sl Namespace Reference

Classes
class	Camera
	This class serves as the primary interface between the camera and the various features provided by the SDK. More...
class	ZEDCommon
struct	Matrix3x3
	Structure representing a generic 3*3 matrix. More...
struct	Resolution
	Structure containing the width and height of an image. More...
struct	Rect
	Structure defining a 2D rectangle with top-left corner coordinates and width/height in pixels. More...
struct	CameraConfiguration
	Structure containing information about the camera sensor. More...
struct	CameraInformation
	Structure containing information of a single camera (serial number, model, input type, etc.) More...
class	PositionalTrackingParameters
	Class containing a set of parameters for the positional tracking module initialization. More...
struct	Pose
	Structure containing positional tracking data giving the position and orientation of the camera in 3D space. More...
struct	RegionOfInterestParameters
	Structure containing a set of parameters for the region of interest. More...
struct	PositionalTrackingStatus
	Lists the different status of positional tracking. More...
struct	ImuData
	Structure containing data from the IMU sensor. More...
struct	BarometerData
	Structure containing data from the barometer sensor. More...
struct	MagnetometerData
	Structure containing data from the magnetometer sensor. More...
struct	TemperatureSensorData
	Structure containing data from the temperature sensors. More...
struct	SensorsData
	Structure containing all sensors data (except image sensors) to be used for positional tracking or environment study. More...
struct	SensorParameters
	Structure containing information about a single sensor available in the current device. More...
struct	SensorsConfiguration
	Structure containing information about all the sensors available in the current device. More...
class	RuntimeParameters
	Class containing parameters that defines the behavior of sl.Camera.Grab(). More...
struct	CameraParameters
	Structure containing the intrinsic parameters of a camera. More...
struct	CalibrationParameters
	Structure containing intrinsic and extrinsic parameters of the camera (translation and rotation). More...
struct	SVOData
	Structure containing data that can be stored in and retrieved from SVOs. That information will be ingested with sl.Camera.ingestDataIntoSVO and retrieved with sl.Camera.retrieveSVOData. More...
class	InitParameters
	Class containing the options used to initialize the sl.Camera object. More...
struct	RecordingParameters
	Structure containing the options used to record. More...
struct	StreamingParameters
	Structure containing the options used to stream with the ZED SDK. More...
struct	DeviceProperties
	Structure containing information about the properties of a camera. More...
struct	StreamingProperties
	Structure containing information about the properties of a streaming device. More...
struct	RecordingStatus
	Structure containing information about the status of the recording. More...
struct	InputType
	Structure defining the input type used in the ZED SDK. More...
class	PlaneDetectionParameters
	Class containing a set of parameters for the plane detection functionality. More...
class	SpatialMappingParameters
	Class containing a set of parameters for the spatial mapping module. More...
class	Mesh
	Class representing a mesh and containing the geometric (and optionally texture) data of the scene captured by the spatial mapping module. More...
class	FusedPointCloud
	A fused point cloud contains both geometric and color data of the scene captured by spatial mapping. More...
struct	Chunk
	Class representing a sub-mesh containing local vertices and triangles. More...
struct	PlaneData
	Structure representing a plane defined by a point and a normal, or a plane equation. More...
