This class is the main interface with the camera and the SDK features, such as: video, depth, tracking, mapping, and more. More...

Functions

float GetRequestedCameraFPS ()

Desired FPS from the ZED camera. This is the maximum FPS for the ZED's current resolution unless a lower setting was specified in Open(). Maximum values are bound by the ZED's output, not system performance. More...

Camera (int id)

Constructor that creates an empty Camera object; More...

ERROR_CODE Open (ref InitParameters initParameters)

Checks if the ZED camera is plugged in and opens it. More...

void Close ()

Closes the camera. Once destroyed, you need to recreate a camera instance to restart again. More...

sl.ERROR_CODE Grab (ref sl.RuntimeParameters runtimeParameters)

Grabs a new image, rectifies it, and computes the disparity map and (optionally) the depth map. The grabbing function is typically called in the main loop in a separate thread. More...

sl.INPUT_TYPE GetInputType ()

Return the INPUT_TYPE currently used More...

CalibrationParameters GetCalibrationParameters (bool raw=false)

sl.MODEL GetCameraModel ()

Gets the ZED camera model (ZED or ZED Mini). More...

int GetCameraFirmwareVersion ()

Gets the ZED's camera firmware version. More...

int GetSensorsFirmwareVersion ()

Gets the ZED's sensors firmware version. More...

int GetZEDSerialNumber ()

Gets the ZED's serial number. More...

float GetFOV ()

Returns the ZED's vertical field of view in radians. More...

void UpdateSelfCalibration ()

Perform a new self calibration process. In some cases, due to temperature changes or strong vibrations, the stereo calibration becomes less accurate. Use this function to update the self-calibration data and get more reliable depth values. More...

uint GetFrameDroppedCount ()

Gets the number of frames dropped since Grab() was called for the first time. Based on camera timestamps and an FPS comparison. More...

sl.ERROR_CODE findFloorPlane (ref PlaneData plane, out float playerHeight, Quaternion priorQuat, Vector3 priorTrans)

Plane Detection ///. More...

sl.ERROR_CODE FindFloorPlane (ref PlaneData plane, out float playerHeight, Quaternion priorQuat, Vector3 priorTrans)

Looks for a plane in the visible area that is likely to represent the floor. Use ZEDPlaneDetectionManager.DetectFloorPlane for a higher-level version that turns planes into GameObjects. More...

int convertFloorPlaneToMesh (Vector3[] vertices, int[] triangles, out int numVertices, out int numTriangles)

Using data from a detected floor plane, updates supplied vertex and triangle arrays with data needed to make a mesh that represents it. These arrays are updated directly from the wrapper. More...

int ConvertFloorPlaneToMesh (Vector3[] vertices, int[] triangles, out int numVertices, out int numTriangles)

Using data from a detected floor plane, updates supplied vertex and triangle arrays with data needed to make a mesh that represents it. These arrays are updated directly from the wrapper. More...

sl.ERROR_CODE findPlaneAtHit (ref PlaneData plane, Vector2 coord)

Checks for a plane in the real world at given screen-space coordinates. More...

sl.ERROR_CODE FindPlaneAtHit (ref PlaneData plane, Vector2 coord)

Checks for a plane in the real world at given screen-space coordinates. More...

int convertHitPlaneToMesh (Vector3[] vertices, int[] triangles, out int numVertices, out int numTriangles)

Using data from a detected hit plane, updates supplied vertex and triangle arrays with data needed to make a mesh that represents it. These arrays are updated directly from the wrapper. More...

int ConvertHitPlaneToMesh (Vector3[] vertices, int[] triangles, out int numVertices, out int numTriangles)

Using data from a detected hit plane, updates supplied vertex and triangle arrays with data needed to make a mesh that represents it. These arrays are updated directly from the wrapper. More...

sl.ERROR_CODE SaveCurrentImageInFile (sl.VIEW view, String filename)

Save utils fct ///. More...

sl.ERROR_CODE SaveCurrentDepthInFile (SIDE side, String filename)

Save the current depth in a file defined by filename. Supported formats are PNG,PFM and PGM More...

sl.ERROR_CODE SaveCurrentPointCloudInFile (SIDE side, String filename)

Save the current point cloud in a file defined by filename. Supported formats are PLY,VTK,XYZ and PCD More...

Depth Sensing

sl.ERROR_CODE RetrieveMeasure (sl.Mat mat, sl.MEASURE measure, sl.MEM mem=sl.MEM.CPU, sl.Resolution resolution=new sl.Resolution())

Retrieves a measure texture from the ZED SDK and loads it into a ZEDMat. Use this to get an individual texture from the last grabbed frame with measurements in every pixel - such as a depth map, confidence map, etc. Measure textures are not human-viewable but don't lose accuracy, unlike image textures. More...

int GetConfidenceThreshold ()

Gets the current confidence threshold value for the disparity map (and by extension the depth map). Values below the given threshold are removed from the depth map. More...

float GetDepthMinRangeValue ()

Gets the closest measurable distance by the camera, according to the camera type and depth map parameters. More...

sl.ERROR_CODE GetCurrentMixMaxDepth (ref float min, ref float max)

Gets the current range of perceived depth. More...

float GetDepthMaxRangeValue ()

Returns the current maximum distance of depth/disparity estimation. More...

Positional Tracking

Initialize and Start the tracking functions

Parameters

positionalTrackingParameters struct that contains all positional tracking parameters

Returns: ERROR_CODE.FAILURE if the area_file_path file wasn't found, SUCCESS otherwise.

sl.ERROR_CODE EnablePositionalTracking (ref PositionalTrackingParameters positionalTrackingParameters)

void DisablePositionalTracking (string path="")

Stop the motion tracking, if you want to restart, call enableTracking(). More...

bool IsPositionalTrackingEnabled ()

Gets the current position of the camera and state of the tracking, with an optional offset to the tracking frame. More...

ERROR_CODE SaveAreaMap (string areaFilePath)

Saves the current area learning file. The file will contain spatial memory data generated by the tracking. More...

AREA_EXPORT_STATE GetAreaExportState ()

Returns the state of the spatial memory export process. More...

sl.ERROR_CODE ResetPositionalTracking (Quaternion rotation, Vector3 translation)

Reset tracking More...

SensorsConfiguration GetSensorsConfiguration ()

CameraInformation GetCameraInformation (Resolution resolution=new Resolution())

Returns the calibration parameters, serial number and other information about the camera being used. More...

POSITIONAL_TRACKING_STATE GetPosition (ref Quaternion rotation, ref Vector3 position, REFERENCE_FRAME referenceType=REFERENCE_FRAME.WORLD)

Gets the position of the camera and the current state of the ZED Tracking. More...

POSITIONAL_TRACKING_STATE GetPosition (ref Quaternion rotation, ref Vector3 translation, ref Quaternion targetQuaternion, ref Vector3 targetTranslation, REFERENCE_FRAME referenceFrame=REFERENCE_FRAME.WORLD)

Gets the current position of the camera and state of the tracking, with an optional offset to the tracking frame. More...

POSITIONAL_TRACKING_STATE GetPosition (ref Quaternion rotation, ref Vector3 translation, TRACKING_FRAME trackingFrame, REFERENCE_FRAME referenceFrame=REFERENCE_FRAME.WORLD)

Gets the current position of the camera and state of the tracking, with a defined tracking frame. A tracking frame defines what part of the ZED is its center for tracking purposes. See ZEDCommon.TRACKING_FRAME. More...

POSITIONAL_TRACKING_STATE GetPosition (ref Pose pose, REFERENCE_FRAME referenceType=REFERENCE_FRAME.WORLD)

Gets the current position of the camera and state of the tracking, filling a Pose struct useful for AR pass-through. More...

ERROR_CODE SetIMUOrientationPrior (ref Quaternion rotation)

Sets a prior to the IMU orientation (not for ZED1). Prior must come from a external IMU, such as the HMD orientation and should be in a time frame that's as close as possible to the camera. More...

ERROR_CODE GetIMUOrientation (ref Quaternion rotation, TIME_REFERENCE referenceTime=TIME_REFERENCE.IMAGE)

Gets the rotation given by the ZED-M/ZED2 IMU. Return an error if using ZED (v1) which does not contains internal sensors More...

