp()

int GetSVOPositionAtTimestamp ( ulong timestamp )

inline

Retrieves the frame index within the SVO file corresponding to the provided timestamp.

Parameters

timestamp The target timestamp for which the frame index is to be determined.

Returns: The frame index within the SVO file that aligns with the given timestamp. Returns -1 if the timestamp falls outside the bounds of the SVO file.

◆ GetSVONumberOfFrames()

int GetSVONumberOfFrames ( )

inline

Returns the number of frames in the SVO file.

Returns: The total number of frames in the SVO file. -1 if the SDK is not reading a SVO.

◆ SetSVOPosition()

void SetSVOPosition ( int frame )

inline

Sets the position of the SVO file currently being read to a desired frame.

Parameters

frame Index of the desired frame to be decoded.

◆ GetCameraFPS()

float GetCameraFPS ( )

inline

Returns the current camera FPS.

This is limited primarily by resolution but can also be lower due to setting a lower desired resolution in Open() or from USB connection/bandwidth issues.

Returns: The current fps

◆ IsOpened()

bool IsOpened ( )

inline

Reports if the camera has been successfully opened.

Returns: Returns true if the camera is already setup, otherwise false.

◆ GetCalibrationParameters()

CalibrationParameters GetCalibrationParameters ( bool raw = false )

inline

Return the calibration parameters of the camera.

Parameters

raw	Whether to return the raw or rectified calibration parameters.

Returns: CalibrationParameters containing the calibration parameters requested.

Referenced by Camera.GetFOV(), and Camera.Open().

◆ GetCameraModel()

sl.MODEL GetCameraModel ( )

inline

Gets the camera model (sl.MODEL).

Returns: Model of the camera as sl.MODEL.

Referenced by Camera.Open().

◆ GetCameraFirmwareVersion()

int GetCameraFirmwareVersion ( )

inline

Gets the camera firmware version.

Returns: The firmware version of the camera.

◆ GetSensorsFirmwareVersion()

int GetSensorsFirmwareVersion ( )

inline

Gets the sensors firmware version.

Returns: The firmware version of the camera.

◆ GetZEDSerialNumber()

int GetZEDSerialNumber ( )

inline

Gets the camera's serial number.

Returns: The serial number of the camera.

◆ GetFOV()

float GetFOV ( )

inline

Returns the camera's vertical field of view in radians.

Returns: The vertical field of view.

◆ UpdateSelfCalibration()

void UpdateSelfCalibration ( )

inline

Perform a new self calibration process.

In some cases, due to temperature changes or strong vibrations, the stereo calibration becomes less accurate.
Use this method to update the self-calibration data and get more reliable depth values.

Note: The self calibration will occur at the next Grab() call. New values will then be available in GetCameraInformation(), be sure to get them to still have consistent 2D - 3D conversion.

◆ GetFrameDroppedCount()

uint GetFrameDroppedCount ( )

inline

Gets the number of frames dropped since Grab() was called for the first time.

It is based on camera timestamps and an FPS comparison.

Note: It is similar to the Frame Drop display in the ZED Explorer app.

Returns: Frames dropped since first Grab() call.

◆ GetSDKVersion() [1/2]

static string GetSDKVersion ( )

inlinestatic

Gets the version of the currently installed ZED SDK.

Returns: ZED SDK version as a string in the format MAJOR.MINOR.PATCH.

◆ ConvertCoordinateSystem()

static sl.ERROR_CODE ConvertCoordinateSystem	(	ref Quaternion	rotation,
		ref Vector3	translation,
		sl.COORDINATE_SYSTEM	coordinateSystemSrc,
		sl.COORDINATE_SYSTEM	coordinateSystemDest
	)

inlinestatic

Change the coordinate system of a transform matrix.

Parameters

rotation	[In, Out] : rotation to transform
translation	[In, Out] : translation to transform
coordinateSystemSrc	The current coordinate system of the translation/rotation
coordinateSystemDest	The destination coordinate system for the translation/rotation.

Returns: SUCCESS if everything went well, FAILURE otherwise.

◆ GetSDKVersion() [2/2]

static void GetSDKVersion	(	ref int	major,
		ref int	minor,
		ref int	patch
	)

inlinestatic

Gets the version of the currently installed ZED SDK.

Returns: ZED SDK version as a string in the format MAJOR.MINOR.PATCH.

◆ GetDeviceList()

static sl.DeviceProperties [] GetDeviceList ( out int nbDevices )

inlinestatic

List all the connected devices with their associated information.

This method lists all the cameras available and provides their serial number, models and other information.

Returns: The device properties for each connected camera.

◆ GetStreamingDeviceList()

static sl.StreamingProperties [] GetStreamingDeviceList ( out int nbDevices )

inlinestatic

List all the streaming devices with their associated information.

This method lists all the cameras available and provides their serial number, models and other information.

Returns: The device properties for each connected camera.

◆ Reboot()

static sl.ERROR_CODE Reboot	(	int	serialNumber,
		bool	fullReboot = `true`
	)

inlinestatic

Performs a hardware reset of the ZED 2 and the ZED 2i.

Parameters

serialNumber	Serial number of the camera to reset, or 0 to reset the first camera detected.
fullReboot	Perform a full reboot (sensors and video modules) if true, otherwise only the video module will be rebooted.

Returns: sl.ERROR_CODE.SUCCESS if everything went fine, sl.ERROR_CODE::CAMERA_NOT_DETECTED if no camera was detected, sl.ERROR_CODE.FAILURE otherwise.

◆ RetrieveMeasure()

sl.ERROR_CODE RetrieveMeasure	(	sl.Mat	mat,
		sl.MEASURE	measure,
		sl.MEM	mem = `sl.MEM.CPU`,
		sl.Resolution	resolution = `new sl.Resolution()`
	)

inline

Retrieves a measure texture from the ZED SDK and loads it into a sl.Mat.

Use this to get an individual texture from the last grabbed frame with measurements in every pixel - such as a depth map, confidence map, etc. Measure textures are not human-viewable but don't lose accuracy, unlike image textures.

Note: If you want to access the texture via script, you'll usually want to specify CPU memory. Then you can use Marshal.Copy to move them into a new byte array, which you can load into a Texture2D.

Note: For more info, read about the SDK method it calls: retrieveMeasure.

Parameters

mat	sl.Mat to fill with the new texture.
measure	Measure type (depth, confidence, xyz, etc.).
mem	Whether the image should be on CPU or GPU memory.
resolution	Resolution of the texture.

Returns: sl.ERROR_CODE indicating if the retrieval was successful, and why it wasn't otherwise.

◆ GetConfidenceThreshold()

int GetConfidenceThreshold ( )

inline

Gets the current confidence threshold value for the disparity map (and by extension the depth map).

