zed_interface.h

Go to the documentation of this file.

#ifndef __INTERFACE_ZED_H
#define __INTERFACE_ZED_H
 
#include "types_c.h"
#include <stdbool.h>
#include <cuda.h>
#include <cuda_runtime.h>
 
//#define DEBUG
#ifdef _WIN32
#ifdef INTERFACE_NOEXPORT
#define INTERFACE_API
#else
#ifdef INTERFACE_EXPORT
#define INTERFACE_API __declspec(dllexport)
#else
#define INTERFACE_API __declspec(dllimport)
#endif
#endif
#else
#define INTERFACE_API
#endif
 
#ifdef __cplusplus
extern "C" {
#endif
 
 
    INTERFACE_API void sl_unload_all_instances();
 
    INTERFACE_API void sl_unload_instance(int camera_id);
 
    INTERFACE_API bool sl_find_usb_device(enum USB_DEVICE device);
 
    INTERFACE_API bool sl_create_camera(int camera_id);
 
    INTERFACE_API bool sl_is_opened(int camera_id);
 
    INTERFACE_API int sl_open_camera(int camera_id, struct SL_InitParameters *init_parameters, const char* path_svo, const char* ip, int stream_port, const char* output_file, const char* opt_settings_path, const char* opencv_calib_path);
    
    INTERFACE_API CUcontext sl_get_cuda_context(int camera_id);
 
    INTERFACE_API struct SL_InitParameters* sl_get_init_parameters(int camera_id);
 
    INTERFACE_API struct SL_RuntimeParameters* sl_get_runtime_parameters(int camera_id);
 
    INTERFACE_API struct SL_PositionalTrackingParameters* sl_get_positional_tracking_parameters(int camera_id);
 
    INTERFACE_API void sl_close_camera(int camera_id);
 
    INTERFACE_API int sl_set_region_of_interest(int camera_id, void* roi_mask);
    INTERFACE_API int sl_grab(int camera_id, struct SL_RuntimeParameters *runtime);
 
    INTERFACE_API void sl_get_device_list(struct SL_DeviceProperties device_list[MAX_CAMERA_PLUGIN], int* nb_devices);
 
    INTERFACE_API void sl_get_streaming_device_list(struct SL_StreamingProperties streaming_device_list[MAX_CAMERA_PLUGIN], int* nb_devices);
 
    INTERFACE_API int sl_reboot(int sn, bool full_reboot);
 
    INTERFACE_API int sl_enable_recording(int camera_id, const char* filename, enum SL_SVO_COMPRESSION_MODE compression_mode, unsigned int bitrate, int target_fps, bool transcode);
 
    INTERFACE_API struct SL_RecordingStatus* sl_get_recording_status(int camera_id);
    INTERFACE_API void sl_disable_recording(int camera_id);
 
    INTERFACE_API struct SL_RecordingParameters* sl_get_recording_parameters(int camera_id);
 
    INTERFACE_API void sl_pause_recording(int camera_id, bool status);
 
    INTERFACE_API int sl_enable_positional_tracking(int camera_id, struct SL_PositionalTrackingParameters * tracking_param, const char* area_file_path);
 
    INTERFACE_API void sl_disable_positional_tracking(int camera_id, const char *area_file_path);
    
    INTERFACE_API int sl_save_area_map(int camera_id, const char* area_file_path);
 
    INTERFACE_API int sl_get_area_export_state(int camera_id);
 
    INTERFACE_API void sl_set_svo_position(int camera_id, int frame_number);
 
    INTERFACE_API float sl_get_camera_fps(int camera_id);
 
    INTERFACE_API float sl_get_current_fps(int camera_id);
 
    int INTERFACE_API sl_get_width(int camera_id);
 
    int INTERFACE_API sl_get_height(int camera_id);
 
    INTERFACE_API int sl_get_confidence_threshold(int camera_id);
 