struct	BatchParameters
	Structure containing a set of parameters for batch object detection. More...
struct	AI_Model_status
	Structure containing AI model status. More...
struct	ObjectDetectionParameters
	Structure containing a set of parameters for the object detection module. More...
struct	ObjectDetectionRuntimeParameters
	Structure containing a set of runtime parameters for the object detection module. More...
struct	BodyTrackingParameters
	Structure containing a set of parameters for the body tracking module. More...
struct	BodyTrackingRuntimeParameters
	Structure containing a set of runtime parameters for the body tracking module. More...
struct	ObjectData
	Structure containing data of a detected object such as its boundingBox, label, id and its 3D position. More...
struct	CustomBoxObjectData
	Structure that store externally detected objects. More...
struct	Objects
	Structure containing the results of the object detection module. It contains the number of object in the scene (numObject) and the objectData structure for each object. More...
struct	CovarMatrix
	Full covariance matrix for position (3x3). Only 6 values are necessary [p0, p1, p2] [p1, p3, p4] [p2, p4, p5] More...
struct	BodyData
	Structure containing data of a detected body/person such as its headBoundingBox, id and its 3D position. More...
struct	Bodies
	Structure containing the results of the body tracking module. More...
class	ObjectsBatch
	Class containing batched data of a detected objects from the object detection module. More...
struct	InitFusionParameters
	Holds the options used to initialize the Fusion object. More...
struct	CommunicationParameters
	Holds the communication parameter to configure the connection between senders and receiver More...
struct	FusionConfiguration
	Stores the Fusion configuration, can be read from /write to a Json file. More...
struct	BodyTrackingFusionParameters
	Holds the options used to initialize the body tracking module of the Fusion. More...
struct	BodyTrackingFusionRuntimeParameters
	Holds the options used to change the behavior of the body tracking module at runtime. More...
struct	CameraIdentifier
	Used to identify a specific camera in the Fusion API More...
struct	CameraMetrics
	Holds the metrics of a sender in the fusion process. More...
struct	FusionMetrics
	Holds the metrics of the fusion process. More...
struct	FusedPositionalTrackingStatus
	Class containing the overall position fusion status More...
struct	GNSSData
	Structure containing GNSS data to be used for positional tracking as prior. More...
struct	GeoPose
	Holds Geo reference position. More...
struct	ECEF
	Represents a world position in ECEF format. More...
struct	LatLng
	Represents a world position in LatLng format. More...
struct	UTM
	Represents a world position in UTM format. More...
class	GNSSCalibrationParameters
	Holds the options used for calibrating GNSS / VIO. More...
class	PositionalTrackingFusionParameters
	Holds the options used for initializing the positional tracking fusion module. More...
class	Fusion
	Holds Fusion process data and functions More...
struct	char2
	Represents a 2D vector of uchars for use on both the CPU and GPU. More...
struct	char3
	Represents a 3D vector of uchars for use on both the CPU and GPU. More...
struct	char4
	Represents a 4D vector of uchars for use on both the CPU and GPU. More...
struct	float2
	Represents a 2D vector of floats for use on both the CPU and GPU. More...
struct	float3
	Represents a 3D vector of floats for use on both the CPU and GPU. More...
struct	float4
	Represents a 4D vector of floats for use on both the CPU and GPU. More...
class	Mat
	Class representing 1 to 4-channel matrix of float or uchar, stored on CPU and/or GPU side. More...