Values below the given threshold are removed from the depth map.

Returns: Filtering value between 0 and 100.

◆ GetDepthMinRangeValue()

float GetDepthMinRangeValue ( )

inline

Gets the closest measurable distance by the camera, according to the camera type and depth map parameters.

Returns: The nearest possible depth value.

◆ GetCurrentMixMaxDepth()

sl.ERROR_CODE GetCurrentMixMaxDepth	(	ref float	min,
		ref float	max
	)

inline

Gets the current range of perceived depth.

Parameters

min	Minimum depth detected (in selected sl.UNIT).
max	Maximum depth detected (in selected sl.UNIT).

Returns: sl.ERROR_CODE.SUCCESS if values have been extracted. Other sl.ERROR_CODE otherwise.

◆ GetDepthMaxRangeValue()

float GetDepthMaxRangeValue ( )

inline

Returns the current maximum distance of depth/disparity estimation.

Returns: The closest depth

◆ EnablePositionalTracking()

sl.ERROR_CODE EnablePositionalTracking ( ref PositionalTrackingParameters positionalTrackingParameters )

inline

Initializes and starts the positional tracking processes.

Parameters

positionalTrackingParameters A structure containing all the specific parameters for the positional tracking. Default: a preset of PositionalTrackingParameters.

Returns: sl.ERROR_CODE.FAILURE if the area_file_path file wasn't found, sl.ERROR_CODE.SUCCESS otherwise.

◆ DisablePositionalTracking()

void DisablePositionalTracking ( string path = "" )

inline

Disables the positional tracking.

Parameters

path	If set, saves the spatial memory into an '.area' file. Default: (empty) path is the name and path of the database, e.g. path/to/file/myArea1.area".

◆ IsPositionalTrackingEnabled()

bool IsPositionalTrackingEnabled ( )

inline

Tells if the tracking module is enabled.

◆ SaveAreaMap()

ERROR_CODE SaveAreaMap ( string areaFilePath )

inline

Saves the current area learning file.

The file will contain spatial memory data generated by the tracking.

Parameters

areaFilePath Path of an '.area' file to save the spatial memory database in.

◆ GetAreaExportState()

AREA_EXPORT_STATE GetAreaExportState ( )

inline

Returns the state of the spatial memory export process.

Returns: The current state of the spatial memory export process.

◆ ResetPositionalTracking()

sl.ERROR_CODE ResetPositionalTracking	(	Quaternion	rotation,
		Vector3	translation
	)

inline

Resets the tracking, and re-initializes the position with the given translation vector and rotation quaternion.

Parameters

rotation	Rotation to set the positional tracking to.
translation	Translation to set the positional tracking to.

Returns: sl.ERROR_CODE.SUCCESS if the tracking has been reset, sl.ERROR_CODE.FAILURE otherwise.

◆ GetSensorsConfiguration()

SensorsConfiguration GetSensorsConfiguration ( )

inline

Returns the sensor configuration of the camera.

Returns: SensorsConfiguration containing the sensor calibration information of the camera.

◆ GetCameraInformation()

CameraInformation GetCameraInformation ( Resolution resolution = new Resolution() )

inline

Returns the CameraInformation associated the camera being used.

To ensure accurate calibration, it is possible to specify a custom resolution as a parameter when obtaining scaled information, as calibration parameters are resolution-dependent.
When reading an SVO file, the parameters will correspond to the camera used for recording.

Returns: CameraInformation containing the calibration parameters of the camera, as well as serial number and firmware version.

Referenced by Camera.Open().

◆ GetPosition() [1/4]

POSITIONAL_TRACKING_STATE GetPosition	(	ref Quaternion	rotation,
		ref Vector3	position,
		REFERENCE_FRAME	referenceType = `REFERENCE_FRAME.WORLD`
	)

inline

Gets the position of the camera and the current state of the camera Tracking.

Parameters

rotation	Quaternion filled with the current rotation of the camera depending on its reference frame.
position	Vector filled with the current position of the camera depending on its reference frame.
referenceType	Reference frame for setting the rotation/position. REFERENCE_FRAME.CAMERA gives movement relative to the last pose. REFERENCE_FRAME.WORLD gives cumulative movements since tracking started.

Returns: The current state of the tracking process.

◆ GetPositionalTrackingStatus()

PositionalTrackingStatus GetPositionalTrackingStatus ( )

inline

Returns the current status of positional tracking module.

Returns: The current status of positional tracking module.

◆ GetPosition() [2/4]

POSITIONAL_TRACKING_STATE GetPosition	(	ref Quaternion	rotation,
		ref Vector3	translation,
		ref Quaternion	targetQuaternion,
		ref Vector3	targetTranslation,
		REFERENCE_FRAME	referenceFrame = `REFERENCE_FRAME.WORLD`
	)

inline

Gets the current position of the camera and state of the tracking, with an optional offset to the tracking frame.

Parameters

rotation	Quaternion filled with the current rotation of the camera depending on its reference frame.
position	Vector filled with the current position of the camera depending on its reference frame.
targetQuaternion	Rotational offset applied to the tracking frame.
targetTranslation	Positional offset applied to the tracking frame.
referenceFrame	Reference frame for setting the rotation/position. REFERENCE_FRAME.CAMERA gives movement relative to the last pose. REFERENCE_FRAME.WORLD gives cumulative movements since tracking started.

Returns: The current state of the tracking process.

◆ GetPosition() [3/4]

POSITIONAL_TRACKING_STATE GetPosition	(	ref Quaternion	rotation,
		ref Vector3	translation,
		TRACKING_FRAME	trackingFrame,
		REFERENCE_FRAME	referenceFrame = `REFERENCE_FRAME.WORLD`
	)

inline

Gets the current position of the camera and state of the tracking, with a defined tracking frame.

A tracking frame defines what part of the camera is its center for tracking purposes. See sl.TRACKING_FRAME.

Parameters

rotation	Quaternion filled with the current rotation of the camera depending on its reference frame.
position	Vector filled with the current position of the camera depending on its reference frame.
trackingFrame	Center of the camera for tracking purposes (left eye, center, right eye).
referenceFrame	Reference frame for setting the rotation/position. REFERENCE_FRAME.CAMERA gives movement relative to the last pose. REFERENCE_FRAME.WORLD gives cumulative movements since tracking started.

Returns: The current state of the tracking process.

◆ GetPosition() [4/4]

POSITIONAL_TRACKING_STATE GetPosition	(	ref Pose	pose,
		REFERENCE_FRAME	referenceType = `REFERENCE_FRAME.WORLD`
	)

inline

Gets the current position of the camera and state of the tracking, filling a Pose struct useful for AR pass-through.