    INTERFACE_API struct SL_CameraInformation* sl_get_camera_information(int camera_id, int res_width, int res_height);
 
    INTERFACE_API void sl_update_self_calibration(int camera_id);
 
    INTERFACE_API struct SL_CalibrationParameters* sl_get_calibration_parameters(int camera_id, bool raw_params);
 
    INTERFACE_API struct SL_SensorsConfiguration* sl_get_sensors_configuration(int camera_id);
 
    INTERFACE_API void sl_get_camera_imu_transform(int camera_id, struct SL_Vector3 *translation, struct SL_Quaternion *rotation);
 
    INTERFACE_API int sl_get_input_type(int camera_id);
 
    INTERFACE_API int sl_get_zed_serial(int camera_id);
 
    INTERFACE_API int sl_get_camera_firmware(int camera_id);
 
    INTERFACE_API int sl_get_sensors_firmware(int camera_id);
 
    INTERFACE_API int sl_get_camera_model(int camera_id);
 
    INTERFACE_API unsigned long long sl_get_image_timestamp(int camera_id);
 
    INTERFACE_API unsigned long long sl_get_current_timestamp(int camera_id);
 
    INTERFACE_API int sl_get_svo_number_of_frames(int camera_id);
 
    INTERFACE_API void sl_set_camera_settings(int camera_id, enum SL_VIDEO_SETTINGS mode, int value);
 
    INTERFACE_API int sl_set_roi_for_aec_agc(int camera_id, enum SL_SIDE side, struct SL_Rect* roi, bool reset);
 
    INTERFACE_API int sl_get_camera_settings(int camera_id, enum SL_VIDEO_SETTINGS mode);
 
    INTERFACE_API int sl_get_roi_for_aec_agc(int id, enum SL_SIDE side, struct SL_Rect* roi);
 
    INTERFACE_API float sl_get_depth_min_range_value(int camera_id);
 
    INTERFACE_API float sl_get_depth_max_range_value(int camera_id);
 
    INTERFACE_API int sl_get_current_min_max_depth(int camera_id,float* min, float* max);
 
    INTERFACE_API int sl_get_number_zed_connected();
 
    INTERFACE_API char* sl_get_sdk_version();
 
    INTERFACE_API int sl_convert_coordinate_system(struct SL_Quaternion* rotation, struct SL_Vector3* translation, enum SL_COORDINATE_SYSTEM coord_system_src, enum SL_COORDINATE_SYSTEM coord_system_dest);
 
    //INTERFACE_API void sl_get_sdk_version(int *major, int *minor, int *patch);
 
    INTERFACE_API int sl_get_svo_position(int camera_id);
 
    INTERFACE_API unsigned int sl_get_frame_dropped_count(int camera_id);
 
 
 
    INTERFACE_API bool sl_is_positional_tracking_enabled(int camera_id);
 
    INTERFACE_API int sl_get_position_at_target_frame(int camera_id, struct SL_Quaternion *rotation, struct SL_Vector3 *position, struct SL_Quaternion *target_quaternion, struct SL_Vector3 *target_translation, enum SL_REFERENCE_FRAME reference_frame);
    INTERFACE_API int sl_get_position_data(int camera_id, struct SL_PoseData *poseData, enum SL_REFERENCE_FRAME reference_frame);
    INTERFACE_API int sl_get_position(int camera_id, struct SL_Quaternion *rotation, struct SL_Vector3 *position, enum SL_REFERENCE_FRAME reference_frame);
    INTERFACE_API int sl_get_position_array(int camera_id, float* pose, enum SL_REFERENCE_FRAME reference_frame);
 