Enumerations
enum class	Constant
	Constant for plugin. Should not be changed More...
enum class	POSITION_TYPE
	Lists the types of possible position outputs. More...
enum class	ERROR_CODE
	List of error codes in the ZED SDK. More...
enum class	COORDINATE_SYSTEM
	Lists available coordinates systems for positional tracking and 3D measures. More...
enum class	MODULE
	Lists available modules. More...
enum class	POSITIONAL_TRACKING_STATE
	Lists the different states of positional tracking. More...
enum class	ODOMETRY_STATUS
	Report the status of current odom tracking. More...
enum class	SPATIAL_MEMORY_STATUS
	Report the status of current map tracking. More...
enum class	POSITIONAL_TRACKING_FUSION_STATUS
	Report the status of the positional tracking fusion. More...
enum class	POSITIONAL_TRACKING_MODE
	Lists the mode of positional tracking that can be used. More...
enum class	REFERENCE_FRAME
	Lists possible types of position matrix used to store camera path and pose. More...
enum class	TRACKING_FRAME
	Part of the ZED (left/right sensor, center) that's considered its center for tracking purposes. More...
enum class	HEADING_STATE
	Lists the different states of the magnetic heading. More...
enum class	SENSOR_TYPE
	Lists available sensor types. More...
enum class	SENSORS_UNIT
	Lists available measurement units of onboard sensors. More...
enum class	DEPTH_MODE
	Lists available depth computation modes. More...
enum class	MEASURE
	Lists retrievable measures. More...
enum class	REGION_OF_INTEREST_AUTO_DETECTION_STATE
	Lists the different states of region of interest auto detection. More...
enum class	INPUT_TYPE
	Lists available input types in the ZED SDK. More...
enum class	BUS_TYPE
	Lists available LIVE input type in the ZED SDK. More...
enum class	CAMERA_STATE
	Lists possible camera states. More...
enum class	RESOLUTION
	Lists available resolutions. More...
enum class	FLIP_MODE
	Lists possible flip modes of the camera. More...
enum class	MODEL
	Lists ZED camera model. SL_MODEL in C wrapper. More...
enum class	VIEW
	Lists available views. More...
enum class	VIDEO_SETTINGS
	Lists available camera settings for the camera (contrast, hue, saturation, gain, ...). More...
enum class	TIME_REFERENCE
	Lists possible time references for timestamps or data. More...
enum class	SVO_COMPRESSION_MODE
	Lists available compression modes for SVO recording. More...
enum class	STREAMING_CODEC
	Lists the different encoding types for image streaming. More...
enum class	SIDE
	Lists possible sides on which to get data from. More...
enum class	AREA_EXPORTING_STATE
	Lists the different states of spatial memory area export. More...
enum class	MAPPING_RESOLUTION
	Lists the spatial mapping resolution presets. More...
enum class	MAPPING_RANGE
	Lists the spatial mapping depth range presets. More...
enum class	SPATIAL_MAP_TYPE
	Lists the types of spatial maps that can be created. More...
enum class	MESH_FILE_FORMAT
	Lists available mesh file formats. More...
enum class	MESH_FILTER
	Lists available mesh filtering intensities. More...
enum class	SPATIAL_MAPPING_STATE
	Lists the different states of spatial mapping. More...
enum class	UNIT
	Lists available units for measures. More...
enum class	PLANE_TYPE
	Lists the available plane types detected based on its orientation and whether detected by sl.Camera.FindFloorPlane() or sl.Camera.FindPlaneAtHit(). More...
enum class	AREA_EXPORT_STATE
	Possible states of the ZED's spatial memory area export, for saving 3D features used by the tracking system to relocalize the camera. This is used when saving a mesh generated by spatial mapping when Save Mesh is enabled - a .area file is saved as well. More...
enum class	BODY_FORMAT
	Lists supported skeleton body models. More...
enum class	BODY_KEYPOINTS_SELECTION
	Lists supported models for skeleton keypoints selection. More...
enum class	OBJECT_CLASS
	Lists available object classes. More...
enum class	OBJECT_SUBCLASS
	List available object subclasses. More...
enum class	OBJECT_TRACKING_STATE
	Lists the different states of object tracking. More...
enum class	OBJECT_ACTION_STATE
	Lists the different states of an object's actions. More...
enum class	OBJECT_DETECTION_MODEL
	Lists available models for the object detection module. More...
enum class	BODY_TRACKING_MODEL
	Lists available models for the body tracking module. More...
enum class	AI_MODELS
	Lists available AI models. More...
enum class	OBJECT_FILTERING_MODE
	Lists supported bounding box preprocessing. More...
enum class	INFERENCE_PRECISION
	Lists supported bounding box preprocessing. More...
enum class	BODY_18_PARTS
	Semantic of human body parts and order of sl.BodyData.keypoints for sl.BODY_FORMAT.BODY_18. More...
enum class	BODY_34_PARTS
	Semantic of human body parts and order of sl.BodyData.keypoints for sl.BODY_FORMAT.BODY_34. More...
enum class	BODY_38_PARTS
	Semantic of human body parts and order of sl.BodyData.keypoints for sl.BODY_FORMAT.BODY_38. More...
enum class	FUSION_ERROR_CODE
	Lists the types of error that can be raised by the Fusion. More...
enum class	SENDER_ERROR_CODE
	Lists the types of error that can be raised during the Fusion by senders. More...
enum class	COMM_TYPE
	Lists the different types of communications available for Fusion module. More...
enum class	GNSS_FUSION_STATUS
	Lists the different states of the GNSS fusion. More...
enum class	GNSS_STATUS
enum class	GNSS_MODE
enum class	MAT_TYPE
	Lists available sl.Mat formats. More...
enum class	COPY_TYPE
	Lists available copy operation on sl.Mat. More...
enum class	MEM
	Lists available memory type. More...