Parameters

pose	Current pose.
referenceType	Reference frame for setting the rotation/position. REFERENCE_FRAME.CAMERA gives movement relative to the last pose. REFERENCE_FRAME.WORLD gives cumulative movements since tracking started.

Returns: The current state of the tracking process.

◆ SetIMUOrientationPrior()

ERROR_CODE SetIMUOrientationPrior ( ref Quaternion rotation )

inline

Sets a prior to the IMU orientation (not for MODEL.ZED).

Prior must come from a external IMU, such as the HMD orientation and should be in a time frame that's as close as possible to the camera.

Returns: An sl.ERROR_CODE status.

Parameters

rotation Prior rotation.

◆ GetIMUOrientation()

ERROR_CODE GetIMUOrientation	(	ref Quaternion	rotation,
		TIME_REFERENCE	referenceTime = `TIME_REFERENCE.IMAGE`
	)

inline

Gets the rotation given by the IMU.

Note: This method will return ERROR_CODE.INVALID_FUNCTION_CALL with a MODEL.ZED which does not contains internal sensors.

Returns: An sl.ERROR_CODE status.

Parameters

rotation Rotation from the IMU.

◆ GetSensorsData()

ERROR_CODE GetSensorsData	(	ref SensorsData	data,
		TIME_REFERENCE	referenceTime = `TIME_REFERENCE.IMAGE`
	)

inline

Retrieves the SensorsData (IMU, magnetometer, barometer) at a specific time reference.

Note: This method will return ERROR_CODE.INVALID_FUNCTION_CALL with a MODEL.ZED which does not contains internal sensors.

Parameters

data	The SensorsData variable to store the data.
referenceTime	Defines the reference from which you want the data to be expressed. Default: REFERENCE_FRAME.WORLD.

Returns: An sl.ERROR_CODE status.

◆ SetRegionOfInterest()

ERROR_CODE SetRegionOfInterest	(	sl.Mat	roiMask,
		bool[]	module
	)

inline

Defines a region of interest to focus on for all the SDK, discarding other parts.

Parameters

roiMask	The Mat defining the requested region of interest, pixels lower than 127 will be discarded from all modules: depth, positional tracking, etc. If empty, set all pixels as valid. The mask can be either at lower or higher resolution than the current images.
module	Apply the ROI to a list of SDK module, all by default. Must of size sl.MODULE.LAST. The Mat defining the requested region of interest, pixels lower than 127 will be discarded from all modules: depth, positional tracking, etc. If empty, set all pixels as valid. The mask can be either at lower or higher resolution than the current images.

Returns: An sl.ERROR_CODE if something went wrong.

◆ GetRegionOfInterest()

ERROR_CODE GetRegionOfInterest	(	sl.Mat	roiMask,
		sl.Resolution	resolution = `new sl.Resolution()`,
		MODULE	module = `MODULE.ALL`
	)

inline

Get the previously set or computed region of interest.

Parameters

roiMask	The Mat returned
resolution	The optional size of the returned mask
module	Specifies the module from which the ROI is to be obtained.

Returns: An sl.ERROR_CODE if something went wrong.

◆ StartRegionOfInterestAutoDetection()

ERROR_CODE StartRegionOfInterestAutoDetection ( RegionOfInterestParameters roiParams )

inline

Start the auto detection of a region of interest to focus on for all the SDK, discarding other parts. This detection is based on the general motion of the camera combined with the motion in the scene. The camera must move for this process, an internal motion detector is used, based on the Positional Tracking module. It requires a few hundreds frames of motion to compute the mask.

Note: This module is expecting a static portion, typically a fairly close vehicle hood at the bottom of the image. This module may not work correctly or detect incorrect background area, especially with slow motion, if there's no static element. This module work asynchronously, the status can be obtained using GetRegionOfInterestAutoDetectionStatus(), the result is either auto applied, or can be retrieve using GetRegionOfInterest function.

Parameters

roiParams

Returns: An sl.ERROR_CODE if something went wrong.

◆ GetRegionOfInterestAutoDetectionStatus()

REGION_OF_INTEREST_AUTO_DETECTION_STATE GetRegionOfInterestAutoDetectionStatus ( )

inline

Return the status of the automatic Region of Interest Detection. The automatic Region of Interest Detection is enabled by using StartRegionOfInterestAutoDetection

Returns: An sl.ERROR_CODE if something went wrong.

◆ EnableSpatialMapping() [1/2]

sl.ERROR_CODE EnableSpatialMapping ( ref SpatialMappingParameters spatialMappingParameters )

inline

Initializes and begins the spatial mapping processes.

Parameters

spatialMappingParameters Spatial mapping parameters.

Returns: sl.ERROR_CODE.SUCCESS if everything went fine, sl.ERROR_CODE.FAILURE otherwise.

◆ EnableSpatialMapping() [2/2]

sl.ERROR_CODE EnableSpatialMapping	(	SPATIAL_MAP_TYPE	type = `SPATIAL_MAP_TYPE.MESH`,
		MAPPING_RESOLUTION	mappingResolution = `MAPPING_RESOLUTION.MEDIUM`,
		MAPPING_RANGE	mappingRange = `MAPPING_RANGE.MEDIUM`,
		bool	saveTexture = `false`
	)

inline

Initializes and begins the spatial mapping processes.

Parameters

resolutionMeter	Spatial mapping resolution in meters.
maxRangeMeter	Maximum scanning range in meters.
saveTexture	True to scan surface textures in addition to geometry.

Returns: sl.ERROR_CODE.SUCCESS if everything went fine, sl.ERROR_CODE.FAILURE otherwise.

◆ GetSpatialMappingParameters()

SpatialMappingParameters GetSpatialMappingParameters ( )

inline

Returns the SpatialMappingParameters used.

It corresponds to the structure given as argument to the EnableSpatialMapping() method.

Returns: SpatialMappingParameters containing the parameters used for spatial mapping initialization.

◆ DisableSpatialMapping()

void DisableSpatialMapping ( )

inline

Disables the spatial mapping process.

◆ UpdateMesh() [1/2]

sl.ERROR_CODE UpdateMesh	(	int[]	nbVerticesInSubmeshes,
		int[]	nbTrianglesInSubmeshes,
		ref int	nbUpdatedSubmesh,
		int[]	updatedIndices,
		ref int	nbVertices,
		ref int	nbTriangles,
		int	nbSubmeshMax
	)

inline

Updates the internal version of the mesh and returns the sizes of the meshes.