    INTERFACE_API int sl_reset_positional_tracking(int camera_id, struct SL_Quaternion rotation, struct SL_Vector3 translation);
    INTERFACE_API int sl_reset_positional_tracking_with_offset(int camera_id, struct SL_Quaternion rotation, struct SL_Vector3 translation, struct SL_Quaternion target_quaternion, struct SL_Vector3 target_translation);
    INTERFACE_API int sl_set_imu_prior_orientation(int camera_id, struct SL_Quaternion rotation);
    INTERFACE_API int sl_get_imu_orientation(int camera_id, struct SL_Quaternion *quat, enum SL_TIME_REFERENCE time_reference);
    INTERFACE_API int sl_get_sensors_data(int camera_id, struct SL_SensorData *data, enum SL_TIME_REFERENCE time_reference);
 
 
 
    INTERFACE_API void sl_spatial_mapping_merge_chunks(int camera_id, int nb_faces, int* nb_vertices, int* nb_triangles, int* nb_updated_submeshes, int* updated_indices, int* nb_vertices_tot, int* nb_triangles_tot, const int max_submesh);
 
    INTERFACE_API int sl_enable_spatial_mapping(int camera_id, struct SL_SpatialMappingParameters* mapping_param);
    INTERFACE_API void sl_disable_spatial_mapping(int camera_id);
 
    INTERFACE_API struct SL_SpatialMappingParameters* sl_get_spatial_mapping_parameters(int camera_id);
    INTERFACE_API void sl_pause_spatial_mapping(int camera_id, bool status);
    INTERFACE_API void sl_request_mesh_async(int camera_id);
    INTERFACE_API int sl_get_mesh_request_status_async(int camera_id);
    INTERFACE_API enum SL_SPATIAL_MAPPING_STATE sl_get_spatial_mapping_state(int camera_id);
    INTERFACE_API int sl_update_mesh(int camera_id, int* nb_vertices_per_submesh, int* nb_triangles_per_submesh, int* nb_submeshes, int* updated_indices, int* nb_vertices_tot, int* nb_triangles_tot, const int max_submesh);
    INTERFACE_API int sl_retrieve_mesh(int camera_id, float* vertices, int* triangles, float* uvs, unsigned char* texture_ptr, const int max_submeshes);
    INTERFACE_API int sl_update_chunks(int camera_id, int* nb_vertices_per_submesh, int* nb_triangles_per_submesh, int* nb_submeshes, int* updated_indices, int* nb_vertices_tot, int* nb_triangles_tot, const int max_submesh);
    INTERFACE_API int sl_retrieve_chunks(int camera_id, float* vertices, int* triangles, float* uvs, unsigned char* texture_ptr, const int max_submesh);
 
    INTERFACE_API int sl_update_fused_point_cloud(int camera_id, int* nb_vertices_tot);
    INTERFACE_API int sl_retrieve_fused_point_cloud(int camera_id, float* vertices);
    INTERFACE_API int sl_extract_whole_spatial_map(int camera_id);
    INTERFACE_API bool sl_save_mesh(int camera_id, const char* filename, enum SL_MESH_FILE_FORMAT format);
    INTERFACE_API bool sl_save_point_cloud(int c_id, const char* filename, enum SL_MESH_FILE_FORMAT format);
    INTERFACE_API bool sl_load_mesh(int camera_id, const char* filename, int* nb_vertices_per_submesh, int* nb_triangles_per_submesh, int* num_submeshes, int* updated_indices, int* nb_vertices_tot, int* nb_triangles_tot, int* textures_size,const int max_submesh);
    INTERFACE_API bool sl_apply_texture(int camera_id, int* nb_vertices_per_submesh, int* nb_triangles_per_submesh, int* nb_updated_submeshes, int* updated_indices, int* nb_vertices_tot, int* nb_triangles_tot, int* textures_size, const int max_submesh);
    INTERFACE_API bool sl_filter_mesh(int camera_id, enum SL_MESH_FILTER filter_params, int* nb_vertices_per_submesh, int* nb_triangles_per_submesh, int* nb_updated_submeshes, int* updated_indices, int* nb_vertices_tot, int* nb_triangles_tot, const int max_submesh);
    INTERFACE_API void sl_spatial_mapping_get_gravity_estimation(int camera_id, struct SL_Vector3 *gravity);
 
