sl Namespace Reference

Classes
class	PositionalTrackingStatus
struct	RecordingStatus
	Structure containing information about the status of the recording. More...
class	InitParameters
	Class containing the options used to initialize the sl::Camera object. More...
struct	RuntimeParameters
	Structure containing parameters that defines the behavior of sl::Camera::grab(). More...
class	PositionalTrackingParameters
	Structure containing a set of parameters for the positional tracking module initialization. More...
class	SpatialMappingParameters
	Structure containing a set of parameters for the spatial mapping module. More...
struct	StreamingParameters
	Structure containing the options used to stream with the ZED SDK. More...
struct	RecordingParameters
	Structure containing the options used to record. More...
class	BatchParameters
	Structure containing a set of parameters for batch object detection. More...
class	ObjectDetectionParameters
	Structure containing a set of parameters for the object detection module. More...
class	ObjectDetectionRuntimeParameters
	Structure containing a set of runtime parameters for the object detection module. More...
class	CustomObjectDetectionProperties
	Structure containing a set of runtime properties of a certain class ID for the object detection module using a custom model. More...
class	CustomObjectDetectionRuntimeParameters
	Structure containing a set of runtime parameters for the object detection module using your own model ran by the SDK. 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...
class	PlaneDetectionParameters
	Structure containing a set of parameters for the plane detection functionality. More...
struct	RegionOfInterestParameters
class	Camera
	This class serves as the primary interface between the camera and the various features provided by the SDK. More...
class	InitParametersOne
	Class containing the options used to initialize the sl::CameraOne object. More...
struct	CameraOneConfiguration
	Structure containing information about the camera sensor. More...
struct	CameraOneInformation
	Structure containing information of a single camera (serial number, model, input type, etc.). More...
class	CameraOne
	This class serves as the primary interface between the camera and the various features provided by the SDK. More...
class	String
	Class defining a string. More...
struct	Resolution
	Structure containing the width and height of an image. More...
class	Rect
	Class defining a 2D rectangle with top-left corner coordinates and width/height in pixels. 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...
class	Mat
	Class representing 1 to 4-channel matrix of float or uchar, stored on CPU and/or GPU side. More...
class	Rotation
	Class representing a rotation for the positional tracking module. More...
class	Translation
	Class representing a translation for the positional tracking module. More...
class	Orientation
	Class representing an orientation/quaternion for the positional tracking module. More...
class	Transform
	Class representing a transformation (translation and rotation) for the positional tracking module. 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	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...
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	Pose
	Class containing positional tracking data giving the position and orientation of the camera in 3D space. More...
struct	SensorsData
	Structure containing all sensors data (except image sensors) to be used for positional tracking or environment study. More...
class	ObjectData
	Class containing data of a detected object such as its bounding_box, label, id and its 3D position. More...
class	CustomBoxObjectData
	Class that store externally detected objects. More...
class	CustomMaskObjectData
	Class that store externally detected objects with mask. More...
class	Objects
	Class containing the results of the object detection module. More...
class	BodyData
	Class containing data of a detected body/person such as its bounding_box, id and its 3D position. More...
class	Bodies
	Class 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...
class	BodiesBatch
	Class containing batched data of a detected bodies/persons from the body tracking module. More...
class	CommunicationParameters
	Holds the communication parameter to configure the connection between senders and receiver. More...
struct	SVOData
struct	HealthStatus
class	MeshFilterParameters
	Class containing a set of parameters for the mesh filtration functionality. More...
class	Chunk
	Class representing a sub-mesh containing local vertices and triangles. 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	Plane
	Class representing a plane defined by a point and a normal, or a plane equation. More...
class	PointCloudChunk
	Class representing a sub-point cloud containing local vertices and colors. More...
class	FusedPointCloud
	Class representing a fused point cloud and containing the geometric and color data of the scene captured by the spatial mapping module. More...
class	CameraIdentifier
	Used to identify a specific camera in the Fusion API. More...
class	FusionConfiguration
	Useful struct to store the Fusion configuration, can be read from /write to a JSON file. More...
struct	SynchronizationParameter
	Configuration parameters for data synchronization. More...
class	InitFusionParameters
	Holds the options used to initialize the Fusion object. More...
class	BodyTrackingFusionParameters
	Holds the options used to initialize the body tracking module of the Fusion. More...
class	BodyTrackingFusionRuntimeParameters
	Holds the options used to change the behavior of the body tracking module at runtime. More...
class	ObjectDetectionFusionParameters
	Holds the options used to initialize the object detection module of the Fusion. 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	SpatialMappingFusionParameters
	Sets the spatial mapping parameters. More...
class	CameraMetrics
	Holds the metrics of a sender in the fusion process. More...
class	FusionMetrics
	Holds the metrics of the fusion process. More...
class	ECEF
	Represents a world position in ECEF format. More...
class	LatLng
	Represents a world position in LatLng format. More...
class	UTM
	Represents a world position in UTM format. More...
class	GeoConverter
	Purely static class for Geo functions. More...
class	GeoPose
	Holds geographic reference position information. More...
class	GNSSData
	Class containing GNSS data to be used for positional tracking as prior. More...
class	FusedPositionalTrackingStatus
	Class containing the overall position fusion status. More...
class	Fusion
	Holds Fusion process data and functions. More...

