Holds Fusion process data and functions More...

Classes
struct	sl_GNSSCalibrationParameters
	DLL-friendly version of GNSSCalibrationParameters (found in ZEDCommon.cs). More...

struct	sl_PositionalTrackingFusionParameters
	DLL-friendly version of PositionalTrackingFusionParameters (found in ZEDCommon.cs). More...

Functions
void	Close ()

void	ReadFusionConfiguration (System.Text.StringBuilder fusionConfiguration, COORDINATE_SYSTEM coordinateSystem, UNIT unit, ref FusionConfiguration[] configs, ref int nbCameras)
	Read a Configuration JSON string to configure a fusion process. More...

SENDER_ERROR_CODE	GetSenderState (ref CameraIdentifier uuid)
	Returns the state of a connected data sender. More...

FUSION_ERROR_CODE	Init (ref InitFusionParameters initFusionParameters)
	FusionHandler initialisation. Initializes memory/generic datas More...

FUSION_ERROR_CODE	Process ()
	processes the fusion. More...

FUSION_ERROR_CODE	Subscribe (ref CameraIdentifier uuid, CommunicationParameters communicationParameters, ref Vector3 poseTranslation, ref System.Numerics.Quaternion poseRotation)
	adds a camera to the multi camera handler More...

FUSION_ERROR_CODE	Unsubscribe (ref CameraIdentifier uuid)
	Remove the specified camera from data provider. More...

FUSION_ERROR_CODE	UpdatePose (ref CameraIdentifier uuid, ref Vector3 poseTranslation, ref System.Numerics.Quaternion poseRotation)
	updates the camera World pose More...

FUSION_ERROR_CODE	GetPose (ref CameraIdentifier uuid, ref Vector3 poseTranslation, ref System.Numerics.Quaternion poseRotation)
	Get the specified camera position inside fusion WORLD More...

FUSION_ERROR_CODE	RetrieveImage (Mat mat, ref CameraIdentifier uuid, Resolution resolution=new sl.Resolution())
	Returns the current sl.VIEW.LEFT of the specified camera, the data is synchronized. More...

FUSION_ERROR_CODE	RetrieveMeasure (Mat mat, ref CameraIdentifier uuid, MEASURE measure=MEASURE.DEPTH, Resolution resolution=new sl.Resolution(), FUSION_REFERENCE_FRAME referenceFrame=FUSION_REFERENCE_FRAME.BASELINK)
	Returns the current measure of the specified camera, the data is synchronized. More...

FUSION_ERROR_CODE	EnableBodyTracking (ref BodyTrackingFusionParameters btfParams)
	enables the body tracking module More...

void	DisableBodyTracking ()
	disable the body tracking module More...

FUSION_ERROR_CODE	RetrieveBodies (ref Bodies bodies, ref BodyTrackingFusionRuntimeParameters rtparams, CameraIdentifier uuid, FUSION_REFERENCE_FRAME referenceFrame=FUSION_REFERENCE_FRAME.BASELINK)
	retrieves the body data, can be the fused data (default), or the raw data provided by a specific sender More...

FUSION_ERROR_CODE	GetProcessMetrics (ref FusionMetrics metrics)
	gets the metrics of the Fusion process, for the fused data as well as individual camera provider data More...

FUSION_ERROR_CODE	EnablePositionalTracking (ref PositionalTrackingFusionParameters ptfParams)
	enables positional tracking module More...

POSITIONAL_TRACKING_STATE	GetPosition (ref Pose pose, REFERENCE_FRAME referenceFrame, ref CameraIdentifier uuid, POSITION_TYPE retrieveType)
	Gets the Fused Position of the camera system More...

FusedPositionalTrackingStatus	GetFusedPositionalTrackingStatus ()
	Gets the current status of fused position. More...

void	DisablePositionalTracking ()
	Disables the positional tracking More...

FUSION_ERROR_CODE	IngestGNSSData (ref GNSSData data, bool radian)
	ingests GNSS data from an external sensor into the fusion module More...

POSITIONAL_TRACKING_STATE	GetCurrentGNSSData (ref GNSSData data, bool radian)
	returns the current GNSS data More...

GNSS_FUSION_STATUS	GetGeoPose (ref GeoPose pose, bool radian)
	returns the current GeoPose More...