ERROR_CODE GetSensorsData (ref SensorsData data, TIME_REFERENCE referenceTime=TIME_REFERENCE.IMAGE)

Gets the full Sensor data from the ZED-M or ZED2 . Return an error if using ZED (v1) which does not contains internal sensors More...

ERROR_CODE SetRegionOfInterest (sl.Mat roiMask)

Defines a region of interest to focus on for all the SDK, discarding other parts. More...

Recording

ERROR_CODE EnableRecording (string videoFileName, SVO_COMPRESSION_MODE compressionMode=SVO_COMPRESSION_MODE.H264_BASED, uint bitrate=0, int targetFPS=0, bool transcode=false)

Creates a file for recording the ZED's output into a .SVO or .AVI video. More...

ERROR_CODE EnableRecording (RecordingParameters recordingParameters)

sl.RecordingStatus GetRecordingStatus ()

Get the recording information More...

sl.RecordingParameters GetRecordingParameters ()

Get the recording parameters More...

void PauseRecording (bool status)

Pauses or resumes the recording. More...

void DisableRecording ()

Stops recording to an SVO/AVI, if applicable, and closes the file. More...

Streaming

ERROR_CODE EnableStreaming (STREAMING_CODEC codec=STREAMING_CODEC.H264_BASED, uint bitrate=8000, ushort port=30000, int gopSize=-1, bool adaptativeBitrate=false, int chunkSize=32768, int targetFPS=0)

Streaming Module ///. More...

ERROR_CODE EnableStreaming (ref StreamingParameters streamingParameters)

Creates an streaming pipeline. More...

bool IsStreamingEnabled ()

Tells if streaming is running or not. More...

void DisableStreaming ()

Stops the streaming pipeline. More...

sl.StreamingParameters GetStreamingParameters ()

Get the streaming parameters More...

Static Functions
static void	UnloadPlugin ()

static void	UnloadInstance (int id)

static string	GenerateUniqueID ()
	Generate a UUID like unique ID to help identify and track AI detections. More...

static string	GetSDKVersion ()
	Gets the version of the currently installed ZED SDK. More...

static sl.ERROR_CODE	ConvertCoordinateSystem (ref Quaternion rotation, ref Vector3 translation, sl.COORDINATE_SYSTEM coordinateSystemSrc, sl.COORDINATE_SYSTEM coordinateSystemDest)
	Change the coordinate system of a transform matrix. More...

static void	GetSDKVersion (ref int major, ref int minor, ref int patch)
	Gets the version of the currently installed ZED SDK. More...

static sl.DeviceProperties[]	GetDeviceList (out int nbDevices)
	List all the streaming devices with their associated information. This function lists all the cameras available and provides their serial number, models and other information. More...

static sl.StreamingProperties[]	GetStreamingDeviceList (out int nbDevices)
	List all the connected devices with their associated information. This function lists all the cameras available and provides their serial number, models and other information. More...

static sl.ERROR_CODE	Reboot (int serialNumber, bool fullReboot=true)
	Performs an hardware reset of the ZED 2. More...

static float	ConvertRangePreset (MAPPING_RANGE rangePreset)
	Updates the range to match the specified preset. More...

static float	ConvertResolutionPreset (MAPPING_RESOLUTION resolutionPreset)
	Updates the resolution to match the specified preset. More...

Attributes
int	CameraID = 0
	Camera ID (for multiple cameras) More...

Properties
int	ImageWidth `[get]`
	Width of the images returned by the ZED in pixels. Corresponds to the ZED's current resolution setting. More...

int	ImageHeight `[get]`
	Height of the images returned by the ZED in pixels. Corresponds to the ZED's current resolution setting. More...

float	Baseline `[get]`
	Camera's stereo baseline (distance between the cameras). Extracted from calibration files. More...

float	HorizontalFieldOfView `[get]`
	ZED's current horizontal field of view in degrees. More...

float	VerticalFieldOfView `[get]`
	ZED's current vertical field of view in degrees. More...

SensorsConfiguration	SensorsConfiguration `[get]`

CalibrationParameters	CalibrationParametersRaw `[get]`
	Stereo parameters for current ZED camera prior to rectification (distorted). More...

CalibrationParameters	CalibrationParametersRectified `[get]`
	Stereo parameters for current ZED camera after rectification (undistorted). More...

sl.MODEL	CameraModel `[get]`
	Camera model - ZED or ZED Mini. More...

bool	IsCameraReady `[get]`
	Whether the camera has been successfully initialized. More...

Video
sl.ERROR_CODE	RetrieveImage (sl.Mat mat, sl.VIEW view, sl.MEM mem=sl.MEM.CPU, sl.Resolution resolution=new sl.Resolution())
	Retrieves an image texture from the ZED SDK and loads it into a ZEDMat. Use this to get an individual texture from the last grabbed frame in a human-viewable format. Image textures work for when you want the result to be visible, such as the direct RGB image from the camera, or a greyscale image of the depth. However it will lose accuracy if used to show measurements like depth or confidence, unlike measure textures. More...

InitParameters	GetInitParameters ()
	Returns the init parameters used. Correspond to the structure send when the open() function was called. More...

RuntimeParameters	GetRuntimeParameters ()
	Returns the runtime parameters used. Correspond to the structure send when the grab() function was called. More...

PositionalTrackingParameters	GetPositionalTrackingParameters ()

void	SetCameraSettings (VIDEO_SETTINGS settings, int value)
	Sets a value in the ZED's camera settings. More...

int	GetCameraSettings (VIDEO_SETTINGS settings)
	Gets the value of a given setting from the ZED camera. More...

int	SetCameraSettings (VIDEO_SETTINGS settings, SIDE side, Rect roi, bool reset=false)
	Overloaded function for CAMERA_SETTINGS.AEC_AGC_ROI (requires Rect as input) More...

int	GetCameraSettings (VIDEO_SETTINGS settings, SIDE side, ref Rect roi)
	Overloaded function for CAMERA_SETTINGS.AEC_AGC_ROI (requires Rect as input) More...

void	ResetCameraSettings ()
	Reset camera settings to default More...

ulong	GetCameraTimeStamp ()
	Gets the timestamp at the time the latest grabbed frame was extracted from the USB stream. This is the closest timestamp you can get from when the image was taken. Must be called after calling grab(). More...

ulong	GetCurrentTimeStamp ()
	Gets the current timestamp at the time the function is called. Can be compared to the camera timestamp for synchronization, since they have the same reference (the computer's start time). More...

int	GetSVOPosition ()
	Get the current position of the SVO being recorded to. More...

int	GetSVONumberOfFrames ()
	Gets the total number of frames in the loaded SVO file. More...

void	SetSVOPosition (int frame)
	Sets the position of the SVO file currently being read to a desired frame. More...

float	GetCameraFPS ()
	Returns the current camera FPS. This is limited primarily by resolution but can also be lower due to setting a lower desired resolution in Open() or from USB connection/bandwidth issues. More...

bool	IsOpened ()
	Reports if the camera has been successfully opened. More...

static sl.Resolution	GetResolution (RESOLUTION resolution)
	Get sl.Resolion from a RESOLUTION enum More...

Spatial Mapping
sl.ERROR_CODE	EnableSpatialMapping (ref SpatialMappingParameters spatialMappingParameters)
	Initializes and begins the spatial mapping processes. More...

sl.ERROR_CODE	EnableSpatialMapping (SPATIAL_MAP_TYPE type=SPATIAL_MAP_TYPE.MESH, MAPPING_RESOLUTION mappingResolution=MAPPING_RESOLUTION.MEDIUM, MAPPING_RANGE mappingRange=MAPPING_RANGE.MEDIUM, bool saveTexture=false)
	Initializes and begins the spatial mapping processes. More...