 
 
    INTERFACE_API int sl_update_whole_mesh(int camera_id, int* nb_vertices, int* nb_triangles);
    INTERFACE_API int sl_retrieve_whole_mesh(int camera_id, float* vertices, int* triangles, float* uvs, unsigned char* texture_ptr);
    INTERFACE_API bool sl_load_whole_mesh(int camera_id, const char* filename, int* nb_vertices, int* nb_triangles, int* texture_size);
    INTERFACE_API bool sl_apply_whole_texture(int camera_id, int* nb_vertices, int* nb_triangles, int* texture_size);
    INTERFACE_API bool sl_filter_whole_mesh(int camera_id, enum SL_MESH_FILTER filter_params, int* nb_vertices, int* nb_triangles);
 
 
 
    INTERFACE_API struct SL_PlaneData* sl_find_floor_plane(int camera_id, struct SL_Quaternion *reset_quaternion, struct SL_Vector3* reset_translation, struct SL_Quaternion prior_rotation, struct SL_Vector3 prior_translation);
    INTERFACE_API struct SL_PlaneData* sl_find_plane_at_hit(int camera_id, struct SL_Vector2 pixel, bool thres);
    INTERFACE_API int sl_convert_floorplane_to_mesh(int camera_id, float* vertices, int* triangles, int* nb_vertices_tot, int* nb_triangles_tot);
    INTERFACE_API int sl_convert_hitplane_to_mesh(int camera_id, float* vertices, int* triangles, int* nb_vertices_tot, int* nb_triangles_tot);
 
 
 
    INTERFACE_API int sl_retrieve_measure(int camera_id, void* measure_ptr, enum SL_MEASURE type, enum SL_MEM mem, int width, int height);
    INTERFACE_API int sl_retrieve_image(int camera_id, void* image_ptr, enum SL_VIEW type, enum SL_MEM mem, int width, int height);
 
    INTERFACE_API int sl_convert_image(void* image_in_ptr, void* image_signed_ptr, cudaStream_t stream);
 
 
    INTERFACE_API int sl_enable_streaming(int camera_id, enum SL_STREAMING_CODEC codec, unsigned int bitrate, unsigned short port, int gop_size, int adaptative_bitrate, int chunk_size, int target_framerate);
    
    INTERFACE_API void sl_disable_streaming(int camera_id);
    INTERFACE_API int sl_is_streaming_enabled(int camera_id);
 
    INTERFACE_API struct SL_StreamingParameters* sl_get_streaming_parameters(int camera_id);
 
 
    INTERFACE_API int sl_save_current_image(int camera_id, enum SL_VIEW view, const char* file_name);
    INTERFACE_API int sl_save_current_depth(int camera_id, enum SL_SIDE side, const char* file_name);
    INTERFACE_API int sl_save_current_point_cloud(int camera_id, enum SL_SIDE side, const char* file_name);
 
 
 
#if WITH_OBJECT_DETECTION
 
 
    INTERFACE_API struct SL_AI_Model_status* sl_check_AI_model_status(enum SL_AI_MODELS model, int gpu_id);
 
    INTERFACE_API int sl_optimize_AI_model(enum SL_AI_MODELS model, int gpu_id);
 
    INTERFACE_API int sl_enable_objects_detection(int camera_id, struct SL_ObjectDetectionParameters* object_detection_parameters);
 
    INTERFACE_API struct SL_ObjectDetectionParameters* sl_get_object_detection_parameters(int cmaera_id);
 
    INTERFACE_API void sl_pause_objects_detection(int camera_id, bool status);
    INTERFACE_API void sl_disable_objects_detection(int camera_id);
 
    INTERFACE_API int sl_generate_unique_id(char* uuid);
 
    INTERFACE_API int sl_ingest_custom_box_objects(int camera_id, int nb_objects, struct SL_CustomBoxObjectData* objects_in);
 
