Holds Fusion process data and functions. More...
Functions | |
def | init (self, InitFusionParameters init_fusion_parameters) |
Initialize the fusion module with the requested parameters. More... | |
def | close (self) |
Will deactivate all the fusion modules and free internal data. | |
FUSION_ERROR_CODE | subscribe (self, CameraIdentifier uuid, CommunicationParameters communication_parameters, Transform pose) |
Set the specified camera as a data provider. More... | |
FUSION_ERROR_CODE | unsubscribe (self, CameraIdentifier uuid) |
Remove the specified camera from data provider. More... | |
FUSION_ERROR_CODE | update_pose (self, CameraIdentifier uuid, Transform pose) |
Updates the specified camera position inside fusion WORLD. More... | |
(FUSION_ERROR_CODE, FusionMetrics) | get_process_metrics (self) |
Get the metrics of the Fusion process, for the fused data as well as individual camera provider data. More... | |
dict | get_sender_state (self) |
Returns the state of each connected data senders. More... | |
FUSION_ERROR_CODE | process (self) |
Runs the main function of the Fusion, this trigger the retrieve and synchronization of all connected senders and updates the enabled modules. More... | |
FUSION_ERROR_CODE | enable_body_tracking (self, BodyTrackingFusionParameters params) |
Enables the body tracking fusion module. More... | |
FUSION_ERROR_CODE | retrieve_bodies (self, Bodies bodies, BodyTrackingFusionRuntimeParameters parameters, CameraIdentifier uuid=CameraIdentifier(0)) |
Retrieves the body data, can be the fused data (default), or the raw data provided by a specific sender. More... | |
FUSION_ERROR_CODE | retrieve_image (self, Mat py_mat, CameraIdentifier uuid, resolution=Resolution(0, 0)) |
Returns the current sl.VIEW.LEFT of the specified camera, the data is synchronized. More... | |
FUSION_ERROR_CODE | retrieve_measure (self, Mat py_mat, CameraIdentifier uuid, MEASURE measure, resolution=Resolution(0, 0)) |
Returns the current measure of the specified camera, the data is synchronized. More... | |
def | disable_body_tracking (self) |
Disable the body fusion tracking module. | |
FUSION_ERROR_CODE | enable_positionnal_tracking (self, PositionalTrackingFusionParameters parameters) |
Enables positional tracking fusion module. More... | |
def | ingest_gnss_data (self, GNSSData gnss_data) |
Ingest GNSS data from an external sensor into the fusion module. More... | |
def | get_position (self, Pose camera_pose, REFERENCE_FRAME reference_frame=REFERENCE_FRAME.WORLD, CameraIdentifier uuid=CameraIdentifier(), POSITION_TYPE position_type=POSITION_TYPE.FUSION) |
Get the Fused Position referenced to the first camera subscribed. More... | |
def | get_current_gnss_data (self, GNSSData gnss_data) |
Returns the last synchronized gnss data. More... | |
GNSS_FUSION_STATUS | get_geo_pose (self, GeoPose pose) |
Returns the current GeoPose. More... | |
GNSS_FUSION_STATUS | geo_to_camera (self, LatLng input, Pose output) |
Convert latitude / longitude into position in sl::Fusion coordinate system. More... | |
GNSS_FUSION_STATUS | camera_to_geo (self, Pose input, GeoPose output) |
Convert a position in sl.Fusion coordinate system in global world coordinate. More... | |
def | disable_positionnal_tracking (self) |
Disable the fusion positional tracking module. More... | |
tuple[GNSS_FUSION_STATUS, float, np.array] | get_current_gnss_calibration_std (self) |
Get the current calibration uncertainty obtained during calibration process. More... | |
Transform | get_geo_tracking_calibration (self) |
Get the calibration found between VIO and GNSS. More... | |
Holds Fusion process data and functions.