Enumerations
enum class	SIDE
	Lists possible sides on which to get data from. More...
enum	FLIP_MODE : int
	Lists possible flip modes of the camera. More...
enum class	RESOLUTION
	Lists available resolutions. More...
enum class	VIDEO_SETTINGS
	Lists available camera settings for the camera (contrast, hue, saturation, gain, ...). More...
enum class	DEPTH_MODE
	Lists available depth computation modes. More...
enum class	MEASURE
	Lists retrievable measures. More...
enum class	VIEW
	Lists available views. More...
enum class	TIME_REFERENCE
	Lists possible time references for timestamps or data. 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	AREA_EXPORTING_STATE
	Lists the different states of spatial memory area export. More...
enum class	SPATIAL_MAPPING_STATE
	Lists the different states of spatial mapping. More...
enum class	REGION_OF_INTEREST_AUTO_DETECTION_STATE
	Lists the different states of region of interest auto detection. More...
enum class	SVO_COMPRESSION_MODE
	Lists available compression modes for SVO recording. More...
enum class	SERIALIZATION_FORMAT
	Lists available serialization format. More...
enum class	UNIT
	Lists available units for measures. More...
enum class	COORDINATE_SYSTEM
	Lists available coordinates systems for positional tracking and 3D measures. More...
enum class	ERROR_CODE
	Lists error codes in the ZED SDK. More...
enum class	MODEL
	Lists ZED camera model. More...
enum class	INPUT_TYPE
	Lists available input types in the ZED SDK. More...
enum class	CAMERA_STATE
	Lists possible camera states. More...
enum class	STREAMING_CODEC
	Lists the different encoding types for image streaming. More...
enum class	SENSOR_TYPE
	Lists available sensor types. More...
enum class	SENSORS_UNIT
	Lists available measurement units of onboard sensors. More...
enum class	BUS_TYPE
	Lists available LIVE input type in the ZED SDK. More...
enum class	CAMERA_TYPE
	Lists available camera types. More...
enum class	MEM
	Lists available memory type. More...
enum class	COPY_TYPE
	Lists available copy operation on sl::Mat. More...
enum class	MAT_TYPE
	Lists available sl::Mat formats. More...
enum class	MODULE
	Lists available modules. 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_FILTERING_MODE
	Lists supported bounding box preprocessing. More...
enum class	INFERENCE_PRECISION
	Report the actual inference precision used. 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	REFERENCE_FRAME
	Lists possible types of position matrix used to store camera path and pose. More...
enum class	BODY_18_PARTS
	Semantic of human body parts and order of sl::BodyData::keypoint for sl::BODY_FORMAT::BODY_18. More...
enum class	BODY_34_PARTS
	Semantic of human body parts and order of sl::BodyData::keypoint for sl::BODY_FORMAT::BODY_34. More...
enum class	BODY_38_PARTS
	Semantic of human body parts and order of sl::BodyData::keypoint for sl::BODY_FORMAT::BODY_38. More...
enum class	MESH_FILE_FORMAT
	Lists available mesh file formats. More...
enum class	MESH_TEXTURE_FORMAT
	Lists available mesh texture formats. More...
enum class	PLANE_TYPE
	Lists the available plane types detected based on the orientation. 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	POSITION_TYPE
	Lists the types of possible position outputs. More...
enum class	GNSS_STATUS
	Class representing the status of the of GNSS signal. More...
enum class	GNSS_MODE
	Class representing the mode of GNSS signal. More...
enum class	GNSS_FUSION_STATUS
	Class containing the current GNSS fusion status. More...