SpatialMappingParameters	GetSpatialMappingParameters ()
	Returns the spatial mapping parameters used. Correspond to the structure send when the enableSpatialMapping() function was called. More...

void	DisableSpatialMapping ()
	Disables the Spatial Mapping process. More...

sl.ERROR_CODE	UpdateMesh (int[] nbVerticesInSubmeshes, int[] nbTrianglesInSubmeshes, ref int nbUpdatedSubmesh, int[] updatedIndices, ref int nbVertices, ref int nbTriangles, int nbSubmeshMax)
	Updates the internal version of the mesh and returns the sizes of the meshes. More...

sl.ERROR_CODE	UpdateMesh (ref Mesh mesh)
	Updates the internal version of the mesh and returns the sizes of the meshes. More...

sl.ERROR_CODE	RetrieveMesh (Vector3[] vertices, int[] triangles, int nbSubmeshMax, Vector2[] uvs, IntPtr textures)
	Retrieves all chunks of the current generated mesh. Call UpdateMesh() before calling this. Vertex and triangle arrays must be at least of the sizes returned by UpdateMesh (nbVertices and nbTriangles). More...

sl.ERROR_CODE	RetrieveMesh (ref Mesh mesh)
	Retrieves all chunks of the current generated mesh. Call UpdateMesh() before calling this. Vertex and triangle arrays must be at least of the sizes returned by UpdateMesh (nbVertices and nbTriangles). More...

sl.ERROR_CODE	RetrieveChunks (ref Mesh mesh)
	Retrieve all chunks of the generated mesh.Call UpdateMesh() before calling this. Used for mesh vizualisation. More...

sl.ERROR_CODE	RetrieveSpatialMap (ref Mesh mesh)
	Retrieves the current generated mesh. More...

sl.ERROR_CODE	RetrieveSpatialMap (ref FusedPointCloud fusedPointCloud)
	Retrieves the current fused point cloud. More...

sl.ERROR_CODE	UpdateFusedPointCloud (ref int nbVertices)
	Updates the fused point cloud (if spatial map type was FUSED_POINT_CLOUD) More...

sl.ERROR_CODE	RetrieveFusedPointCloud (Vector4[] vertices)
	Retrieves all points of the fused point cloud. Call UpdateFusedPointCloud() before calling this. Vertex arrays must be at least of the sizes returned by UpdateFusedPointCloud More...

ERROR_CODE	ExtractWholeSpatialMap ()

void	RequestSpatialMap ()
	Starts the mesh generation process in a thread that doesn't block the spatial mapping process. ZEDSpatialMappingHelper calls this each time it has finished applying the last mesh update. More...

void	PauseSpatialMapping (bool status)
	Sets the pause state of the data integration mechanism for the ZED's spatial mapping. More...

sl.ERROR_CODE	GetMeshRequestStatus ()
	Returns the mesh generation status. Useful for knowing when to update and retrieve the mesh. More...

bool	SaveMesh (string filename, MESH_FILE_FORMAT format)
	Saves the scanned mesh in a specific file format. More...

bool	SavePointCloud (string filename, MESH_FILE_FORMAT format)
	Saves the scanned point cloud in a specific file format. More...

bool	LoadMesh (string filename, int[] nbVerticesInSubmeshes, int[] nbTrianglesInSubmeshes, ref int nbSubmeshes, int[] updatedIndices, ref int nbVertices, ref int nbTriangles, int nbSubmeshMax, int[] textureSize=null)
	Loads a saved mesh file. ZEDSpatialMapping then configures itself as if the loaded mesh was just scanned. More...

bool	FilterMesh (MESH_FILTER filterParameters, int[] nbVerticesInSubmeshes, int[] nbTrianglesInSubmeshes, ref int nbSubmeshes, int[] updatedIndices, ref int nbVertices, ref int nbTriangles, int nbSubmeshMax)
	Filters a mesh to remove triangles while still preserving its overall shape (though less accurate). More...

bool	FilterMesh (MESH_FILTER filterParameters, ref Mesh mesh)
	Filters a mesh to remove triangles while still preserving its overall shape (though less accurate). More...

bool	ApplyTexture (int[] nbVerticesInSubmeshes, int[] nbTrianglesInSubmeshes, ref int nbSubmeshes, int[] updatedIndices, ref int nbVertices, ref int nbTriangles, int[] textureSize, int nbSubmeshMax)
	Applies the scanned texture onto the internal scanned mesh. More...

bool	ApplyTexture (ref Mesh mesh)

SPATIAL_MAPPING_STATE	GetSpatialMappingState ()
	Gets the current state of spatial mapping. More...

Vector3	GetGravityEstimate ()
	Gets a vector pointing toward the direction of gravity. This is estimated from a 3D scan of the environment, and as such, a scan must be started/finished for this value to be calculated. If using the ZED Mini, this isn't required thanks to its IMU. More...

void	MergeChunks (int numberFaces, int[] nbVerticesInSubmeshes, int[] nbTrianglesInSubmeshes, ref int nbSubmeshes, int[] updatedIndices, ref int nbVertices, ref int nbTriangles, int nbSubmesh)
	Consolidates the chunks from a scan. This is used to turn lots of small meshes (which are efficient for the scanning process) into several large meshes (which are more convenient to work with). More...

Object Detection
sl.ERROR_CODE	EnableObjectDetection (ref ObjectDetectionParameters od_params)
	Enable object detection module More...

void	DisableObjectDetection ()
	Disable object detection module and release the resources. More...

sl.ObjectDetectionParameters	GetObjectDetectionParameters ()
	Get the object detections parameters More...

void	PauseObjectDetection (bool status)
	Pause or Unpause the object detection More...

sl.ERROR_CODE	IngestCustomBoxObjects (List< CustomBoxObjectData > objects_in)

sl.ERROR_CODE	RetrieveObjects (ref Objects objs, ref ObjectDetectionRuntimeParameters od_params)
	Retrieve object detection data More...

sl.ERROR_CODE	UpdateObjectsBatch (out int nbBatches)
	Update the batch trajectories and retrieve the number of batches. More...

sl.ERROR_CODE	GetObjectsBatch (int batch_index, ref ObjectsBatch objectsBatch)
	Retrieve a batch of objects. This function need to be called after RetrieveObjects, otherwise trajectories will be empty. If also needs to be called after UpdateOBjectsBatch in order to retrieve the number of batch trajectories. More...

static AI_Model_status	CheckAIModelStatus (AI_MODELS model, int gpu_id=0)
	Object detection ///. More...

static sl.ERROR_CODE	OptimizeAIModel (AI_MODELS model, int gpu_id=0)
	Optimize the requested model, possible download if the model is not present on the host. More...

Detailed Description

This class is the main interface with the camera and the SDK features, such as: video, depth, tracking, mapping, and more.

Constructor and Destructor

◆ Camera()

Camera ( int id )

inline

Constructor that creates an empty Camera object;

Parameters

id

Functions

◆ GetRequestedCameraFPS()

float GetRequestedCameraFPS ( )

inline

Desired FPS from the ZED camera. This is the maximum FPS for the ZED's current resolution unless a lower setting was specified in Open(). Maximum values are bound by the ZED's output, not system performance.

◆ UnloadPlugin()

static void UnloadPlugin ( )

inlinestatic

◆ UnloadInstance()

static void UnloadInstance ( int id )

inlinestatic

◆ GenerateUniqueID()

static string GenerateUniqueID ( )

inlinestatic

Generate a UUID like unique ID to help identify and track AI detections.

Returns

◆ Open()

ERROR_CODE Open ( ref InitParameters initParameters )

inline

Checks if the ZED camera is plugged in and opens it.

Parameters

initParameters Class with all initialization settings. A newly-instantiated InitParameters will have recommended default values.

Returns: ERROR_CODE: The error code gives information about the internal connection process. If SUCCESS is returned, the camera is ready to use. Every other code indicates an error.

◆ Close()

void Close ( )

inline

Closes the camera. Once destroyed, you need to recreate a camera instance to restart again.

◆ Grab()

sl.ERROR_CODE Grab ( ref sl.RuntimeParameters runtimeParameters )

inline

Grabs a new image, rectifies it, and computes the disparity map and (optionally) the depth map. The grabbing function is typically called in the main loop in a separate thread.

For more info, read about the SDK function it calls: https://www.stereolabs.com/docs/api_3.X/classsl_1_1Camera.html#afa3678a18dd574e162977e97d7cbf67b

Parameters

runtimeParameters Struct holding all grab parameters.

Returns: the function returns false if no problem was encountered, true otherwise.