Parameters

nbVerticesInSubmeshes	Array of the number of vertices in each sub-mesh.
nbTrianglesInSubmeshes	Array of the number of triangles in each sub-mesh.
nbUpdatedSubmesh	Number of updated sub-meshes.
updatedIndices	List of all sub-meshes updated since the last update.
nbVertices	Total number of updated vertices in all sub-meshes.
nbTriangles	Total number of updated triangles in all sub-meshes.
nbSubmeshMax	Maximum number of sub-meshes that can be handled.

Returns: sl.ERROR_CODE indicating if the update was successful, and why it wasn't otherwise.

Referenced by Camera.RetrieveSpatialMap(), and Camera.UpdateMesh().

◆ UpdateMesh() [2/2]

sl.ERROR_CODE UpdateMesh ( ref Mesh mesh )

inline

Updates the internal version of the mesh and returns the sizes of the meshes.

Parameters

mesh	The mesh to be filled with the generated spatial map.

Returns: sl.ERROR_CODE indicating if the update was successful, and why it wasn't otherwise.

◆ RetrieveMesh() [1/2]

sl.ERROR_CODE RetrieveMesh	(	Vector3[]	vertices,
		int[]	triangles,
		byte[]	colors,
		int	nbSubmeshMax,
		Vector2[]	uvs,
		IntPtr	textures
	)

inline

Retrieves all chunks of the current generated mesh.

Note: Call UpdateMesh() before calling this.

Vertex and triangle arrays must be at least of the sizes returned by UpdateMesh (nbVertices and nbTriangles).

Parameters

vertices	Vertices of the mesh.
triangles	Triangles, formatted as the index of each triangle's three vertices in the vertices array.
colors	(b, g, r) colors of the vertices.
nbSubmeshMax	Maximum number of sub-meshes that can be handled.

Returns: sl.ERROR_CODE indicating if the retrieval was successful, and why it wasn't otherwise.

Referenced by Camera.RetrieveMesh(), and Camera.RetrieveSpatialMap().

◆ RetrieveMesh() [2/2]

sl.ERROR_CODE RetrieveMesh ( ref Mesh mesh )

inline

Retrieves all chunks of the current generated mesh.

Note: Call UpdateMesh() before calling this.

Vertex and triangle arrays must be at least of the sizes returned by UpdateMesh (nbVertices and nbTriangles).

Parameters

mesh	The mesh to be filled with the generated spatial map.

Returns: sl.ERROR_CODE indicating if the retrieval was successful, and why it wasn't otherwise.

◆ RetrieveChunks()

sl.ERROR_CODE RetrieveChunks ( ref Mesh mesh )

inline

Retrieve all chunks of the generated mesh.

Parameters

mesh	The mesh to be filled with the generated spatial map.

Returns: sl.ERROR_CODE indicating if the retrieval was successful, and why it wasn't otherwise.

◆ RetrieveSpatialMap() [1/2]

sl.ERROR_CODE RetrieveSpatialMap ( ref Mesh mesh )

inline

Retrieves the current generated mesh.

Parameters

mesh	The mesh to be filled with the generated spatial map.

Returns: sl.ERROR_CODE indicating if the retrieval was successful, and why it wasn't otherwise.

◆ RetrieveSpatialMap() [2/2]

sl.ERROR_CODE RetrieveSpatialMap ( ref FusedPointCloud fusedPointCloud )

inline

Retrieves the current fused point cloud.

Parameters

fusedPointCloud The Fused Point Cloud to be filled with the generated spatial map.

Returns: sl.ERROR_CODE indicating if the retrieval was successful, and why it wasn't otherwise.

◆ UpdateFusedPointCloud()

sl.ERROR_CODE UpdateFusedPointCloud ( ref int nbVertices )

inline

Updates the fused point cloud (if spatial map type was FUSED_POINT_CLOUD).

Returns: sl.ERROR_CODE indicating if the update was successful, and why it wasn't otherwise.

Referenced by Camera.RetrieveSpatialMap().

◆ RetrieveFusedPointCloud()

sl.ERROR_CODE RetrieveFusedPointCloud ( Vector4[] vertices )

inline

Retrieves all points of the fused point cloud.

Note: Call UpdateFusedPointCloud() before calling this.

Vertex arrays must be at least of the sizes returned by UpdateFusedPointCloud().

Parameters

vertices Points of the fused point cloud.

Returns: sl.ERROR_CODE indicating if the retrieval was successful, and why it wasn't otherwise.

Referenced by Camera.RetrieveSpatialMap().

◆ ExtractWholeSpatialMap()

ERROR_CODE ExtractWholeSpatialMap ( )

inline

Extracts the current spatial map from the spatial mapping process.

If the object to be filled already contains a previous version of the mesh, only changes will be updated, optimizing performance.

Returns: sl.ERROR_CODE.SUCCESS if the mesh is filled and available, otherwise sl.ERROR_CODE.FAILURE.

This is a blocking method. You should either call it in a thread or at the end of the mapping process.

◆ RequestSpatialMap()

void RequestSpatialMap ( )

inline

Starts the mesh generation process in a thread that does not block the spatial mapping process.

ZEDSpatialMappingHelper calls this each time it has finished applying the last mesh update.

◆ PauseSpatialMapping()

void PauseSpatialMapping ( bool status )

inline

Pauses or resumes the spatial mapping processes.

Parameters

status If true, the integration is paused. If false, the spatial mapping is resumed.

◆ GetMeshRequestStatus()

sl.ERROR_CODE GetMeshRequestStatus ( )

inline

Returns the mesh generation status.

Useful for knowing when to update and retrieve the mesh.

Returns: sl.ERROR_CODE.SUCCESS if the mesh is ready and not yet retrieved, otherwise sl.ERROR_CODE.FAILURE.

◆ SaveMesh()

bool SaveMesh	(	string	filename,
		MESH_FILE_FORMAT	format
	)

inline

Saves the scanned mesh in a specific file format.

Parameters

filename	Path and filename of the mesh.
format	File format (extension). Can be .obj, .ply or .bin.

Returns: Has the mesh been saved successfully.

◆ SavePointCloud()

bool SavePointCloud	(	string	filename,
		MESH_FILE_FORMAT	format
	)

inline

Saves the scanned point cloud in a specific file format.

Parameters

filename	Path and filename of the point cloud.
format	File format (extension). Can be .obj, .ply or .bin.

Returns: Has the point cloud been saved successfully.

◆ LoadMesh()

bool LoadMesh	(	string	filename,
		int[]	nbVerticesInSubmeshes,
		int[]	nbTrianglesInSubmeshes,
		ref int	nbSubmeshes,
		int[]	updatedIndices,
		ref int	nbVertices,
		ref int	nbTriangles,
		int	nbSubmeshMax,
		int[]	textureSize = `null`
	)

inline

Loads a saved mesh file.