Functions
*	toString (const FLIP_MODE &flip_mode)
inline ::std::ostream &	operator<< (::std::ostream &os, const FLIP_MODE &flip_mode)
sl::Resolution	getResolution (RESOLUTION resolution)
	Gets the corresponding sl::Resolution from an sl::RESOLUTION. More...
*	toString (const SVO_COMPRESSION_MODE &svo_compression)
bool	fromString (const sl::String &svo_compression_str, SVO_COMPRESSION_MODE &svo_compression)
inline ::std::ostream &	operator<< (::std::ostream &os, const SVO_COMPRESSION_MODE &svo_compression)
AI_Model_status	checkAIModelStatus (AI_MODELS model, int gpu_id=0)
	Checks if a corresponding optimized engine is found for the requested Model based on your rig configuration. More...
ERROR_CODE	downloadAIModel (sl::AI_MODELS model, int gpu_id=0)
	Downloads the requested model. More...
ERROR_CODE	optimizeAIModel (sl::AI_MODELS model, int gpu_id=0)
	Optimizes the requested model (and download the model if it is not present on the host). More...
*	toString (const SpatialMappingParameters::MAPPING_RESOLUTION &resolution)
std::ostream &	operator<< (std::ostream &os, const SpatialMappingParameters::MAPPING_RESOLUTION &resolution)
String	toString (const SpatialMappingParameters::MAPPING_RANGE &range)
std::ostream &	operator<< (std::ostream &os, const SpatialMappingParameters::MAPPING_RANGE &range)
String	toString (const SpatialMappingParameters::SPATIAL_MAP_TYPE &map_type)
bool	fromString (const sl::String &map_type_str, SpatialMappingParameters::SPATIAL_MAP_TYPE &map_type)
std::ostream &	operator<< (std::ostream &os, const SpatialMappingParameters::SPATIAL_MAP_TYPE &map_type)
std::ostream &	operator<< (std::ostream &os, const String &str)
bool	saveJSONFile (const sl::String filepath, const sl::String &serialized_content, bool merge=false)
bool	loadJSONFile (const sl::String filepath, sl::String &serialized_content)
String	toVerbose (const ERROR_CODE &errorCode)
	Provide a concise sl::ERROR_CODE string. More...
ERROR_CODE SL_CORE_EXPORT	convertImage (sl::Mat &image_in, sl::Mat &image_signed, cudaStream_t stream=0)
	Convert Image format from Unsigned char to Signed char, designed for Unreal Engine pipeline, works on GPU memory. More...
Rotation	computeRotationMatrixFromGravity (sl::float3 axis_to_align, sl::float3 gravity_vector)
	Compute the rotation matrix from the gravity vector : the rotation can used to find the world rotation from the gravity of an IMU. More...
Matrix3f	getCoordinateTransformConversion3f (COORDINATE_SYSTEM coord_system_src, COORDINATE_SYSTEM coord_system_dst)
	Get the coordinate transform conversion matrix to change coordinate system. More...
Matrix4f	getCoordinateTransformConversion4f (COORDINATE_SYSTEM coord_system_src, COORDINATE_SYSTEM coord_system_dst)
	Get the coordinate transform conversion matrix to change coordinate system. More...
ERROR_CODE	convertCoordinateSystem (Mat &floatMat, COORDINATE_SYSTEM coord_system_src, COORDINATE_SYSTEM coord_system_dst, MEM mem=MEM::CPU)
	Change the coordinate system of a matrix. More...
ERROR_CODE	convertCoordinateSystem (Transform &motionMat, COORDINATE_SYSTEM coord_system_src, COORDINATE_SYSTEM coord_system_dst)
	Change the coordinate system of a transform matrix. More...
float	getUnitScale (UNIT unit_src, UNIT unit_dst)
	Get the unit factor to change units. More...
ERROR_CODE	convertUnit (Mat &floatMat, UNIT unit_src, UNIT unit_dst, MEM mem=MEM::CPU)
	Change the unit of a matrix. More...
ERROR_CODE	convertUnit (Transform &motionMat, UNIT unit_src, UNIT unit_dst)
	Change the unit (of the translations) of a transform matrix. More...
OBJECT_CLASS	getObjectClass (OBJECT_SUBCLASS object_type)
std::vector< OBJECT_SUBCLASS >	getObjectSubClasses (OBJECT_CLASS object_type)
int	getObjectSubClassAsCOCO (const OBJECT_SUBCLASS object_type)
String	generate_unique_id ()
	Generate a UUID like unique id to help identify and track AI detections. More...
int	getIdx (BODY_18_PARTS part)
	Return associated index of each sl::BODY_18_PARTS. More...
int	getIdx (BODY_34_PARTS part)
	Return associated index of each sl::BODY_34_PARTS. More...
int	getIdx (BODY_38_PARTS part)
	Return associated index of each sl::BODY_38_PARTS. More...
*	toString (const MESH_FILE_FORMAT &mesh_frmt)
std::ostream &	operator<< (std::ostream &os, const MESH_FILE_FORMAT &mesh_frmt)
*	toString (const MESH_TEXTURE_FORMAT &text_frmt)
std::ostream &	operator<< (std::ostream &os, const MESH_TEXTURE_FORMAT &text_frmt)
*	toString (const MeshFilterParameters::MESH_FILTER &mesh_filter)
std::ostream &	operator<< (std::ostream &os, const MeshFilterParameters::MESH_FILTER &mesh_filter)
*	toString (const PLANE_TYPE &type)
std::ostream &	operator<< (std::ostream &os, const PLANE_TYPE &type)
bool	operator== (const CameraIdentifier &a, const CameraIdentifier &b)
bool	operator!= (const CameraIdentifier &a, const CameraIdentifier &b)
FusionConfiguration	readFusionConfigurationFile (const std::string &json_config_filename, const int serial_number, const sl::COORDINATE_SYSTEM coord_sys, const sl::UNIT unit)
	Read a configuration JSON file to configure a fusion process. More...
std::vector< FusionConfiguration >	readFusionConfigurationFile (const std::string &json_config_filename, const sl::COORDINATE_SYSTEM coord_sys, const sl::UNIT unit)
	Read a Configuration JSON file to configure a fusion process. More...
std::vector< FusionConfiguration >	readFusionConfiguration (const std::string &fusion_configuration, const sl::COORDINATE_SYSTEM coord_sys, const sl::UNIT unit)
	Read a Configuration JSON string to configure a fusion process. More...
void	writeConfigurationFile (const std::string &json_config_filename, std::vector< FusionConfiguration > &configuration, const sl::COORDINATE_SYSTEM coord_sys, const sl::UNIT unit)
	Write a Configuration JSON file to configure a fusion process. More...
String	toString (const POSITION_TYPE &position_type)
inline ::std::ostream &	operator<< (::std::ostream &os, const POSITION_TYPE &position_type)