def init | ( | self, | |
InitFusionParameters | init_fusion_parameters | ||
) |
Initialize the fusion module with the requested parameters.
init_parameters | Initialization parameters. |
Referenced by InitParameters.__cinit__(), InitParameters.async_grab_camera_recovery(), InitParametersOne.async_grab_camera_recovery(), InitParameters.async_image_retrieval(), InitParameters.camera_disable_self_calib(), InitParameters.camera_fps(), InitParametersOne.camera_fps(), InitParameters.camera_image_flip(), InitParameters.camera_resolution(), InitParametersOne.camera_resolution(), InitParameters.coordinate_system(), InitParametersOne.coordinate_system(), InitParameters.coordinate_units(), InitParametersOne.coordinate_units(), InitParameters.depth_maximum_distance(), InitParameters.depth_minimum_distance(), InitParameters.depth_mode(), InitParameters.depth_stabilization(), InitParameters.enable_image_enhancement(), InitParameters.enable_image_validity_check(), InitParameters.enable_right_side_measure(), InitParameters.grab_compute_capping_fps(), InitParameters.load(), InitParameters.open_timeout_sec(), InitParametersOne.open_timeout_sec(), InitParameters.optional_opencv_calibration_file(), InitParameters.optional_settings_path(), InitParametersOne.optional_settings_path(), InitParameters.save(), InitParameters.sdk_gpu_id(), InitParameters.sdk_verbose(), InitParametersOne.sdk_verbose(), InitParameters.sdk_verbose_log_file(), InitParametersOne.sdk_verbose_log_file(), InitParameters.sensors_required(), InitParameters.set_from_camera_id(), InitParametersOne.set_from_camera_id(), InitParameters.set_from_serial_number(), InitParametersOne.set_from_serial_number(), InitParameters.set_from_stream(), InitParametersOne.set_from_stream(), InitParameters.set_from_svo_file(), InitParametersOne.set_from_svo_file(), InitParameters.svo_real_time_mode(), and InitParametersOne.svo_real_time_mode().
FUSION_ERROR_CODE subscribe | ( | self, | |
CameraIdentifier | uuid, | ||
CommunicationParameters | communication_parameters, | ||
Transform | pose | ||
) |
Set the specified camera as a data provider.
uuid | The requested camera identifier. |
communication_parameters | The communication parameters to connect to the camera. |
pose | The World position of the camera, regarding the other camera of the setup. |
FUSION_ERROR_CODE unsubscribe | ( | self, | |
CameraIdentifier | uuid | ||
) |
Remove the specified camera from data provider.
uuid | The requested camera identifier. |
FUSION_ERROR_CODE update_pose | ( | self, | |
CameraIdentifier | uuid, | ||
Transform | pose | ||
) |
Updates the specified camera position inside fusion WORLD.
uuid | The requested camera identifier. |
pose | The World position of the camera, regarding the other camera of the setup. |
(FUSION_ERROR_CODE, FusionMetrics) get_process_metrics | ( | self | ) |
Get the metrics of the Fusion process, for the fused data as well as individual camera provider data.
metrics | The process metrics. |
dict get_sender_state | ( | self | ) |
Returns the state of each connected data senders.
FUSION_ERROR_CODE process | ( | self | ) |
Runs the main function of the Fusion, this trigger the retrieve and synchronization of all connected senders and updates the enabled modules.
FUSION_ERROR_CODE enable_body_tracking | ( | self, | |
BodyTrackingFusionParameters | params | ||
) |
Enables the body tracking fusion module.
params | Structure containing all specific parameters for body tracking fusion. |
FUSION_ERROR_CODE retrieve_bodies | ( | self, | |
Bodies | bodies, | ||
BodyTrackingFusionRuntimeParameters | parameters, | ||
CameraIdentifier | uuid = CameraIdentifier(0) |
||
) |
Retrieves the body data, can be the fused data (default), or the raw data provided by a specific sender.