GNSS_FUSION_STATUS	GeoToCamera (ref LatLng inLatLng, out Pose outPose)
	Converts latitude / longitude into position in sl::Fusion coordinate system. More...

GNSS_FUSION_STATUS	CameraToGeo (ref Pose inPose, out GeoPose outGeoPose, bool radian)
	Converts a position in sl::Fusion coordinate system in real world coordinate. More...

FUSION_ERROR_CODE	EnuToGeo (ref ENU inPose, out LatLng outPose, bool radian)
	Converts a position in ENU coordinate system into latitude / longitude. More...

FUSION_ERROR_CODE	GeoToEnu (ref LatLng inPose, out ENU outPose, bool radian)
	Converts a position in latitude / longitude into ENU coordinate system. More...

ulong	GetCurrentTimeStamp ()
	Gets the current timestamp. More...

GNSS_FUSION_STATUS	GetCurrentGNSSCalibrationStd (ref float yawStd, ref Vector3 positionStd)
	Get the current calibration uncertainty defined during calibration process More...

void	GetGeoTrackingCalibration (ref Vector3 position, ref System.Numerics.Quaternion rotation)
	Get the calibration found between VIO and GNSS More...

Static Functions
static List< FusionConfiguration >	ReadConfigurationFile (System.Text.StringBuilder jsonConfigFileName, COORDINATE_SYSTEM coordinateSystem, UNIT unit)
	Read a Configuration JSON file to configure a fusion process. More...

Detailed Description

Holds Fusion process data and functions

Functions

◆ Close()

void Close ( )

inline

◆ ReadConfigurationFile()

static List<FusionConfiguration> ReadConfigurationFile	(	System.Text.StringBuilder	jsonConfigFileName,
		COORDINATE_SYSTEM	coordinateSystem,
		UNIT	unit
	)

inlinestatic

Read a Configuration JSON file to configure a fusion process.

Parameters

jsonConfigFileName	The name of the JSON file containing the configuration.
coordinateSystem	The COORDINATE_SYSTEM in which you want the World Pose to be in.
unit	The UNIT in which you want the World Pose to be in.

Returns: A List of FusionConfiguration for all the camera present in the file.

◆ ReadFusionConfiguration()

void ReadFusionConfiguration	(	System.Text.StringBuilder	fusionConfiguration,
		COORDINATE_SYSTEM	coordinateSystem,
		UNIT	unit,
		ref FusionConfiguration[]	configs,
		ref int	nbCameras
	)

inline

Read a Configuration JSON string to configure a fusion process.

Parameters

fusionConfiguration	The name of the JSON file containing the configuration.
coordinateSystem	The COORDINATE_SYSTEM in which you want the World Pose to be in.
unit	The UNIT in which you want the World Pose to be in.
configs	An array of FusionConfiguration for all the camera present in the file of size Constant.MAX_FUSED_CAMERAS.
nbCameras	Number of cameras

◆ GetSenderState()

SENDER_ERROR_CODE GetSenderState ( ref CameraIdentifier uuid )

inline

Returns the state of a connected data sender.

Parameters

uuid	Identifier of the camera.

Returns: State of the sender

◆ Init()

FUSION_ERROR_CODE Init ( ref InitFusionParameters initFusionParameters )

inline

FusionHandler initialisation. Initializes memory/generic datas

Parameters

initFusionParameters

Returns

◆ Process()

FUSION_ERROR_CODE Process ( )

inline

processes the fusion.

Returns

◆ Subscribe()

FUSION_ERROR_CODE Subscribe	(	ref CameraIdentifier	uuid,
		CommunicationParameters	communicationParameters,
		ref Vector3	poseTranslation,
		ref System.Numerics.Quaternion	poseRotation
	)

inline

adds a camera to the multi camera handler

Parameters

uuid	The requested camera identifier.
communicationParameters	The communication parameters to connect to the camera..
poseTranslation	The World position of the camera, regarding the other camera of the setup.
poseRotation	The World rotation of the camera, regarding the other camera of the setup.

Returns

◆ Unsubscribe()

FUSION_ERROR_CODE Unsubscribe ( ref CameraIdentifier uuid )

inline

Remove the specified camera from data provider.

Parameters

uuid	The requested camera identifier.

