Fusion Module

Classes
class	COMM_TYPE
	Lists the different types of communications available for Fusion module. More...
class	FUSION_ERROR_CODE
	Lists the types of error that can be raised by the Fusion. More...
class	SENDER_ERROR_CODE
	Lists the types of error that can be raised during the Fusion by senders. More...
class	POSITION_TYPE
	Lists the types of possible position outputs. More...
class	CommunicationParameters
	Holds the communication parameter to configure the connection between senders and receiver. More...
class	FusionConfiguration
	Useful struct to store the Fusion configuration, can be read from /write to a JSON file. 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	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	CameraMetrics
	Holds the metrics of a sender in the fusion process. More...
class	FusionMetrics
	Holds the metrics of the fusion process. More...
class	CameraIdentifier
	Used to identify a specific camera in the Fusion API. 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 Geo reference position. More...
class	InitFusionParameters
	Holds the options used to initialize the Fusion object. More...
class	Fusion
	Holds Fusion process data and functions. More...

Functions
FusionConfiguration	read_fusion_configuration_file_from_serial (self, str json_config_filename, int serial_number, COORDINATE_SYSTEM coord_system, UNIT unit)
	Read a configuration JSON file to configure a fusion process. More...
list[FusionConfiguration]	read_fusion_configuration_file (str json_config_filename, COORDINATE_SYSTEM coord_system, UNIT unit)
	Read a Configuration JSON file to configure a fusion process. More...
list[FusionConfiguration]	read_fusion_configuration_json (dict fusion_configuration, COORDINATE_SYSTEM coord_system, UNIT unit)
	Read a Configuration JSON to configure a fusion process. More...
def	write_configuration_file (str json_config_filename, list fusion_configurations, COORDINATE_SYSTEM coord_sys, UNIT unit)
	Write a Configuration JSON file to configure a fusion process. More...

Function Documentation

read_fusion_configuration_file_from_serial()

FusionConfiguration pyzed.sl.read_fusion_configuration_file_from_serial	(		self,
		str	json_config_filename,
		int	serial_number,
		COORDINATE_SYSTEM	coord_system,
		UNIT	unit
	)

Read a configuration JSON file to configure a fusion process.

Parameters

json_config_filename	: The name of the JSON file containing the configuration.
serial_number	: The serial number of the ZED Camera you want to retrieve.
coord_system	: 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 FusionConfiguration for the requested camera.

Note

Empty if no data were found for the requested camera.

Referenced by FusionConfiguration.input_type().

read_fusion_configuration_file()

list[FusionConfiguration] pyzed.sl.read_fusion_configuration_file	(	str	json_config_filename,
		COORDINATE_SYSTEM	coord_system,
		UNIT	unit
	)

Read a Configuration JSON file to configure a fusion process.

Parameters

json_config_filename	: The name of the JSON file containing the configuration.
coord_sys	: 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.

Note

Empty if no data were found for the requested camera.

Referenced by FusionConfiguration.input_type().

read_fusion_configuration_json()

list[FusionConfiguration] pyzed.sl.read_fusion_configuration_json	(	dict	fusion_configuration,
		COORDINATE_SYSTEM	coord_system,
		UNIT	unit
	)

Read a Configuration JSON to configure a fusion process.

Parameters

fusion_configuration	: The JSON containing the configuration.
coord_sys	: 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.

Note

Empty if no data were found for the requested camera.

Referenced by FusionConfiguration.input_type().

write_configuration_file()

def pyzed.sl.write_configuration_file	(	str	json_config_filename,
		list	fusion_configurations,
		COORDINATE_SYSTEM	coord_sys,
		UNIT	unit
	)

Write a Configuration JSON file to configure a fusion process.

Parameters

json_config_filename	: The name of the JSON that will contain the information.
conf	A list of FusionConfiguration listing all the camera configurations.
coord_sys	: The COORDINATE_SYSTEM in which the World Pose is.
unit	: The UNIT in which the World Pose is.

Referenced by FusionConfiguration.input_type().