◆ GetInputType()

sl.INPUT_TYPE GetInputType ( )

inline

Return the INPUT_TYPE currently used

Returns

◆ RetrieveImage()

sl.ERROR_CODE RetrieveImage	(	sl.Mat	mat,
		sl.VIEW	view,
		sl.MEM	mem = `sl.MEM.CPU`,
		sl.Resolution	resolution = `new sl.Resolution()`
	)

inline

Retrieves an image texture from the ZED SDK and loads it into a ZEDMat. Use this to get an individual texture from the last grabbed frame in a human-viewable format. Image textures work for when you want the result to be visible, such as the direct RGB image from the camera, or a greyscale image of the depth. However it will lose accuracy if used to show measurements like depth or confidence, unlike measure textures.

If you want to access the texture via script, you'll usually want to specify CPU memory. Then you can use Marshal.Copy to move them into a new byte array, which you can load into a Texture2D. Note that you may need to change the color space and/or flip the image. RetrieveMeasure() calls Camera::retrieveMeasure() in the C++ SDK. For more info, read: https://www.stereolabs.com/docs/api_3.X/classsl_1_1Camera.html#a01dce4f0af6f8959a9c974ffaca656b5

Parameters

mat	ZEDMat to fill with the new texture.
view	Image type (left RGB, right depth map, etc.)
mem	Whether the image should be on CPU or GPU memory.
resolution	Resolution of the texture.

Returns: Error code indicating if the retrieval was successful, and why it wasn't otherwise.

◆ GetInitParameters()

InitParameters GetInitParameters ( )

inline

Returns the init parameters used. Correspond to the structure send when the open() function was called.

Returns: InitParameters containing the parameters used to initialize the Camera object.

◆ GetRuntimeParameters()

RuntimeParameters GetRuntimeParameters ( )

inline

Returns the runtime parameters used. Correspond to the structure send when the grab() function was called.

Returns: RuntimeParameters containing the parameters that defines the behavior of the grab.

◆ GetPositionalTrackingParameters()

PositionalTrackingParameters GetPositionalTrackingParameters ( )

inline

◆ GetResolution()

static sl.Resolution GetResolution ( RESOLUTION resolution )

inlinestatic

Get sl.Resolion from a RESOLUTION enum

Parameters

resolution

Returns

◆ SetCameraSettings() [1/2]

void SetCameraSettings	(	VIDEO_SETTINGS	settings,
		int	value
	)

inline

Sets a value in the ZED's camera settings.

Parameters

settings	Setting to be changed (brightness, contrast, gain, exposure, etc.)
value	New value.
usedefault	True to set the settings to their default values.

Referenced by Camera.ResetCameraSettings().

◆ GetCameraSettings() [1/2]

int GetCameraSettings ( VIDEO_SETTINGS settings )

inline

Gets the value of a given setting from the ZED camera.

Parameters

settings Setting to be retrieved (brightness, contrast, gain, exposure, etc.)

Returns: The current value for the corresponding setting. Returns -1 if encounters an error.

◆ SetCameraSettings() [2/2]

int SetCameraSettings	(	VIDEO_SETTINGS	settings,
		SIDE	side,
		Rect	roi,
		bool	reset = `false`
	)

inline

Overloaded function for CAMERA_SETTINGS.AEC_AGC_ROI (requires Rect as input)

Parameters

settings	Must be set to CAMERA_SETTINGS.AEC_AGC_ROI. Otherwise will return -1.
side	defines left=0 or right=1 or both=2 sensor target
roi	the roi defined as a sl.Rect
reset	Defines if the target must be reset to full sensor

Returns: ERROR_CODE.SUCCESS if ROI has been applied. Other ERROR_CODE otherwise.

◆ GetCameraSettings() [2/2]

int GetCameraSettings	(	VIDEO_SETTINGS	settings,
		SIDE	side,
		ref Rect	roi
	)

inline

Overloaded function for CAMERA_SETTINGS.AEC_AGC_ROI (requires Rect as input)

Parameters

settings	Must be set to CAMERA_SETTINGS.AEC_AGC_ROI. Otherwise will return -1.
side	defines left=0 or right=1 or both=2 sensor target.
roi	Roi that will be filled.

Returns: ERROR_CODE.SUCCESS if ROI has been applied. Other ERROR_CODE otherwise.

◆ ResetCameraSettings()

void ResetCameraSettings ( )

inline

Reset camera settings to default

◆ GetCameraTimeStamp()

ulong GetCameraTimeStamp ( )

inline

Gets the timestamp at the time the latest grabbed frame was extracted from the USB stream. This is the closest timestamp you can get from when the image was taken. Must be called after calling grab().

Returns: Current timestamp in nanoseconds. -1 means it's is not available, such as with an .SVO file without compression.

◆ GetCurrentTimeStamp()

ulong GetCurrentTimeStamp ( )

inline

Gets the current timestamp at the time the function is called. Can be compared to the camera timestamp for synchronization, since they have the same reference (the computer's start time).

Returns: The timestamp in nanoseconds.

◆ GetSVOPosition()

int GetSVOPosition ( )

inline

Get the current position of the SVO being recorded to.

Returns: Index of the frame being recorded to.

◆ GetSVONumberOfFrames()

int GetSVONumberOfFrames ( )

inline

Gets the total number of frames in the loaded SVO file.

Returns: Total frames in the SVO file. Returns -1 if the SDK is not reading an SVO.

◆ SetSVOPosition()

void SetSVOPosition ( int frame )

inline

Sets the position of the SVO file currently being read to a desired frame.

Parameters

frame Index of the desired frame to be decoded.

◆ GetCameraFPS()

float GetCameraFPS ( )

inline

Returns the current camera FPS. This is limited primarily by resolution but can also be lower due to setting a lower desired resolution in Open() or from USB connection/bandwidth issues.

Returns: The current fps

◆ IsOpened()

bool IsOpened ( )

inline

Reports if the camera has been successfully opened.

Returns: Returns true if the ZED is already setup, otherwise false.

◆ GetCalibrationParameters()

CalibrationParameters GetCalibrationParameters ( bool raw = false )

inline

Referenced by Camera.GetFOV(), and Camera.Open().

◆ GetCameraModel()

sl.MODEL GetCameraModel ( )

inline

Gets the ZED camera model (ZED or ZED Mini).

Returns: Model of the ZED as sl.MODEL.

Referenced by Camera.Open().

◆ GetCameraFirmwareVersion()

int GetCameraFirmwareVersion ( )

inline

Gets the ZED's camera firmware version.

Returns: Firmware version.

◆ GetSensorsFirmwareVersion()

int GetSensorsFirmwareVersion ( )

inline

Gets the ZED's sensors firmware version.

Returns: Firmware version.

◆ GetZEDSerialNumber()

int GetZEDSerialNumber ( )

inline

Gets the ZED's serial number.

Returns: Serial number

◆ GetFOV()

float GetFOV ( )

inline

Returns the ZED's vertical field of view in radians.

Returns: Vertical field of view.

◆ UpdateSelfCalibration()

void UpdateSelfCalibration ( )

inline

Perform a new self calibration process. In some cases, due to temperature changes or strong vibrations, the stereo calibration becomes less accurate. Use this function to update the self-calibration data and get more reliable depth values.

The self calibration will occur at the next grab() call.

New values will then be available in getCameraInformation(), be sure to get them to still have consistent 2D - 3D conversion.

Parameters

cameraID

Returns

◆ GetFrameDroppedCount()

uint GetFrameDroppedCount ( )

inline

Gets the number of frames dropped since Grab() was called for the first time. Based on camera timestamps and an FPS comparison.

Similar to the Frame Drop display in the ZED Explorer app.

Returns: Frames dropped since first Grab() call.

◆ GetSDKVersion() [1/2]

static string GetSDKVersion ( )

inlinestatic

Gets the version of the currently installed ZED SDK.

Returns: ZED SDK version as a string in the format MAJOR.MINOR.PATCH.

◆ ConvertCoordinateSystem()

static sl.ERROR_CODE ConvertCoordinateSystem	(	ref Quaternion	rotation,
		ref Vector3	translation,
		sl.COORDINATE_SYSTEM	coordinateSystemSrc,
		sl.COORDINATE_SYSTEM	coordinateSystemDest
	)

inlinestatic

Change the coordinate system of a transform matrix.