ZEDSpatialMapping then configures itself as if the loaded mesh was just scanned.

Parameters

filename	Path and filename of the mesh. Should include the extension (.obj, .ply or .bin).
nbVerticesInSubmeshes	Array of the number of vertices in each sub-mesh.
nbTrianglesInSubmeshes	Array of the number of triangles in each sub-mesh.
nbSubmeshes	Number of sub-meshes.
updatedIndices	List of all sub-meshes updated since the last update.
nbVertices	Total number of updated vertices in all sub-meshes.
nbTriangles	Total number of updated triangles in all sub-meshes.
nbSubmeshMax	Maximum number of sub-meshes that can be handled.
textureSize	Array containing the sizes of all the textures (width, height) if applicable.

Returns: Has the mesh been loaded successfully.

◆ FilterMesh() [1/2]

bool FilterMesh	(	MESH_FILTER	filterParameters,
		int[]	nbVerticesInSubmeshes,
		int[]	nbTrianglesInSubmeshes,
		ref int	nbSubmeshes,
		int[]	updatedIndices,
		ref int	nbVertices,
		ref int	nbTriangles,
		int	nbSubmeshMax
	)

inline

Filters a mesh to remove triangles while still preserving its overall shape (though less accurate).

Parameters

filterParameters	Filter level. Higher settings remove more triangles.
nbVerticesInSubmeshes	Array of the number of vertices in each sub-mesh.
nbTrianglesInSubmeshes	Array of the number of triangles in each sub-mesh.
nbSubmeshes	Number of sub-meshes.
updatedIndices	List of all sub-meshes updated since the last update.
nbVertices	Total number of updated vertices in all sub-meshes.
nbTriangles	Total number of updated triangles in all sub-meshes.
nbSubmeshMax	Maximum number of sub-meshes that can be handled.

Returns: Has the mesh been filtered successfully.

◆ FilterMesh() [2/2]

bool FilterMesh	(	MESH_FILTER	filterParameters,
		ref Mesh	mesh
	)

inline

Filters a mesh to remove triangles while still preserving its overall shape (though less accurate).

Parameters

filterParameters	Filter level. Higher settings remove more triangles.
mesh	The mesh to be filled with the generated spatial map.

Returns: Has the mesh been filtered successfully.

◆ ApplyTexture() [1/2]

bool ApplyTexture	(	int[]	nbVerticesInSubmeshes,
		int[]	nbTrianglesInSubmeshes,
		ref int	nbSubmeshes,
		int[]	updatedIndices,
		ref int	nbVertices,
		ref int	nbTriangles,
		int[]	textureSize,
		int	nbSubmeshMax
	)

inline

Applies the scanned texture onto the internal scanned mesh.

Parameters

nbVerticesInSubmeshes	Array of the number of vertices in each sub-mesh.
nbTrianglesInSubmeshes	Array of the number of triangles in each sub-mesh.
nbSubmeshes	Number of sub-meshes.
updatedIndices	List of all sub-meshes updated since the last update.
nbVertices	Total number of updated vertices in all sub-meshes.
nbTriangles	Total number of updated triangles in all sub-meshes.
textureSize	Vector containing the size of all the texture (width, height).
nbSubmeshMax	Maximum number of sub-meshes that can be handled.

Returns: Has the texture been applied successfully.

◆ ApplyTexture() [2/2]

bool ApplyTexture ( ref Mesh mesh )

inline

Applies the texture on a mesh.

Parameters

mesh	Mesh with a texture to apply.

Returns: Has the texture been applied successfully.

◆ GetSpatialMappingState()

SPATIAL_MAPPING_STATE GetSpatialMappingState ( )

inline

Returns the current spatial mapping state.

As the spatial mapping runs asynchronously, this method allows you to get reported errors or status info.

Returns: The current state of the spatial mapping process.

◆ GetGravityEstimate()

Vector3 GetGravityEstimate ( )

inline

Gets a vector pointing toward the direction of gravity.

This is estimated from a 3D scan of the environment, and as such, a scan must be started/finished for this value to be calculated. If using a camera other than MODEL.ZED, this is not required thanks to its IMU.

Returns: Vector3 pointing downward.

◆ MergeChunks()

void MergeChunks	(	int	numberFaces,
		int[]	nbVerticesInSubmeshes,
		int[]	nbTrianglesInSubmeshes,
		ref int	nbSubmeshes,
		int[]	updatedIndices,
		ref int	nbVertices,
		ref int	nbTriangles,
		int	nbSubmesh
	)

inline

Consolidates the chunks from a scan.

This is used to turn lots of small meshes (which are efficient for the scanning process) into several large meshes (which are more convenient to work with).

Parameters

numberFaces
nbVerticesInSubmeshes	Array of the number of vertices in each sub-mesh.
nbTrianglesInSubmeshes	Array of the number of triangles in each sub-mesh.
nbSubmeshes	Number of sub-meshes.
updatedIndices	List of all sub-meshes updated since the last update.
nbVertices	Total number of updated vertices in all sub-meshes.
nbTriangles	Total number of updated triangles in all sub-meshes.

◆ findFloorPlane()

sl.ERROR_CODE findFloorPlane	(	ref PlaneData	plane,
		out float	playerHeight,
		Quaternion	priorQuat,
		Vector3	priorTrans
	)

inline

Detect the floor plane of the scene.

Use ZEDPlaneDetectionManager.DetectFloorPlane for a higher-level version that turns planes into GameObjects.

Parameters

plane	Data on the detected plane.
playerHeight	Height of the camera from the newly-detected floor.
priorQuat	Prior rotation.
priorTrans	Prior position.

Returns: sl.ERROR_CODE.SUCCESS if everything went fine, sl.ERROR_CODE.FAILURE otherwise.

◆ FindFloorPlane()

sl.ERROR_CODE FindFloorPlane	(	ref PlaneData	plane,
		out float	playerHeight,
		Quaternion	priorQuat,
		Vector3	priorTrans
	)

inline

Detect the floor plane of the scene.

Use ZEDPlaneDetectionManager.DetectFloorPlane for a higher-level version that turns planes into GameObjects.

Parameters

plane	Data on the detected plane.
playerHeight	Height of the camera from the newly-detected floor.
priorQuat	Prior rotation.
priorTrans	Prior position.

Returns: sl.ERROR_CODE.SUCCESS if everything went fine, sl.ERROR_CODE.FAILURE otherwise.

◆ convertFloorPlaneToMesh()

int convertFloorPlaneToMesh	(	Vector3[]	vertices,
		int[]	triangles,
		out int	numVertices,
		out int	numTriangles
	)

inline

Using data from a detected floor plane, updates supplied vertex and triangle arrays with data needed to make a mesh that represents it.