    INTERFACE_API int sl_retrieve_objects(int camera_id, struct SL_ObjectDetectionRuntimeParameters* object_detection_runtime_parameters, struct SL_Objects* objects);
 
    INTERFACE_API int sl_update_objects_batch(int camera_id, int* nb_batches);
 
    INTERFACE_API int sl_get_objects_batch(int camera_id, int index, struct SL_ObjectsBatch* objs_batch);
 
 
    INTERFACE_API int sl_get_objects_batch_csharp(int camera_id, int index, int* nb_data, int* id, int* label, int* sublabel, int* tracking_state,
        struct SL_Vector3 positions[MAX_TRAJECTORY_SIZE], float position_covariances[MAX_TRAJECTORY_SIZE][6], struct SL_Vector3 velocities[MAX_TRAJECTORY_SIZE], unsigned long long timestamps[MAX_TRAJECTORY_SIZE],
        struct SL_Vector2 bounding_boxes_2d[MAX_TRAJECTORY_SIZE][4], struct SL_Vector3 bounding_boxes[MAX_TRAJECTORY_SIZE][8], float confidences[MAX_TRAJECTORY_SIZE], int action_states[MAX_TRAJECTORY_SIZE],
        struct SL_Vector2 keypoints_2d[MAX_TRAJECTORY_SIZE][18], struct SL_Vector3 keypoints[MAX_TRAJECTORY_SIZE][18], struct SL_Vector2 head_bounding_boxes_2d[MAX_TRAJECTORY_SIZE][4], struct SL_Vector3 head_bounding_boxes[MAX_TRAJECTORY_SIZE][8],
        struct SL_Vector3 head_positions[MAX_TRAJECTORY_SIZE], float keypoints_confidences[MAX_TRAJECTORY_SIZE][18]);
#endif
#ifdef __cplusplus
}
#endif
 
#ifdef __cplusplus
extern "C" {
#endif
 
 
    INTERFACE_API void* sl_mat_create_new(int width, int height, enum SL_MAT_TYPE type, enum SL_MEM mem);
    INTERFACE_API void* sl_mat_create_new_empty();
    INTERFACE_API bool sl_mat_is_init(void* ptr);
    INTERFACE_API void sl_mat_free(void* ptr, enum SL_MEM mem);
    INTERFACE_API void sl_mat_get_infos(void* ptr, char* buffer);
 
    // GET values
    INTERFACE_API int sl_mat_get_value_uchar(void* ptr, int col, int row, unsigned char* value, enum SL_MEM mem);
    INTERFACE_API int sl_mat_get_value_uchar2(void* ptr, int col, int row, struct SL_Uchar2* value, enum SL_MEM mem);
    INTERFACE_API int sl_mat_get_value_uchar3(void* ptr, int col, int row, struct SL_Uchar3 * value, enum SL_MEM mem);
    INTERFACE_API int sl_mat_get_value_uchar4(void* ptr, int col, int row, struct SL_Uchar4* value, enum SL_MEM mem);
 
    INTERFACE_API int sl_mat_get_value_float(void* ptr, int col, int row, float* value, enum SL_MEM mem);
    INTERFACE_API int sl_mat_get_value_float2(void* ptr, int col, int row, struct SL_Vector2 * value, enum SL_MEM mem);
    INTERFACE_API int sl_mat_get_value_float3(void* ptr, int col, int row, struct SL_Vector3 * value, enum SL_MEM mem);
    INTERFACE_API int sl_mat_get_value_float4(void* ptr, int col, int row, struct SL_Vector4 * value, enum SL_MEM mem);
 