Parameters

rotation	[In, Out] : rotation to transform
translation	[In, Out] : translation to transform
coordinateSystemSrc	The current coordinate system of the translation/rotation
coordinateSystemDest	The destination coordinate system for the translation/rotation.

Returns: SUCCESS if everything went well, FAILURE otherwise.

◆ GetSDKVersion() [2/2]

static void GetSDKVersion	(	ref int	major,
		ref int	minor,
		ref int	patch
	)

inlinestatic

Gets the version of the currently installed ZED SDK.

Returns: ZED SDK version as a string in the format MAJOR.MINOR.PATCH.

◆ GetDeviceList()

static sl.DeviceProperties [] GetDeviceList ( out int nbDevices )

inlinestatic

List all the streaming devices with their associated information. This function lists all the cameras available and provides their serial number, models and other information.

Returns: The device properties for each connected camera

◆ GetStreamingDeviceList()

static sl.StreamingProperties [] GetStreamingDeviceList ( out int nbDevices )

inlinestatic

List all the connected devices with their associated information. This function lists all the cameras available and provides their serial number, models and other information.

Returns: The device properties for each connected camera

◆ Reboot()

static sl.ERROR_CODE Reboot	(	int	serialNumber,
		bool	fullReboot = `true`
	)

inlinestatic

Performs an hardware reset of the ZED 2.

Parameters

serialNumber	Serial number of the camera
fullReboot	Perform a full reboot (Sensors and Video modules)

Returns: SUCCESS if everything went fine, ERROR_CODE::CAMERA_NOT_DETECTED if no camera was detected, ERROR_CODE.FAILURE otherwise.

◆ RetrieveMeasure()

sl.ERROR_CODE RetrieveMeasure	(	sl.Mat	mat,
		sl.MEASURE	measure,
		sl.MEM	mem = `sl.MEM.CPU`,
		sl.Resolution	resolution = `new sl.Resolution()`
	)

inline

Retrieves a measure texture from the ZED SDK and loads it into a ZEDMat. Use this to get an individual texture from the last grabbed frame with measurements in every pixel - such as a depth map, confidence map, etc. Measure textures are not human-viewable but don't lose accuracy, unlike image textures.

If you want to access the texture via script, you'll usually want to specify CPU memory. Then you can use Marshal.Copy to move them into a new byte array, which you can load into a Texture2D. RetrieveMeasure() calls Camera::retrieveMeasure() in the C++ SDK. For more info, read: https://www.stereolabs.com/docs/api_3.X/classsl_1_1Camera.html#a9e0773c0c14ce5156c1fa2fde501c13e

Parameters

mat	ZEDMat to fill with the new texture.
measure	Measure type (depth, confidence, xyz, etc.)
mem	Whether the image should be on CPU or GPU memory.
resolution	Resolution of the texture.

Returns: Error code indicating if the retrieval was successful, and why it wasn't otherwise.

◆ GetConfidenceThreshold()

int GetConfidenceThreshold ( )

inline

Gets the current confidence threshold value for the disparity map (and by extension the depth map). Values below the given threshold are removed from the depth map.

Returns: Filtering value between 0 and 100.

◆ GetDepthMinRangeValue()

float GetDepthMinRangeValue ( )

inline

Gets the closest measurable distance by the camera, according to the camera type and depth map parameters.

Returns: The nearest possible depth value.

◆ GetCurrentMixMaxDepth()

sl.ERROR_CODE GetCurrentMixMaxDepth	(	ref float	min,
		ref float	max
	)

inline

Gets the current range of perceived depth.

Parameters

min	Minimum depth detected (in selected sl.UNIT)
max	Maximum depth detected (in selected sl.UNIT)

Returns: SUCCESS if values have been extracted. Other ERROR_CODE otherwise.

◆ GetDepthMaxRangeValue()

float GetDepthMaxRangeValue ( )

inline

Returns the current maximum distance of depth/disparity estimation.

Returns: The closest depth

◆ EnablePositionalTracking()

sl.ERROR_CODE EnablePositionalTracking ( ref PositionalTrackingParameters positionalTrackingParameters )

inline

◆ DisablePositionalTracking()

void DisablePositionalTracking ( string path = "" )

inline

Stop the motion tracking, if you want to restart, call enableTracking().

Parameters

path	The path to save the area file

◆ IsPositionalTrackingEnabled()

bool IsPositionalTrackingEnabled ( )

inline

Gets the current position of the camera and state of the tracking, with an optional offset to the tracking frame.

Returns: true if the tracking module is enabled

◆ SaveAreaMap()

ERROR_CODE SaveAreaMap ( string areaFilePath )

inline

Saves the current area learning file. The file will contain spatial memory data generated by the tracking.

Parameters

path

◆ GetAreaExportState()

AREA_EXPORT_STATE GetAreaExportState ( )

inline

Returns the state of the spatial memory export process.

Returns: The current state of the spatial memory export process

◆ ResetPositionalTracking()

sl.ERROR_CODE ResetPositionalTracking	(	Quaternion	rotation,
		Vector3	translation
	)

inline

Reset tracking

Parameters

rotation
translation

Returns

◆ GetSensorsConfiguration()

SensorsConfiguration GetSensorsConfiguration ( )

inline

◆ GetCameraInformation()

CameraInformation GetCameraInformation ( Resolution resolution = new Resolution() )

inline

Returns the calibration parameters, serial number and other information about the camera being used.

Returns: CameraInformation containing the calibration parameters of the ZED, as well as serial number and firmware version.

◆ GetPosition() [1/4]

POSITIONAL_TRACKING_STATE GetPosition	(	ref Quaternion	rotation,
		ref Vector3	position,
		REFERENCE_FRAME	referenceType = `REFERENCE_FRAME.WORLD`
	)

inline

Gets the position of the camera and the current state of the ZED Tracking.

Parameters

rotation	Quaternion filled with the current rotation of the camera depending on its reference frame.
position	Vector filled with the current position of the camera depending on its reference frame.
referenceType	Reference frame for setting the rotation/position. CAMERA gives movement relative to the last pose. WORLD gives cumulative movements since tracking started.

Returns: State of ZED's Tracking system (off, searching, ok).

◆ GetPosition() [2/4]

POSITIONAL_TRACKING_STATE GetPosition	(	ref Quaternion	rotation,
		ref Vector3	translation,
		ref Quaternion	targetQuaternion,
		ref Vector3	targetTranslation,
		REFERENCE_FRAME	referenceFrame = `REFERENCE_FRAME.WORLD`
	)

inline

Gets the current position of the camera and state of the tracking, with an optional offset to the tracking frame.

Parameters

rotation	Quaternion filled with the current rotation of the camera depending on its reference frame.
position	Vector filled with the current position of the camera depending on its reference frame.
targetQuaternion	Rotational offset applied to the tracking frame.
targetTranslation	Positional offset applied to the tracking frame.
referenceFrame	Reference frame for setting the rotation/position. CAMERA gives movement relative to the last pose. WORLD gives cumulative movements since tracking started.

Returns: State of ZED's Tracking system (off, searching, ok).

◆ GetPosition() [3/4]

POSITIONAL_TRACKING_STATE GetPosition	(	ref Quaternion	rotation,
		ref Vector3	translation,
		TRACKING_FRAME	trackingFrame,
		REFERENCE_FRAME	referenceFrame = `REFERENCE_FRAME.WORLD`
	)

inline

Gets the current position of the camera and state of the tracking, with a defined tracking frame. A tracking frame defines what part of the ZED is its center for tracking purposes. See ZEDCommon.TRACKING_FRAME.

Parameters

rotation	Quaternion filled with the current rotation of the camera depending on its reference frame.
position	Vector filled with the current position of the camera depending on its reference frame.
trackingFrame	Center of the ZED for tracking purposes (left eye, center, right eye).
referenceFrame	Reference frame for setting the rotation/position. CAMERA gives movement relative to the last pose. WORLD gives cumulative movements since tracking started.

Returns: State of ZED's Tracking system (off, searching, ok).