bodies | The fused bodies will be saved into this objects. |
parameters | Body detection runtime settings, can be changed at each detection. |
uuid | The id of the sender. |
FUSION_ERROR_CODE retrieve_image | ( | self, | |
Mat | py_mat, | ||
CameraIdentifier | uuid, | ||
resolution = Resolution(0,0) |
|||
) |
Returns the current sl.VIEW.LEFT of the specified camera, the data is synchronized.
mat | the CPU BGRA image of the requested camera. |
resolution | the requested resolution of the output image, can be lower or equal (default) to the original image resolution. |
uuid | If set to a sender serial number (different from 0), this will retrieve the raw data provided by this sender. |
FUSION_ERROR_CODE retrieve_measure | ( | self, | |
Mat | py_mat, | ||
CameraIdentifier | uuid, | ||
MEASURE | measure, | ||
resolution = Resolution(0,0) |
|||
) |
Returns the current measure of the specified camera, the data is synchronized.
mat | the CPU data of the requested camera. |
resolution | the requested resolution of the output image, can be lower or equal (default) to the original image resolution. |
uuid | The id of the sender. |
measure | measure: the requested measure type, by default DEPTH (F32_C1). |
FUSION_ERROR_CODE enable_positionnal_tracking | ( | self, | |
PositionalTrackingFusionParameters | parameters | ||
) |
Enables positional tracking fusion module.
parameters | A structure containing all the PositionalTrackingFusionParameters that define positional tracking fusion module. |
def ingest_gnss_data | ( | self, | |
GNSSData | gnss_data | ||
) |
Ingest GNSS data from an external sensor into the fusion module.
gnss_data | The current GNSS data to combine with the current positional tracking data. |
def get_position | ( | self, | |
Pose | camera_pose, | ||
REFERENCE_FRAME | reference_frame = REFERENCE_FRAME.WORLD , |
||
CameraIdentifier | uuid = CameraIdentifier() , |
||
POSITION_TYPE | position_type = POSITION_TYPE.FUSION |
||
) |
Get the Fused Position referenced to the first camera subscribed.
If uuid is specified then project position on the referenced camera.
camera_pose | Will contain the fused position referenced by default in world (world is given by the calibration of the cameras system). |
reference_frame | Defines the reference from which you want the pose to be expressed. Default : REFERENCE_FRAME.WORLD. |
uuid | If set to a sender serial number (different from 0), this will retrieve position projected on the requested camera if position_type is equal to POSITION_TYPE.FUSION or raw sender position if position_type is equal to POSITION_TYPE.RAW. |
position_type | Select if the position should the fused position re-projected in the camera with uuid or if the position should be the raw position (without fusion) of camera with uui. |
def get_current_gnss_data | ( | self, | |
GNSSData | gnss_data | ||
) |
Returns the last synchronized gnss data.
out | [out]: Last synchronized gnss data. |
GNSS_FUSION_STATUS get_geo_pose | ( | self, | |
GeoPose | pose | ||
) |
Convert latitude / longitude into position in sl::Fusion coordinate system.
input | [in]: The latitude / longitude to be converted in sl::Fusion coordinate system. |
out | [out]: Converted position in sl.Fusion coordinate system. |
Convert a position in sl.Fusion coordinate system in global world coordinate.
pose | [in]: Position to convert in global world coordinate. |
pose | [out]: Converted position in global world coordinate. |
def disable_positionnal_tracking | ( | self | ) |
Disable the fusion positional tracking module.
The positional tracking is immediately stopped. If a file path is given, saveAreaMap(area_file_path) will be called asynchronously. See getAreaExportState() to get the exportation state.
tuple[GNSS_FUSION_STATUS, float, np.array] get_current_gnss_calibration_std | ( | self | ) |
Get the current calibration uncertainty obtained during calibration process.
Transform get_geo_tracking_calibration | ( | self | ) |
Get the calibration found between VIO and GNSS.