These arrays are updated directly from the wrapper.

Parameters

vertices	Array to be filled with mesh vertices.
triangles	Array to be filled with mesh triangles, stored as indexes of each triangle's points.
numVertices	Total vertices in the mesh.
numTriangles	Total triangle indexes (3x number of triangles).

Returns: 0 is the method was successful, 1 otherwise.

◆ ConvertFloorPlaneToMesh()

int ConvertFloorPlaneToMesh	(	Vector3[]	vertices,
		int[]	triangles,
		out int	numVertices,
		out int	numTriangles
	)

inline

Using data from a detected floor plane, updates supplied vertex and triangle arrays with data needed to make a mesh that represents it.

These arrays are updated directly from the wrapper.

Parameters

vertices	Array to be filled with mesh vertices.
triangles	Array to be filled with mesh triangles, stored as indexes of each triangle's points.
numVertices	Total vertices in the mesh.
numTriangles	Total triangle indexes (3x number of triangles).

Returns: 0 is the method was successful, 1 otherwise.

◆ findPlaneAtHit()

sl.ERROR_CODE findPlaneAtHit	(	ref PlaneData	plane,
		Vector2	coord,
		ref PlaneDetectionParameters	planeDetectionParameters
	)

inline

Checks the plane at the given left image coordinates.

Parameters

plane	The detected plane if the method succeeded.
coord	The image coordinate. The coordinate must be taken from the full-size image.
parameters	A structure containing all the specific parameters for the plane detection. Default: a preset of PlaneDetectionParameters.

Returns: sl.ERROR_CODE.SUCCESS if everything went fine, sl.ERROR_CODE.FAILURE otherwise.

◆ FindPlaneAtHit()

sl.ERROR_CODE FindPlaneAtHit	(	ref PlaneData	plane,
		Vector2	coord,
		ref PlaneDetectionParameters	planeDetectionParameters
	)

inline

Checks the plane at the given left image coordinates.

Parameters

plane	The detected plane if the method succeeded.
coord	The image coordinate. The coordinate must be taken from the full-size image.
parameters	A structure containing all the specific parameters for the plane detection. Default: a preset of PlaneDetectionParameters.

Returns: sl.ERROR_CODE.SUCCESS if everything went fine, sl.ERROR_CODE.FAILURE otherwise.

◆ convertHitPlaneToMesh()

int convertHitPlaneToMesh	(	Vector3[]	vertices,
		int[]	triangles,
		out int	numVertices,
		out int	numTriangles
	)

inline

Using data from a detected hit plane, updates supplied vertex and triangle arrays with data needed to make a mesh that represents it.

These arrays are updated directly from the wrapper.

Parameters

vertices	Array to be filled with mesh vertices.
triangles	Array to be filled with mesh triangles, stored as indexes of each triangle's points.
numVertices	Total vertices in the mesh.
numTriangles	Total triangle indexes (3x number of triangles).

Returns: 0 is the method was successful, 1 otherwise.

◆ ConvertHitPlaneToMesh()

int ConvertHitPlaneToMesh	(	Vector3[]	vertices,
		int[]	triangles,
		out int	numVertices,
		out int	numTriangles
	)

inline

Using data from a detected hit plane, updates supplied vertex and triangle arrays with data needed to make a mesh that represents it.

These arrays are updated directly from the wrapper.

Parameters

vertices	Array to be filled with mesh vertices.
triangles	Array to be filled with mesh triangles, stored as indexes of each triangle's points.
numVertices	Total vertices in the mesh.
numTriangles	Total triangle indexes (3x number of triangles).

Returns: 0 is the method was successful, 1 otherwise.

◆ ConvertRangePreset()

static float ConvertRangePreset ( MAPPING_RANGE rangePreset )

inlinestatic

Updates the range to match the specified preset.

Referenced by Camera.EnableSpatialMapping().

◆ ConvertResolutionPreset()

static float ConvertResolutionPreset ( MAPPING_RESOLUTION resolutionPreset )

inlinestatic

Updates the resolution to match the specified preset.

Referenced by Camera.EnableSpatialMapping().

◆ EnableRecording() [1/2]

ERROR_CODE EnableRecording	(	string	videoFileName,
		SVO_COMPRESSION_MODE	compressionMode = `SVO_COMPRESSION_MODE.H264_BASED`,
		uint	bitrate = `0`,
		int	targetFPS = `0`,
		bool	transcode = `false`
	)

inline

Creates an SVO file to be filled by EnableRecording() and DisableRecording().

Note: An SVO is Stereolabs' own format designed for the ZED. It holds the video feed with timestamps as well as info about the camera used to record it.

Parameters

videoFileName	Filename of the recording. Whether it ends with .svo or .avi defines its file type.
compressionMode	The compression to use for recording.
bitrate	Override default bitrate with a custom bitrate (Kbits/s).
targetFPS	Use another fps than camera FPS. Must respect camera_fpstarget_fps == 0.
transcode	If input is in streaming mode, dump directly into SVO file (transcode=false) or decode/encode (transcode=true).

Returns: An sl.ERROR_CODE that defines if the file was successfully created and can be filled with images.

◆ EnableRecording() [2/2]

ERROR_CODE EnableRecording ( RecordingParameters recordingParameters )

inline

Creates an SVO file to be filled by EnableRecording() and DisableRecording().

Parameters

videoFileName A structure containing all the specific parameters for the positional tracking. Default: a reset of RecordingParameters.

Returns: An sl.ERROR_CODE that defines if the file was successfully created and can be filled with images.

◆ GetRecordingStatus()

sl.RecordingStatus GetRecordingStatus ( )

inline

Get the recording information.

Returns: The recording state structure. For more details, see RecordingStatus.

◆ GetRecordingParameters()

sl.RecordingParameters GetRecordingParameters ( )

inline

Returns the RecordingParameters used.

It corresponds to the structure given as argument to the EnableRecording() method.

Returns: sl.RecordingParameters containing the parameters used for recording initialization.

◆ PauseRecording()

void PauseRecording ( bool status )

inline

Pauses or resumes the recording.

Parameters

status If true, the recording is paused. If false, the recording is resumed.

◆ DisableRecording()

void DisableRecording ( )

inline

Disables the recording initiated by EnableRecording() and closes the generated file.

◆ IngestDataIntoSVO()

ERROR_CODE IngestDataIntoSVO ( ref SVOData data )

inline

Ingest SVOData in a SVO file.

Parameters

data	Data to ingest in the SVO file..

Note: The method works only if the camera is recording.

Returns

◆ RetrieveSVOData()

ERROR_CODE RetrieveSVOData	(	string	key,
		ref List< SVOData >	data,
		ulong	tsBegin,
		ulong	tsEnd
	)

inline

Retrieves SVO data from the SVO file at the given channel key and in the given timestamp range.