Variables
static const float	INVALID_VALUE = NAN
static const unsigned char	STATIC_DEPTH = 255
static const unsigned char	DYNAMIC_DEPTH = 127
const int	VIDEO_SETTINGS_VALUE_AUTO = -1
const std::vector< std::pair< BODY_18_PARTS, BODY_18_PARTS > >	BODY_18_BONES
	Lists links of human body keypoints for sl::BODY_FORMAT::BODY_18. Useful for display. More...
const std::vector< std::pair< BODY_34_PARTS, BODY_34_PARTS > >	BODY_34_BONES
	Lists links of human body keypoints for sl::BODY_FORMAT::BODY_34. Useful for display. More...
const std::vector< std::pair< BODY_38_PARTS, BODY_38_PARTS > >	BODY_38_BONES
	Lists links of human body keypoints for sl::BODY_FORMAT::BODY_38. Useful for display. More...
Unavailable Values
static const float	TOO_FAR = INFINITY
static const float	TOO_CLOSE = -INFINITY
static const float	OCCLUSION_VALUE = NAN

Enumeration Type Documentation

PLANE_TYPE

enum PLANE_TYPE

strong

Lists the available plane types detected based on the orientation.

Enumerator
HORIZONTAL	Horizontal plane, such as a tabletop, floor, etc.
VERTICAL	Vertical plane, such as a wall.
UNKNOWN	Unknown plane orientation.

Function Documentation

toString() [1/10]

* sl::toString

(

const FLIP_MODE &

flip_mode

)

Referenced by operator<<().

operator<<() [1/11]

inline ::std::ostream& sl::operator<<	(	::std::ostream &	os,
		const FLIP_MODE &	flip_mode
	)

toString() [2/10]

* sl::toString

(

const SVO_COMPRESSION_MODE &

svo_compression

)

fromString() [1/2]

bool sl::fromString	(	const sl::String &	svo_compression_str,
		SVO_COMPRESSION_MODE &	svo_compression
	)

operator<<() [2/11]

inline ::std::ostream& sl::operator<<	(	::std::ostream &	os,
		const SVO_COMPRESSION_MODE &	svo_compression
	)

toString() [3/10]