Returns: FUSION_ERROR_CODE "SUCCESS" if it goes as it should, otherwise it returns an FUSION_ERROR_CODE.

◆ UpdatePose()

FUSION_ERROR_CODE UpdatePose	(	ref CameraIdentifier	uuid,
		ref Vector3	poseTranslation,
		ref System.Numerics.Quaternion	poseRotation
	)

inline

updates the camera World pose

Parameters

uuid	The requested camera identifier.
poseTranslation	The World position of the camera, regarding the other camera of the setup.
poseRotation	The World rotation of the camera, regarding the other camera of the setup.

Returns

◆ GetPose()

FUSION_ERROR_CODE GetPose	(	ref CameraIdentifier	uuid,
		ref Vector3	poseTranslation,
		ref System.Numerics.Quaternion	poseRotation
	)

inline

Get the specified camera position inside fusion WORLD

Parameters

uuid
poseTranslation
poseRotation

Returns

◆ RetrieveImage()

FUSION_ERROR_CODE RetrieveImage	(	Mat	mat,
		ref CameraIdentifier	uuid,
		Resolution	resolution = `new sl.Resolution()`
	)

inline

Returns the current sl.VIEW.LEFT of the specified camera, the data is synchronized.

Parameters

mat	the CPU BGRA image of the requested camera.
uuid	the requested camera identifier.
resolution	the requested resolution of the output image, can be lower or equal (default) to the original image resolution.

Returns: FUSION_ERROR_CODE "SUCCESS" if it goes as it should, otherwise it returns an FUSION_ERROR_CODE.

◆ RetrieveMeasure()

FUSION_ERROR_CODE RetrieveMeasure	(	Mat	mat,
		ref CameraIdentifier	uuid,
		MEASURE	measure = `MEASURE.DEPTH`,
		Resolution	resolution = `new sl.Resolution()`,
		FUSION_REFERENCE_FRAME	referenceFrame = `FUSION_REFERENCE_FRAME.BASELINK`
	)

inline

Returns the current measure of the specified camera, the data is synchronized.

Parameters

mat	the CPU data of the requested camera.
uuid	the requested camera identifier.
type	the requested measure type, by default DEPTH (F32_C1)

Only MEASURE: DEPTH, XYZ, XYZRGBA, XYZBGRA, XYZARGB, XYZABGR, DEPTH_U16_MM are available.

Parameters

resolution the requested resolution of the output image, can be lower or equal (default) to the original image resolution.

Returns: FUSION_ERROR_CODE "SUCCESS" if it goes as it should, otherwise it returns an FUSION_ERROR_CODE.

◆ EnableBodyTracking()

FUSION_ERROR_CODE EnableBodyTracking ( ref BodyTrackingFusionParameters btfParams )

inline

enables the body tracking module

Parameters

btfParams

Returns

◆ DisableBodyTracking()

void DisableBodyTracking ( )

inline

disable the body tracking module

◆ RetrieveBodies()

FUSION_ERROR_CODE RetrieveBodies	(	ref Bodies	bodies,
		ref BodyTrackingFusionRuntimeParameters	rtparams,
		CameraIdentifier	uuid,
		FUSION_REFERENCE_FRAME	referenceFrame = `FUSION_REFERENCE_FRAME.BASELINK`
	)

inline

retrieves the body data, can be the fused data (default), or the raw data provided by a specific sender

Parameters

bodies
rtparams
uuid

Returns

◆ GetProcessMetrics()

FUSION_ERROR_CODE GetProcessMetrics ( ref FusionMetrics metrics )

inline

gets the metrics of the Fusion process, for the fused data as well as individual camera provider data

Parameters

metrics

Returns

◆ EnablePositionalTracking()

FUSION_ERROR_CODE EnablePositionalTracking ( ref PositionalTrackingFusionParameters ptfParams )

inline

enables positional tracking module

Parameters

ptfParams

Returns

◆ GetPosition()

POSITIONAL_TRACKING_STATE GetPosition	(	ref Pose	pose,
		REFERENCE_FRAME	referenceFrame,
		ref CameraIdentifier	uuid,
		POSITION_TYPE	retrieveType
	)

inline

Gets the Fused Position of the camera system

Parameters

pose	contains the camera pose in world position (world position is given by the calibration of the cameras system)
referenceFrame	defines the reference from which you want the pose to be expressed. Default : REFERENCE_FRAME::WORLD.
coordinateSystem
unit
uuid
retrieveType

Returns

◆ GetFusedPositionalTrackingStatus()

FusedPositionalTrackingStatus GetFusedPositionalTrackingStatus ( )

inline

Gets the current status of fused position.