Parameters

key	The key of the SVOData that is going to be retrieved.
data	The map to be filled with SVOData objects, with timestamps as keys.
tsBegin	The beginning of the range.
tsEnd	The end of the range.

Returns: sl.ERROR_CODE.SUCCESS in case of success, sl.ERROR_CODE.FAILURE otherwise.

◆ GetSVODataKeys()

List<string> GetSVODataKeys ( )

inline

Gets the external channels that can be retrieved from the SVO file.

Returns: List of available keys.

◆ EnableStreaming() [1/2]

ERROR_CODE EnableStreaming	(	STREAMING_CODEC	codec = `STREAMING_CODEC.H264_BASED`,
		uint	bitrate = `8000`,
		ushort	port = `30000`,
		int	gopSize = `-1`,
		bool	adaptativeBitrate = `false`,
		int	chunkSize = `32768`,
		int	targetFPS = `0`
	)

inline

Creates an streaming pipeline.

Parameters

codec	Defines the codec used for streaming.
bitrate	Defines the streaming bitrate in Kbits/s.
port	Defines the port used for streaming.
gopSize	Defines the gop size in number of frames.
adaptativeBitrate	Enable/Disable adaptive bitrate.
chunkSize	Defines a single chunk size.
targetFPS	Defines the target framerate for the streaming output.

Returns: An sl.ERROR_CODE that defines if the streaming pipe was successfully created.

◆ EnableStreaming() [2/2]

ERROR_CODE EnableStreaming ( ref StreamingParameters streamingParameters )

inline

Creates an streaming pipeline.

Parameters

streamingParameters A structure containing all the specific parameters for the streaming. Default: a preset of StreamingParameters.

Returns: An sl.ERROR_CODE that defines if the streaming pipe was successfully created.

◆ IsStreamingEnabled()

bool IsStreamingEnabled ( )

inline

Tells if the streaming is running.

Returns: Has the streaming been enabled successfully.

◆ DisableStreaming()

void DisableStreaming ( )

inline

Disables the streaming initiated by EnableStreaming().

◆ GetStreamingParameters()

sl.StreamingParameters GetStreamingParameters ( )

inline

Returns the StreamingParameters used.

It corresponds to the structure given as argument to the EnableStreaming() method.

Returns: sl.StreamingParameters containing the parameters used for streaming initialization.

◆ SaveCurrentImageInFile()

sl.ERROR_CODE SaveCurrentImageInFile	(	sl.VIEW	view,
		String	filename
	)

inline

Save current image (specified by view) in a file defined by filename.

Supported formats are JPEG and PNG.
Filename must end with either .jpg or .png.

Parameters

side	sl.SIDE on which to save the image.
filename	Filename must end with .jpg or .png.

Returns: An sl.ERROR_CODE that indicates the type of error.

◆ SaveCurrentDepthInFile()

sl.ERROR_CODE SaveCurrentDepthInFile	(	SIDE	side,
		String	filename
	)

inline

Save the current depth in a file defined by filename.

Supported formats are PNG, PFM and PGM.

Parameters

side	sl.SIDE on which to save the depth.
filename	Filename must end with .png, .pfm or .pgm.

Returns: An sl.ERROR_CODE that indicates the type of error.

◆ SaveCurrentPointCloudInFile()

sl.ERROR_CODE SaveCurrentPointCloudInFile	(	SIDE	side,
		String	filename
	)

inline

Save the current point cloud in a file defined by filename.

Supported formats are PLY, VTK, XYZ and PCD.

Parameters

side	sl.SIDE on which to save the point cloud.
filename	Filename must end with .ply, .xyz , .vtk or .pcd.

Returns: An sl.ERROR_CODE that indicates the type of error.

◆ CheckAIModelStatus()

static AI_Model_status CheckAIModelStatus	(	AI_MODELS	model,
		int	gpu_id = `0`
	)

inlinestatic

Check if a corresponding optimized engine is found for the requested model based on your rig configuration.

Parameters

model	AI model to check.
gpu_id	ID of the gpu.

Returns: The status of the AI model.

◆ OptimizeAIModel()

static sl.ERROR_CODE OptimizeAIModel	(	AI_MODELS	model,
		int	gpu_id = `0`
	)

inlinestatic

Optimize the requested model, possible download if the model is not present on the host.

Parameters

model	AI model to optimize.
gpu_id	ID of the gpu to optimize on.

Returns: An sl.ERROR_CODE that indicates the type of error.

◆ EnableObjectDetection()

sl.ERROR_CODE EnableObjectDetection ( ref ObjectDetectionParameters od_params )

inline

Initializes and starts object detection module.

Parameters

od_params A structure containing all the specific parameters for the object detection. Default: a preset of ObjectDetectionParameters.

Returns: An sl.ERROR_CODE that indicates the type of error.

◆ EnableBodyTracking()

sl.ERROR_CODE EnableBodyTracking ( ref BodyTrackingParameters bt_params )

inline

Initializes and starts body tracking module.

Parameters

bt_params A structure containing all the specific parameters for the body tracking. Default: a preset of BodyTrackingParameters.

Returns: An sl.ERROR_CODE that indicates the type of error.

◆ DisableObjectDetection()

void DisableObjectDetection	(	uint	instanceID = `0`,
		bool	disableAllInstance = `false`
	)

inline

Disable object detection module and release the resources.

Parameters

instanceID	Id of the object detection instance. Used when multiple instances of the object detection module are enabled at the same time.
disableAllInstance	Should disable all instances of the object detection module or just instanceID.

◆ DisableBodyTracking()

void DisableBodyTracking	(	uint	instanceID = `0`,
		bool	disableAllInstance = `false`
	)

inline

Disable body tracking module and release the resources.

Parameters

instanceID	Id of the body tracking module instance. Used when multiple instances of the body tracking module module are enabled at the same time.
disableAllInstance	Should disable all instances of the body tracking module or just instanceID.

◆ GetObjectDetectionParameters()

sl.ObjectDetectionParameters GetObjectDetectionParameters ( )

inline

Returns the ObjectDetectionParameters used.

It corresponds to the structure given as argument to the EnableObjectDetection() method.

Returns: sl.ObjectDetectionParameters containing the parameters used for object detection initialization.

◆ GetBodyTrackingParameters()

sl.BodyTrackingParameters GetBodyTrackingParameters ( )

inline

Returns the BodyTrackingParameters used.

It corresponds to the structure given as argument to the EnableBodyTracking() method.

Returns: sl.BodyTrackingParameters containing the parameters used for body tracking initialization.