* sl::toString

(

const SpatialMappingParameters::MAPPING_RESOLUTION &

resolution

)

operator<<() [3/11]

std::ostream& sl::operator<< ( std::ostream &  os, const SpatialMappingParameters::MAPPING_RESOLUTION &  resolution  )

inline

toString() [4/10]

String sl::toString

(

const SpatialMappingParameters::MAPPING_RANGE &

range

)

operator<<() [4/11]

std::ostream& sl::operator<< ( std::ostream &  os, const SpatialMappingParameters::MAPPING_RANGE &  range  )

inline

toString() [5/10]

String sl::toString

(

const SpatialMappingParameters::SPATIAL_MAP_TYPE &

map_type

)

fromString() [2/2]

bool sl::fromString	(	const sl::String &	map_type_str,
		SpatialMappingParameters::SPATIAL_MAP_TYPE &	map_type
	)

operator<<() [5/11]

std::ostream& sl::operator<< ( std::ostream &  os, const SpatialMappingParameters::SPATIAL_MAP_TYPE &  map_type  )

inline

operator<<() [6/11]

std::ostream& sl::operator<< ( std::ostream &  os, const String &  str  )

inline

saveJSONFile()

bool sl::saveJSONFile	(	const sl::String	filepath,
		const sl::String &	serialized_content,
		bool	merge = false
	)

loadJSONFile()

bool sl::loadJSONFile	(	const sl::String	filepath,
		sl::String &	serialized_content
	)

convertImage()

ERROR_CODE SL_CORE_EXPORT sl::convertImage	(	sl::Mat &	image_in,
		sl::Mat &	image_signed,
		cudaStream_t	stream = 0
	)

Convert Image format from Unsigned char to Signed char, designed for Unreal Engine pipeline, works on GPU memory.

Parameters

image_in	: input image to convert
image_signed	: output image to converted
stream	: a cuda stream to put the compute to (def. 0)

Note

If the Output Mat does not satisfies the requirements, it is freed and re-allocated.

computeRotationMatrixFromGravity()

Rotation sl::computeRotationMatrixFromGravity	(	sl::float3	axis_to_align,
		sl::float3	gravity_vector
	)

Compute the rotation matrix from the gravity vector : the rotation can used to find the world rotation from the gravity of an IMU.

Parameters

axis_to_align	: define the axis to align with the gravity, for instance : to align the "y" axis, axis_to_align = (0, 1, 0)'
gravity_vector	: the gravity vector, acceleration set by an IMU

Returns

Rotation : rotation matrix, useful for Camera::detectFloorPlane as a gravity prior

getCoordinateTransformConversion3f()

Matrix3f sl::getCoordinateTransformConversion3f	(	COORDINATE_SYSTEM	coord_system_src,
		COORDINATE_SYSTEM	coord_system_dst
	)

Get the coordinate transform conversion matrix to change coordinate system.

Parameters

coord_system_src	: the source coordinate system.
coord_system_dst	: the destination coordinate system.

Returns

Matrix3f : transformation matrix, to apply to a float3 point simply multiply by this matrix (pt_coord_dst = tf_matrix * pt_coord_src).

getCoordinateTransformConversion4f()

Matrix4f sl::getCoordinateTransformConversion4f	(	COORDINATE_SYSTEM	coord_system_src,
		COORDINATE_SYSTEM	coord_system_dst
	)

Get the coordinate transform conversion matrix to change coordinate system.

Parameters

coord_system_src	: the source coordinate system.
coord_system_dst	: the destination coordinate system.

Returns

Matrix4f : transformation matrix, to apply to a float4 point simply multiply by this matrix (pt_coord_dst = tf_matrix * pt_coord_src).

convertCoordinateSystem() [1/2]

ERROR_CODE sl::convertCoordinateSystem	(	Mat &	floatMat,
		COORDINATE_SYSTEM	coord_system_src,
		COORDINATE_SYSTEM	coord_system_dst,
		MEM	mem = MEM::CPU
	)

Change the coordinate system of a matrix.

Parameters

floatMat	: (in/out) matrix to transform, can be either a MAT_TYPE::F32_C4 (the fourth value will be ignored as it contained the color information) or a MAT_TYPE::F32_C3.
coord_system_src	: the current coordinate system of floatMat.
coord_system_dst	: the destination coordinate system for floatMat.
mem	: define which memory should be transformed from floatMat.