Returns: The current status of the tracking process.

◆ DisablePositionalTracking()

void DisablePositionalTracking ( )

inline

Disables the positional tracking

◆ IngestGNSSData()

FUSION_ERROR_CODE IngestGNSSData	(	ref GNSSData	data,
		bool	radian
	)

inline

ingests GNSS data from an external sensor into the fusion module

Parameters

data	the current GNSS data to combine with the current positional tracking data

◆ GetCurrentGNSSData()

POSITIONAL_TRACKING_STATE GetCurrentGNSSData	(	ref GNSSData	data,
		bool	radian
	)

inline

returns the current GNSS data

Parameters

data	the current GNSS data

Returns

◆ GetGeoPose()

GNSS_FUSION_STATUS GetGeoPose	(	ref GeoPose	pose,
		bool	radian
	)

inline

returns the current GeoPose

Parameters

pose	the current GeoPose

Returns

◆ GeoToCamera()

GNSS_FUSION_STATUS GeoToCamera	(	ref LatLng	inLatLng,
		out Pose	outPose
	)

inline

Converts latitude / longitude into position in sl::Fusion coordinate system.

Parameters

inLatLng
outPose

Returns

◆ CameraToGeo()

GNSS_FUSION_STATUS CameraToGeo	(	ref Pose	inPose,
		out GeoPose	outGeoPose,
		bool	radian
	)

inline

Converts a position in sl::Fusion coordinate system in real world coordinate.

Parameters

inPose
outGeoPose

Returns

◆ EnuToGeo()

FUSION_ERROR_CODE EnuToGeo	(	ref ENU	inPose,
		out LatLng	outPose,
		bool	radian
	)

inline

Converts a position in ENU coordinate system into latitude / longitude.

Parameters

inPose
outPose

Returns

◆ GeoToEnu()

FUSION_ERROR_CODE GeoToEnu	(	ref LatLng	inPose,
		out ENU	outPose,
		bool	radian
	)

inline

Converts a position in latitude / longitude into ENU coordinate system.

Parameters

inPose
outPose

Returns

◆ GetCurrentTimeStamp()

ulong GetCurrentTimeStamp ( )

inline

Gets the current timestamp.

Returns

◆ GetCurrentGNSSCalibrationStd()

GNSS_FUSION_STATUS GetCurrentGNSSCalibrationStd	(	ref float	yawStd,
		ref Vector3	positionStd
	)

inline

Get the current calibration uncertainty defined during calibration process

Parameters

yawStd	yaw uncertainty
positionStd	position uncertainty

Returns

◆ GetGeoTrackingCalibration()

void GetGeoTrackingCalibration	(	ref Vector3	position,
		ref System.Numerics.Quaternion	rotation
	)

inline

Get the calibration found between VIO and GNSS

Parameters

position	calibration found between VIO and GNSS (Translation)
rotation	calibration found between VIO and GNSS (Rotation)

Classes

Functions

Static Functions

Detailed Description

Functions

◆ Close()

◆ ReadConfigurationFile()

◆ ReadFusionConfiguration()

◆ GetSenderState()

◆ Init()

◆ Process()

◆ Subscribe()

◆ Unsubscribe()

◆ UpdatePose()

◆ GetPose()

◆ RetrieveImage()

◆ RetrieveMeasure()

◆ EnableBodyTracking()

◆ DisableBodyTracking()

◆ RetrieveBodies()

◆ GetProcessMetrics()

◆ EnablePositionalTracking()

◆ GetPosition()

◆ GetFusedPositionalTrackingStatus()

◆ DisablePositionalTracking()

◆ IngestGNSSData()

◆ GetCurrentGNSSData()

◆ GetGeoPose()

◆ GeoToCamera()

◆ CameraToGeo()

◆ EnuToGeo()

◆ GeoToEnu()

◆ GetCurrentTimeStamp()

◆ GetCurrentGNSSCalibrationStd()

◆ GetGeoTrackingCalibration()