    // SET VALUE
    INTERFACE_API int sl_mat_set_value_uchar(void* ptr, int col, int row, unsigned char value, enum SL_MEM mem);
    INTERFACE_API int sl_mat_set_value_uchar2(void* ptr, int col, int row, struct SL_Uchar2 value, enum SL_MEM mem);
    INTERFACE_API int sl_mat_set_value_uchar3(void* ptr, int col, int row, struct SL_Uchar3 value, enum SL_MEM mem);
    INTERFACE_API int sl_mat_set_value_uchar4(void* ptr, int col, int row, struct SL_Uchar4 value, enum SL_MEM mem);
    INTERFACE_API int sl_mat_set_value_float(void* ptr, int col, int row, float value, enum SL_MEM mem);
    INTERFACE_API int sl_mat_set_value_float2(void* ptr, int col, int row, struct SL_Vector2 value, enum SL_MEM mem);
    INTERFACE_API int sl_mat_set_value_float3(void* ptr, int col, int row, struct SL_Vector3 value, enum SL_MEM mem);
    INTERFACE_API int sl_mat_set_value_float4(void* ptr, int col, int row, struct SL_Vector4 value, enum SL_MEM mem);
 
    //SET TO
    INTERFACE_API int sl_mat_set_to_uchar(void* ptr, unsigned char value, enum SL_MEM mem);
    INTERFACE_API int sl_mat_set_to_uchar2(void* ptr, struct SL_Uchar2 value, enum SL_MEM mem);
    INTERFACE_API int sl_mat_set_to_uchar3(void* ptr, struct SL_Uchar3 value, enum SL_MEM mem);
    INTERFACE_API int sl_mat_set_to_uchar4(void* ptr, struct SL_Uchar4 value, enum SL_MEM mem);
    INTERFACE_API int sl_mat_set_to_float(void* ptr, float value, enum SL_MEM mem);
    INTERFACE_API int sl_mat_set_to_float2(void* ptr, struct SL_Vector2 value, enum SL_MEM mem);
    INTERFACE_API int sl_mat_set_to_float3(void* ptr, struct SL_Vector3 value, enum SL_MEM mem);
    INTERFACE_API int sl_mat_set_to_float4(void* ptr, struct SL_Vector4 value, enum SL_MEM mem);
    
    INTERFACE_API int sl_mat_update_cpu_from_gpu(void* ptr);
    INTERFACE_API int sl_mat_update_gpu_from_cpu(void* ptr);
    INTERFACE_API int sl_mat_copy_to(void* ptr, void* ptr_dest, enum SL_COPY_TYPE cpy_type);
 
    INTERFACE_API int sl_mat_read(void* ptr, const char* file_path);
    INTERFACE_API int sl_mat_write(void* ptr, const char* file_path);
    INTERFACE_API int sl_mat_get_width(void* ptr);
    INTERFACE_API int sl_mat_get_height(void* ptr);
    INTERFACE_API int sl_mat_get_channels(void* ptr);
    INTERFACE_API int sl_mat_get_memory_type(void* ptr);
 
    INTERFACE_API int sl_mat_get_data_type(void* ptr);
    INTERFACE_API int sl_mat_get_pixel_bytes(void* ptr);
    INTERFACE_API int sl_mat_get_step(void* ptr, enum SL_MEM mem);
    INTERFACE_API int sl_mat_get_step_bytes(void* ptr, enum SL_MEM mem);
    INTERFACE_API int sl_mat_get_width_bytes(void* ptr);
    INTERFACE_API bool sl_mat_is_memory_owner(void* ptr);
    INTERFACE_API struct SL_Resolution sl_mat_get_resolution(void* ptr);
    INTERFACE_API void sl_mat_alloc(void* ptr, int width, int height, enum SL_MAT_TYPE type, enum SL_MEM mem);
    INTERFACE_API int sl_mat_set_from(void* ptr, void* ptr_source, enum SL_COPY_TYPE copy_type);
    INTERFACE_API int* sl_mat_get_ptr(void* ptr, enum SL_MEM mem);
    INTERFACE_API int sl_mat_clone(void* ptr, void* ptr_source);
 
    INTERFACE_API void sl_mat_swap(void* ptr_1, void* ptr_2);
 
#ifdef __cplusplus
}
#endif
 
#endif