Returns

SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.

convertCoordinateSystem() [2/2]

ERROR_CODE sl::convertCoordinateSystem	(	Transform &	motionMat,
		COORDINATE_SYSTEM	coord_system_src,
		COORDINATE_SYSTEM	coord_system_dst
	)

Change the coordinate system of a transform matrix.

Parameters

motionMat	: (in/out) matrix to transform
coord_system_src	: the current coordinate system of motionMat.
coord_system_dst	: the destination coordinate system for motionMat.

Returns

SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.

getUnitScale()

float sl::getUnitScale	(	UNIT	unit_src,
		UNIT	unit_dst
	)

Get the unit factor to change units.

Parameters

unit_src	: the source coordinate system.
unit_dst	: the destination coordinate system.

Returns

float : unit scale (pt_coord_dst = factor * pt_coord_src).

convertUnit() [1/2]

ERROR_CODE sl::convertUnit	(	Mat &	floatMat,
		UNIT	unit_src,
		UNIT	unit_dst,
		MEM	mem = MEM::CPU
	)

Change the unit of a matrix.

Parameters

floatMat	: (in/out) matrix to transform, can be either a MAT_TYPE::F32_C4 (the fourth value will be ignored as it contained the color information), MAT_TYPE::F32_C3 or a MAT_TYPE::F32_C1.
unit_src	: the current unit of floatMat.
unit_dst	: the destination unit for floatMat.
mem	: define which memory should be transformed from floatMat.

Returns

SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.

convertUnit() [2/2]

ERROR_CODE sl::convertUnit	(	Transform &	motionMat,
		UNIT	unit_src,
		UNIT	unit_dst
	)

Change the unit (of the translations) of a transform matrix.

Parameters

motionMat	: (in/out) matrix to transform
unit_src	: the current unit of motionMat.
unit_dst	: the destination unit for motionMat.

Returns

SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.

getObjectClass()

OBJECT_CLASS sl::getObjectClass

(

OBJECT_SUBCLASS

object_type

)

getObjectSubClasses()

std::vector<OBJECT_SUBCLASS> sl::getObjectSubClasses

(

OBJECT_CLASS

object_type

)

getObjectSubClassAsCOCO()

int sl::getObjectSubClassAsCOCO

(

const OBJECT_SUBCLASS

object_type

)

toString() [6/10]

* sl::toString

(

const MESH_FILE_FORMAT &

mesh_frmt

)

operator<<() [7/11]

std::ostream& sl::operator<< ( std::ostream &  os, const MESH_FILE_FORMAT &  mesh_frmt  )

inline

toString() [7/10]

* sl::toString

(

const MESH_TEXTURE_FORMAT &

text_frmt

)

operator<<() [8/11]

std::ostream& sl::operator<< ( std::ostream &  os, const MESH_TEXTURE_FORMAT &  text_frmt  )

inline

toString() [8/10]

* sl::toString

(

const MeshFilterParameters::MESH_FILTER &

mesh_filter

)

operator<<() [9/11]

std::ostream& sl::operator<< ( std::ostream &  os, const MeshFilterParameters::MESH_FILTER &  mesh_filter  )

inline

toString() [9/10]

* sl::toString

(

const PLANE_TYPE &

type

)

operator<<() [10/11]

std::ostream& sl::operator<< ( std::ostream &  os, const PLANE_TYPE &  type  )

inline

operator==()

bool sl::operator== ( const CameraIdentifier &  a, const CameraIdentifier &  b  )

inline

operator!=()

bool sl::operator!= ( const CameraIdentifier &  a, const CameraIdentifier &  b  )

inline

toString() [10/10]

String sl::toString

(

const POSITION_TYPE &

position_type

)

operator<<() [11/11]

inline ::std::ostream& sl::operator<<	(	::std::ostream &	os,
		const POSITION_TYPE &	position_type
	)

Variable Documentation

TOO_FAR

const float TOO_FAR = INFINITY

static

Defines an unavailable depth value that is above the depth Max value.

TOO_CLOSE

const float TOO_CLOSE = -INFINITY

static

Defines an unavailable depth value that is below the depth Min value.

OCCLUSION_VALUE

const float OCCLUSION_VALUE = NAN

static

Defines an unavailable depth value that is on an occluded image area.

INVALID_VALUE

const float INVALID_VALUE = NAN

static

STATIC_DEPTH

const unsigned char STATIC_DEPTH = 255

static

DYNAMIC_DEPTH

const unsigned char DYNAMIC_DEPTH = 127

static

VIDEO_SETTINGS_VALUE_AUTO

const int VIDEO_SETTINGS_VALUE_AUTO = -1