Enumeration Type Documentation

Constant

enum Constant

strong

Constant for plugin. Should not be changed

Enumerator
MAX_OBJECTS
MAX_SUBMESH	Maximum number of chunks. It's best to get relatively few chunks and to update them quickly.
MAX_BATCH_SIZE	Max size of trajectory data (number of frames stored)
MAX_CAMERA_PLUGIN	Maximum number of camera can that be instancied at the same time. Used to initialized arrays of cameras (ex: GetDeviceList())
MAX_FUSED_CAMERAS	Maximum number of camera that can be fused by the Fusion API.

MODULE

enum MODULE

strong

Lists available modules.

Enumerator
ALL	All modules
DEPTH	Depth module
POSITIONAL_TRACKING	Positional tracking module
OBJECT_DETECTION	Object Detection module
BODY_TRACKING	Body Tracking module
SPATIAL_MAPPING	Spatial mapping module
LAST

SIDE

enum SIDE

strong

Lists possible sides on which to get data from.

Enumerator
LEFT	Left side only.
RIGHT	Right side only.
BOTH	Left and right side.

AI_MODELS

enum AI_MODELS

strong

Lists available AI models.

Enumerator
MULTI_CLASS_DETECTION	Related to sl.OBJECT_DETECTION_MODEL.MULTI_CLASS_BOX_FAST
MULTI_CLASS_MEDIUM_DETECTION	Related to sl.OBJECT_DETECTION_MODEL.MULTI_CLASS_BOX_MEDIUM
MULTI_CLASS_ACCURATE_DETECTION	Related to sl.OBJECT_DETECTION_MODEL.MULTI_CLASS_BOX_ACCURATE
HUMAN_BODY_FAST_DETECTION	Related to sl.BODY_TRACKING_MODEL.HUMAN_BODY_FAST
HUMAN_BODY_MEDIUM_DETECTION	Related to sl.BODY_TRACKING_MODEL.HUMAN_BODY_MEDIUM
HUMAN_BODY_ACCURATE_DETECTION	Related to sl.BODY_TRACKING_MODEL.HUMAN_BODY_ACCURATE
HUMAN_BODY_38_FAST_DETECTION	Related to sl.BODY_TRACKING_MODEL.HUMAN_BODY_FAST
HUMAN_BODY_38_MEDIUM_DETECTION	Related to sl.BODY_TRACKING_MODEL.HUMAN_BODY_MEDIUM
HUMAN_BODY_38_ACCURATE_DETECTION	Related to sl.BODY_TRACKING_MODEL.HUMAN_BODY_ACCURATE
PERSON_HEAD_DETECTION	Related to sl.OBJECT_DETECTION_MODEL.PERSON_HEAD_BOX_FAST
PERSON_HEAD_ACCURATE_DETECTION	Related to sl.OBJECT_DETECTION_MODEL.PERSON_HEAD_BOX_ACCURATE
REID_ASSOCIATION	Related to sl.BatchParameters.enable
NEURAL_DEPTH	Related to sl.DEPTH_MODE.NEURAL
NEURAL_PLUS_DEPTH	Related to sl.DEPTH_MODE.NEURAL_PLUS

OBJECT_FILTERING_MODE

enum OBJECT_FILTERING_MODE

strong

Lists supported bounding box preprocessing.

Enumerator
NONE	The ZED SDK will not apply any preprocessing to the detected objects.
NMS3D	The ZED SDK will remove objects that are in the same 3D position as an already tracked object (independent of class id).
NMS3D_PER_CLASS	The ZED SDK will remove objects that are in the same 3D position as an already tracked object of the same class id.

INFERENCE_PRECISION

enum INFERENCE_PRECISION

strong

Lists supported bounding box preprocessing.

Enumerator
FP32
FP16
INT8

GNSS_STATUS

enum GNSS_STATUS

strong

Enumerator
UNKNOWN	No GNSS fix data is available.
SINGLE	Single Point Positioning.
DGNSS	Differential GNSS.
RTK_FIX	Real-Time Kinematic (RTK) GNSS fix in fixed mode.
RTK_FLOAT	Real-Time Kinematic (RTK) GNSS fix in float mode.
PPS	Precise Positioning Service.

GNSS_MODE

enum GNSS_MODE

strong

Enumerator
UNKNOWN	No GNSS fix data is available.
NO_FIX	No GNSS fix is available.
FIX_2D	2D GNSS fix, providing latitude and longitude coordinates but without altitude information.
FIX_3D	3D GNSS fix, providing latitude, longitude, and altitude coordinates.