◆ GetPosition() [4/4]

POSITIONAL_TRACKING_STATE GetPosition	(	ref Pose	pose,
		REFERENCE_FRAME	referenceType = `REFERENCE_FRAME.WORLD`
	)

inline

Gets the current position of the camera and state of the tracking, filling a Pose struct useful for AR pass-through.

Parameters

pose	Current pose.
referenceType	Reference frame for setting the rotation/position. CAMERA gives movement relative to the last pose. WORLD gives cumulative movements since tracking started.

Returns: State of ZED's Tracking system (off, searching, ok).

◆ SetIMUOrientationPrior()

ERROR_CODE SetIMUOrientationPrior ( ref Quaternion rotation )

inline

Sets a prior to the IMU orientation (not for ZED1). Prior must come from a external IMU, such as the HMD orientation and should be in a time frame that's as close as possible to the camera.

Returns: Error code status.

Parameters

rotation Prior rotation.

◆ GetIMUOrientation()

ERROR_CODE GetIMUOrientation	(	ref Quaternion	rotation,
		TIME_REFERENCE	referenceTime = `TIME_REFERENCE.IMAGE`
	)

inline

Gets the rotation given by the ZED-M/ZED2 IMU. Return an error if using ZED (v1) which does not contains internal sensors

Returns: Error code status.

Parameters

rotation Rotation from the IMU.

◆ GetSensorsData()

ERROR_CODE GetSensorsData	(	ref SensorsData	data,
		TIME_REFERENCE	referenceTime = `TIME_REFERENCE.IMAGE`
	)

inline

Gets the full Sensor data from the ZED-M or ZED2 . Return an error if using ZED (v1) which does not contains internal sensors

Returns: Error code status.

Parameters

rotation Rotation from the IMU.

◆ SetRegionOfInterest()

ERROR_CODE SetRegionOfInterest ( sl.Mat roiMask )

inline

Defines a region of interest to focus on for all the SDK, discarding other parts.

Parameters

roiMask the Mat defining the requested region of interest, all pixel set to 0 will be discard. If empty, set all pixels as valid, otherwise should fit the resolution of the current instance and its type should be U8_C1.

Returns

◆ EnableSpatialMapping() [1/2]

sl.ERROR_CODE EnableSpatialMapping ( ref SpatialMappingParameters spatialMappingParameters )

inline

Initializes and begins the spatial mapping processes.

Parameters

spatialMappingParameters Spatial mapping parameters.

Returns: SUCCES if everything went fine, FAILURE otherwise

◆ EnableSpatialMapping() [2/2]

sl.ERROR_CODE EnableSpatialMapping	(	SPATIAL_MAP_TYPE	type = `SPATIAL_MAP_TYPE.MESH`,
		MAPPING_RESOLUTION	mappingResolution = `MAPPING_RESOLUTION.MEDIUM`,
		MAPPING_RANGE	mappingRange = `MAPPING_RANGE.MEDIUM`,
		bool	saveTexture = `false`
	)

inline

Initializes and begins the spatial mapping processes.

Parameters

resolutionMeter	Spatial mapping resolution in meters.
maxRangeMeter	Maximum scanning range in meters.
saveTexture	True to scan surface textures in addition to geometry.

Returns: SUCCES if everything went fine, FAILURE otherwise

◆ GetSpatialMappingParameters()

SpatialMappingParameters GetSpatialMappingParameters ( )

inline

Returns the spatial mapping parameters used. Correspond to the structure send when the enableSpatialMapping() function was called.

Returns: SpatialMappingParameters containing the parameters used for spatial mapping intialization.

◆ DisableSpatialMapping()

void DisableSpatialMapping ( )

inline

Disables the Spatial Mapping process.

◆ UpdateMesh() [1/2]

sl.ERROR_CODE UpdateMesh	(	int[]	nbVerticesInSubmeshes,
		int[]	nbTrianglesInSubmeshes,
		ref int	nbUpdatedSubmesh,
		int[]	updatedIndices,
		ref int	nbVertices,
		ref int	nbTriangles,
		int	nbSubmeshMax
	)

inline

Updates the internal version of the mesh and returns the sizes of the meshes.

Parameters

nbVerticesInSubmeshes	Array of the number of vertices in each submesh.
nbTrianglesInSubmeshes	Array of the number of triangles in each submesh.
nbUpdatedSubmesh	Number of updated submeshes.
updatedIndices	List of all submeshes updated since the last update.
nbVertices	Total number of updated vertices in all submeshes.
nbTriangles	Total number of updated triangles in all submeshes.
nbSubmeshMax	Maximum number of submeshes that can be handled.

Returns: Error code indicating if the update was successful, and why it wasn't otherwise.

Referenced by Camera.RetrieveSpatialMap(), and Camera.UpdateMesh().

◆ UpdateMesh() [2/2]

sl.ERROR_CODE UpdateMesh ( ref Mesh mesh )

inline

Updates the internal version of the mesh and returns the sizes of the meshes.

Parameters

mesh	The mesh to be filled with the generated spatial map.

Returns: Error code indicating if the update was successful, and why it wasn't otherwise.

◆ RetrieveMesh() [1/2]

sl.ERROR_CODE RetrieveMesh	(	Vector3[]	vertices,
		int[]	triangles,
		int	nbSubmeshMax,
		Vector2[]	uvs,
		IntPtr	textures
	)

inline

Retrieves all chunks of the current generated mesh. Call UpdateMesh() before calling this. Vertex and triangle arrays must be at least of the sizes returned by UpdateMesh (nbVertices and nbTriangles).

Parameters

vertices	Vertices of the mesh.
triangles	Triangles, formatted as the index of each triangle's three vertices in the vertices array.
nbSubmeshMax	Maximum number of submeshes that can be handled.

Returns: Error code indicating if the retrieval was successful, and why it wasn't otherwise.

Referenced by Camera.RetrieveMesh(), and Camera.RetrieveSpatialMap().

◆ RetrieveMesh() [2/2]

sl.ERROR_CODE RetrieveMesh ( ref Mesh mesh )

inline

Retrieves all chunks of the current generated mesh. Call UpdateMesh() before calling this. Vertex and triangle arrays must be at least of the sizes returned by UpdateMesh (nbVertices and nbTriangles).

Parameters

mesh	The mesh to be filled with the generated spatial map.

Returns: Error code indicating if the update was successful, and why it wasn't otherwise.

◆ RetrieveChunks()

sl.ERROR_CODE RetrieveChunks ( ref Mesh mesh )

inline

Retrieve all chunks of the generated mesh.Call UpdateMesh() before calling this. Used for mesh vizualisation.

Parameters

mesh	The mesh to be filled with the generated spatial map.

Returns

◆ RetrieveSpatialMap() [1/2]

sl.ERROR_CODE RetrieveSpatialMap ( ref Mesh mesh )

inline

Retrieves the current generated mesh.

Parameters

mesh	The mesh to be filled with the generated spatial map.

Returns

◆ RetrieveSpatialMap() [2/2]

sl.ERROR_CODE RetrieveSpatialMap ( ref FusedPointCloud fusedPointCloud )

inline

Retrieves the current fused point cloud.

Parameters

fusedPointCloud The Fused Point Cloud to be filled with the generated spatial map.

Returns

◆ UpdateFusedPointCloud()

sl.ERROR_CODE UpdateFusedPointCloud ( ref int nbVertices )

inline

Updates the fused point cloud (if spatial map type was FUSED_POINT_CLOUD)

Returns: Error code indicating if the update was successful, and why it wasn't otherwise.

Referenced by Camera.RetrieveSpatialMap().

◆ RetrieveFusedPointCloud()

sl.ERROR_CODE RetrieveFusedPointCloud ( Vector4[] vertices )

inline

Retrieves all points of the fused point cloud. Call UpdateFusedPointCloud() before calling this. Vertex arrays must be at least of the sizes returned by UpdateFusedPointCloud

Parameters

vertices Points of the fused point cloud.

Returns: Error code indicating if the retrieval was successful, and why it wasn't otherwise.

Referenced by Camera.RetrieveSpatialMap().

◆ ExtractWholeSpatialMap()

ERROR_CODE ExtractWholeSpatialMap ( )

inline

Extracts the current spatial map from the spatial mapping process. If the object to be filled already contains a previous version of the mesh, only changes will be updated, optimizing performance. return SUCCESS if the mesh is filled and available, otherwise ERROR_CODE.FAILURE. warning This is a blocking function.You should either call it in a thread or at the end of the mapping process.