◆ IngestCustomBoxObjects()

sl.ERROR_CODE IngestCustomBoxObjects ( List< CustomBoxObjectData > objects_in )

inline

Feed the 3D Object tracking method with your own 2D bounding boxes from your own detection algorithm.

Parameters

objects_in	List of CustomBoxObjectData to feed the object detection.
instanceID	Id of the object detection instance. Used when multiple instances of the object detection module are enabled at the same time.

Returns: sl.ERROR_CODE.SUCCESS if everything went fine.

◆ RetrieveObjects()

sl.ERROR_CODE RetrieveObjects	(	ref Objects	objs,
		ref ObjectDetectionRuntimeParameters	od_params,
		uint	instanceID = `0`
	)

inline

Retrieve objects detected by the object detection module.

Parameters

objs	Retrieved objects.
od_params	Object detection runtime parameters
instanceID	Id of the object detection instance. Used when multiple instances of the object detection module are enabled at the same time.

Returns: sl.ERROR_CODE.SUCCESS if everything went fine, sl.ERROR_CODE.FAILURE otherwise.

◆ RetrieveBodies()

sl.ERROR_CODE RetrieveBodies	(	ref Bodies	bodies,
		ref BodyTrackingRuntimeParameters	bt_params,
		uint	instanceID = `0`
	)

inline

Retrieve bodies detected by the body tracking module.

Parameters

objs	Retrieved bodies.
bt_params	Body tracking runtime parameters
instanceID	Id of the body tracking instance. Used when multiple instances of the body tracking module are enabled at the same time.

Returns: sl.ERROR_CODE.SUCCESS if everything went fine, sl.ERROR_CODE.FAILURE otherwise.

◆ UpdateObjectsBatch()

sl.ERROR_CODE UpdateObjectsBatch ( out int nbBatches )

inline

Update the batch trajectories and retrieve the number of batches.

Parameters

nbBatches Numbers of batches.

Returns: An sl.ERROR_CODE that indicates the type of error.

◆ GetObjectsBatch()

sl.ERROR_CODE GetObjectsBatch	(	int	batch_index,
		ref ObjectsBatch	objectsBatch
	)

inline

Retrieve a batch of objects.

Note: This method need to be called after RetrieveObjects(), otherwise trajectories will be empty.; It also needs to be called after UpdateObjectsBatch() in order to retrieve the number of batch trajectories.; To retrieve all the objects' batches, you need to iterate from 0 to nbBatches (retrieved from UpdateObjectsBatch()).

Parameters

batch_index	Index of the batch retrieved.
objectsBatch	Trajectory that will be filled by the batching queue process.

Returns: An sl.ERROR_CODE that indicates the type of error.

Variables

◆ CameraID

int CameraID = 0

Camera ID (for multiple cameras)

Property Documentation

◆ ImageWidth

int ImageWidth

get

Width of the images returned by the camera in pixels.

It corresponds to the camera's current resolution setting.

◆ ImageHeight

int ImageHeight

get

Height of the images returned by the camera in pixels.

It corresponds to the camera's current resolution setting.

◆ Baseline

float Baseline

get

Baseline of the camera (distance between the cameras).

Extracted from calibration files.

Referenced by Camera.GetPosition().

◆ HorizontalFieldOfView

float HorizontalFieldOfView

get

Current horizontal field of view in degrees of the camera.

◆ VerticalFieldOfView

float VerticalFieldOfView

get

Current vertical field of view in degrees of the camera.

◆ SensorsConfiguration

SensorsConfiguration SensorsConfiguration

get

Referenced by Camera.GetSensorsConfiguration().

◆ CalibrationParametersRaw

CalibrationParameters CalibrationParametersRaw

get

Stereo parameters for current ZED camera prior to rectification (distorted).

◆ CalibrationParametersRectified

CalibrationParameters CalibrationParametersRectified

get

Stereo parameters for current ZED camera after rectification (undistorted).

◆ CameraModel

sl.MODEL CameraModel

get

Model of the camera.

◆ IsCameraReady

bool IsCameraReady

get

Whether the camera has been successfully initialized.

Functions

Static Functions

Attributes

Properties

Video

Spatial Mapping

Plane Detection

Object Detection

Detailed Description

Constructor and Destructor

◆ Camera()

Functions

◆ GetRequestedCameraFPS()

◆ UnloadPlugin()

◆ UnloadInstance()

◆ GenerateUniqueID()

◆ Open()

◆ Close()

◆ Grab()

◆ StartPublishing()

◆ StopPublishing()

◆ GetInputType()

◆ RetrieveImage()

◆ GetInitParameters()

◆ GetRuntimeParameters()

◆ GetPositionalTrackingParameters()

◆ GetResolution()

◆ IsCameraSettingSupported()

◆ SetCameraSettings() [1/3]

◆ GetCameraSettings() [1/3]

◆ SetCameraSettings() [2/3]

◆ GetCameraSettings() [2/3]

◆ SetCameraSettings() [3/3]

◆ GetCameraSettings() [3/3]

◆ ResetCameraSettings()

◆ GetCameraTimeStamp()

◆ GetCurrentTimeStamp()

◆ GetSVOPosition()

◆ GetSVOPositionAtTimestamp()

◆ GetSVONumberOfFrames()

◆ SetSVOPosition()

◆ GetCameraFPS()

◆ IsOpened()

◆ GetCalibrationParameters()

◆ GetCameraModel()

◆ GetCameraFirmwareVersion()

◆ GetSensorsFirmwareVersion()

◆ GetZEDSerialNumber()

◆ GetFOV()

◆ UpdateSelfCalibration()

◆ GetFrameDroppedCount()

◆ GetSDKVersion() [1/2]

◆ ConvertCoordinateSystem()

◆ GetSDKVersion() [2/2]

◆ GetDeviceList()

◆ GetStreamingDeviceList()

◆ Reboot()

◆ RetrieveMeasure()

◆ GetConfidenceThreshold()

◆ GetDepthMinRangeValue()

◆ GetCurrentMixMaxDepth()

◆ GetDepthMaxRangeValue()

◆ EnablePositionalTracking()

◆ DisablePositionalTracking()

◆ IsPositionalTrackingEnabled()

◆ SaveAreaMap()

◆ GetAreaExportState()

◆ ResetPositionalTracking()

◆ GetSensorsConfiguration()

◆ GetCameraInformation()

◆ GetPosition() [1/4]

◆ GetPositionalTrackingStatus()

◆ GetPosition() [2/4]

◆ GetPosition() [3/4]

◆ GetPosition() [4/4]

◆ SetIMUOrientationPrior()

◆ GetIMUOrientation()

◆ GetSensorsData()

◆ SetRegionOfInterest()

◆ GetRegionOfInterest()