◆ RequestSpatialMap()

void RequestSpatialMap ( )

inline

Starts the mesh generation process in a thread that doesn't block the spatial mapping process. ZEDSpatialMappingHelper calls this each time it has finished applying the last mesh update.

◆ PauseSpatialMapping()

void PauseSpatialMapping ( bool status )

inline

Sets the pause state of the data integration mechanism for the ZED's spatial mapping.

Parameters

status If true, the integration is paused. If false, the spatial mapping is resumed.

◆ GetMeshRequestStatus()

sl.ERROR_CODE GetMeshRequestStatus ( )

inline

Returns the mesh generation status. Useful for knowing when to update and retrieve the mesh.

◆ SaveMesh()

bool SaveMesh	(	string	filename,
		MESH_FILE_FORMAT	format
	)

inline

Saves the scanned mesh in a specific file format.

Parameters

filename	Path and filename of the mesh.
format	File format (extension). Can be .obj, .ply or .bin.

◆ SavePointCloud()

bool SavePointCloud	(	string	filename,
		MESH_FILE_FORMAT	format
	)

inline

Saves the scanned point cloud in a specific file format.

Parameters

filename	Path and filename of the point cloud.
format	File format (extension). Can be .obj, .ply or .bin.

◆ LoadMesh()

bool LoadMesh	(	string	filename,
		int[]	nbVerticesInSubmeshes,
		int[]	nbTrianglesInSubmeshes,
		ref int	nbSubmeshes,
		int[]	updatedIndices,
		ref int	nbVertices,
		ref int	nbTriangles,
		int	nbSubmeshMax,
		int[]	textureSize = `null`
	)

inline

Loads a saved mesh file. ZEDSpatialMapping then configures itself as if the loaded mesh was just scanned.

Parameters

filename	Path and filename of the mesh. Should include the extension (.obj, .ply or .bin).
nbVerticesInSubmeshes	Array of the number of vertices in each submesh.
nbTrianglesInSubmeshes	Array of the number of triangles in each submesh.
nbSubmeshes	Number of submeshes.
updatedIndices	List of all submeshes updated since the last update.
nbVertices	Total number of updated vertices in all submeshes.
nbTriangles	Total number of updated triangles in all submeshes.
nbSubmeshMax	Maximum number of submeshes that can be handled.
textureSize	Array containing the sizes of all the textures (width, height) if applicable.

◆ FilterMesh() [1/2]

bool FilterMesh	(	MESH_FILTER	filterParameters,
		int[]	nbVerticesInSubmeshes,
		int[]	nbTrianglesInSubmeshes,
		ref int	nbSubmeshes,
		int[]	updatedIndices,
		ref int	nbVertices,
		ref int	nbTriangles,
		int	nbSubmeshMax
	)

inline

Filters a mesh to remove triangles while still preserving its overall shape (though less accurate).

Parameters

filterParameters	Filter level. Higher settings remove more triangles.
nbVerticesInSubmeshes	Array of the number of vertices in each submesh.
nbTrianglesInSubmeshes	Array of the number of triangles in each submesh.
nbSubmeshes	Number of submeshes.
updatedIndices	List of all submeshes updated since the last update.
nbVertices	Total number of updated vertices in all submeshes.
nbTriangles	Total number of updated triangles in all submeshes.
nbSubmeshMax	Maximum number of submeshes that can be handled.

Returns: True if the filtering was successful, false otherwise.

◆ FilterMesh() [2/2]

bool FilterMesh	(	MESH_FILTER	filterParameters,
		ref Mesh	mesh
	)

inline

Filters a mesh to remove triangles while still preserving its overall shape (though less accurate).

Parameters

filterParameters	Filter level. Higher settings remove more triangles.
mesh	The mesh to be filled with the generated spatial map.

Returns: True if the filtering was successful, false otherwise.

◆ ApplyTexture() [1/2]

bool ApplyTexture	(	int[]	nbVerticesInSubmeshes,
		int[]	nbTrianglesInSubmeshes,
		ref int	nbSubmeshes,
		int[]	updatedIndices,
		ref int	nbVertices,
		ref int	nbTriangles,
		int[]	textureSize,
		int	nbSubmeshMax
	)

inline

Applies the scanned texture onto the internal scanned mesh.

Parameters

nbVerticesInSubmeshes	Array of the number of vertices in each submesh.
nbTrianglesInSubmeshes	Array of the number of triangles in each submesh.
nbSubmeshes	Number of submeshes.
updatedIndices	List of all submeshes updated since the last update.
nbVertices	Total number of updated vertices in all submeshes.
nbTriangles	Total number of updated triangles in all submeshes.
textureSize	Vector containing the size of all the texture (width, height).
nbSubmeshMax	Maximum number of submeshes that can be handled.

Returns

◆ ApplyTexture() [2/2]

bool ApplyTexture ( ref Mesh mesh )

inline

◆ GetSpatialMappingState()

SPATIAL_MAPPING_STATE GetSpatialMappingState ( )

inline

Gets the current state of spatial mapping.

Returns

◆ GetGravityEstimate()

Vector3 GetGravityEstimate ( )

inline

Gets a vector pointing toward the direction of gravity. This is estimated from a 3D scan of the environment, and as such, a scan must be started/finished for this value to be calculated. If using the ZED Mini, this isn't required thanks to its IMU.

Returns: Vector3 pointing downward.

◆ MergeChunks()

void MergeChunks	(	int	numberFaces,
		int[]	nbVerticesInSubmeshes,
		int[]	nbTrianglesInSubmeshes,
		ref int	nbSubmeshes,
		int[]	updatedIndices,
		ref int	nbVertices,
		ref int	nbTriangles,
		int	nbSubmesh
	)

inline

Consolidates the chunks from a scan. This is used to turn lots of small meshes (which are efficient for the scanning process) into several large meshes (which are more convenient to work with).

Parameters

numberFaces
nbVerticesInSubmeshes	Array of the number of vertices in each submesh.
nbTrianglesInSubmeshes	Array of the number of triangles in each submesh.
nbSubmeshes	Number of submeshes.
updatedIndices	List of all submeshes updated since the last update.
nbVertices	Total number of updated vertices in all submeshes.
nbTriangles	Total number of updated triangles in all submeshes.

◆ findFloorPlane()

sl.ERROR_CODE findFloorPlane	(	ref PlaneData	plane,
		out float	playerHeight,
		Quaternion	priorQuat,
		Vector3	priorTrans
	)

inline

Plane Detection ///.

Looks for a plane in the visible area that is likely to represent the floor. Use ZEDPlaneDetectionManager.DetectFloorPlane for a higher-level version that turns planes into GameObjects.

Parameters

plane	Data on the detected plane.
playerHeight	Height of the camera from the newly-detected floor.
priorQuat	Prior rotation.
priorTrans	Prior position.

Returns

◆ FindFloorPlane()

sl.ERROR_CODE FindFloorPlane	(	ref PlaneData	plane,
		out float	playerHeight,
		Quaternion	priorQuat,
		Vector3	priorTrans
	)

inline

Looks for a plane in the visible area that is likely to represent the floor. Use ZEDPlaneDetectionManager.DetectFloorPlane for a higher-level version that turns planes into GameObjects.

Parameters

plane	Data on the detected plane.
playerHeight	Height of the camera from the newly-detected floor.
priorQuat	Prior rotation.
priorTrans	Prior position.

Returns

◆ convertFloorPlaneToMesh()

int convertFloorPlaneToMesh	(	Vector3[]	vertices,
		int[]	triangles,
		out int	numVertices,
		out int	numTriangles
	)

inline

Using data from a detected floor plane, updates supplied vertex and triangle arrays with data needed to make a mesh that represents it. These arrays are updated directly from the wrapper.

Parameters

vertices	Array to be filled with mesh vertices.
triangles	Array to be filled with mesh triangles, stored as indexes of each triangle's points.
numVertices	Total vertices in the mesh.
numTriangles	Total triangle indexes (3x number of triangles).

Returns

◆ ConvertFloorPlaneToMesh()

int ConvertFloorPlaneToMesh	(	Vector3[]	vertices,
		int[]	triangles,
		out int	numVertices,
		out int	numTriangles
	)

inline

Using data from a detected floor plane, updates supplied vertex and triangle arrays with data needed to make a mesh that represents it. These arrays are updated directly from the wrapper.

Parameters

vertices	Array to be filled with mesh vertices.
triangles	Array to be filled with mesh triangles, stored as indexes of each triangle's points.
numVertices	Total vertices in the mesh.
numTriangles	Total triangle indexes (3x number of triangles).

Returns

◆ findPlaneAtHit()

sl.ERROR_CODE findPlaneAtHit	(	ref PlaneData	plane,
		Vector2	coord
	)

inline

Checks for a plane in the real world at given screen-space coordinates.

Parameters

plane	Data on the detected plane.
screenPos	Point on the ZED image to check for a plane.

Returns

◆ FindPlaneAtHit()

sl.ERROR_CODE FindPlaneAtHit	(	ref PlaneData	plane,
		Vector2	coord
	)

inline

Checks for a plane in the real world at given screen-space coordinates.

Parameters

plane	Data on the detected plane.
screenPos	Point on the ZED image to check for a plane.

Returns

◆ convertHitPlaneToMesh()

int convertHitPlaneToMesh	(	Vector3[]	vertices,
		int[]	triangles,
		out int	numVertices,
		out int	numTriangles
	)

inline

Using data from a detected hit plane, updates supplied vertex and triangle arrays with data needed to make a mesh that represents it. These arrays are updated directly from the wrapper.

Parameters

vertices	Array to be filled with mesh vertices.
triangles	Array to be filled with mesh triangles, stored as indexes of each triangle's points.
numVertices	Total vertices in the mesh.
numTriangles	Total triangle indexes (3x number of triangles).

Returns

◆ ConvertHitPlaneToMesh()

int ConvertHitPlaneToMesh	(	Vector3[]	vertices,
		int[]	triangles,
		out int	numVertices,
		out int	numTriangles
	)

inline

Using data from a detected hit plane, updates supplied vertex and triangle arrays with data needed to make a mesh that represents it. These arrays are updated directly from the wrapper.

Parameters

vertices	Array to be filled with mesh vertices.
triangles	Array to be filled with mesh triangles, stored as indexes of each triangle's points.
numVertices	Total vertices in the mesh.
numTriangles	Total triangle indexes (3x number of triangles).

Returns

◆ ConvertRangePreset()

static float ConvertRangePreset ( MAPPING_RANGE rangePreset )

inlinestatic

Updates the range to match the specified preset.

Referenced by Camera.EnableSpatialMapping().

◆ ConvertResolutionPreset()

static float ConvertResolutionPreset ( MAPPING_RESOLUTION resolutionPreset )

inlinestatic

Updates the resolution to match the specified preset.

Referenced by Camera.EnableSpatialMapping().

◆ EnableRecording() [1/2]

ERROR_CODE EnableRecording	(	string	videoFileName,
		SVO_COMPRESSION_MODE	compressionMode = `SVO_COMPRESSION_MODE.H264_BASED`,
		uint	bitrate = `0`,
		int	targetFPS = `0`,
		bool	transcode = `false`
	)

inline

Creates a file for recording the ZED's output into a .SVO or .AVI video.

An SVO is Stereolabs' own format designed for the ZED. It holds the video feed with timestamps as well as info about the camera used to record it.

Parameters

videoFileName	Filename. Whether it ends with .svo or .avi defines its file type.
compressionMode	How much compression to use
bitrate	Override default bitrate with a custom bitrate (Kbits/s)
target_fps	Use another fps than camera fps. Must respect camera_fpstarget_fps == 0
transcode	If input is in streaming mode, dump directly into SVO file (transcode=false) or decode/encode (transcode=true)

Returns: An ERROR_CODE that defines if the file was successfully created and can be filled with images.

◆ EnableRecording() [2/2]

ERROR_CODE EnableRecording ( RecordingParameters recordingParameters )

inline

◆ GetRecordingStatus()

sl.RecordingStatus GetRecordingStatus ( )

inline

Get the recording information

Returns

◆ GetRecordingParameters()

sl.RecordingParameters GetRecordingParameters ( )

inline

Get the recording parameters

Returns

◆ PauseRecording()

void PauseRecording ( bool status )

inline

Pauses or resumes the recording.

Parameters

status if true, the recording is paused. If false, the recording is resumed.

Returns

◆ DisableRecording()

void DisableRecording ( )

inline

Stops recording to an SVO/AVI, if applicable, and closes the file.

◆ EnableStreaming() [1/2]

ERROR_CODE EnableStreaming	(	STREAMING_CODEC	codec = `STREAMING_CODEC.H264_BASED`,
		uint	bitrate = `8000`,
		ushort	port = `30000`,
		int	gopSize = `-1`,
		bool	adaptativeBitrate = `false`,
		int	chunkSize = `32768`,
		int	targetFPS = `0`
	)

inline

Streaming Module ///.

Creates an streaming pipeline.

Returns: An ERROR_CODE that defines if the streaming pipe was successfully created

◆ EnableStreaming() [2/2]

ERROR_CODE EnableStreaming ( ref StreamingParameters streamingParameters )

inline

Creates an streaming pipeline.

<params> Streaming parameters: See sl.StreamingParameters for more informations. </params>

Returns: An ERROR_CODE that defines if the streaming pipe was successfully created

◆ IsStreamingEnabled()

bool IsStreamingEnabled ( )

inline

Tells if streaming is running or not.

Returns: false if streaming is not enabled, true if streaming is on

◆ DisableStreaming()

void DisableStreaming ( )

inline

Stops the streaming pipeline.

◆ GetStreamingParameters()

sl.StreamingParameters GetStreamingParameters ( )

inline

Get the streaming parameters

Returns

◆ SaveCurrentImageInFile()

sl.ERROR_CODE SaveCurrentImageInFile	(	sl.VIEW	view,
		String	filename
	)

inline

Save utils fct ///.

Save current image (specified by view) in a file defined by filename Supported formats are jpeg and png. Filename must end with either .jpg or .png

Returns: returns an ERROR_CODE that indicates the type of error

◆ SaveCurrentDepthInFile()

sl.ERROR_CODE SaveCurrentDepthInFile	(	SIDE	side,
		String	filename
	)

inline

Save the current depth in a file defined by filename. Supported formats are PNG,PFM and PGM

Parameters

side	defines left (0) or right (1) depth
filename	filename must end with .png, .pfm or .pgm

Returns: returns an ERROR_CODE that indicates the type of error

◆ SaveCurrentPointCloudInFile()

sl.ERROR_CODE SaveCurrentPointCloudInFile	(	SIDE	side,
		String	filename
	)

inline

Save the current point cloud in a file defined by filename. Supported formats are PLY,VTK,XYZ and PCD

Parameters

side	defines left (0) or right (1) point cloud
filename	filename must end with .ply, .xyz , .vtk or .pcd

Returns: returns an ERROR_CODE that indicates the type of error

◆ CheckAIModelStatus()

static AI_Model_status CheckAIModelStatus	(	AI_MODELS	model,
		int	gpu_id = `0`
	)

inlinestatic

Object detection ///.

Check if a corresponding optimized engine is found for the requested Model based on your rig configuration.

Parameters

model	AI model to check.
gpu_id	ID of the gpu.

Returns

◆ OptimizeAIModel()

static sl.ERROR_CODE OptimizeAIModel	(	AI_MODELS	model,
		int	gpu_id = `0`
	)

inlinestatic

Optimize the requested model, possible download if the model is not present on the host.

Parameters

model	AI model to optimize.
gpu_id	ID of the gpu to optimize on.

Returns

◆ EnableObjectDetection()

sl.ERROR_CODE EnableObjectDetection ( ref ObjectDetectionParameters od_params )

inline

Enable object detection module

Returns: returns an ERROR_CODE that indicates the type of error

◆ DisableObjectDetection()

void DisableObjectDetection ( )

inline

Disable object detection module and release the resources.

◆ GetObjectDetectionParameters()

sl.ObjectDetectionParameters GetObjectDetectionParameters ( )

inline

Get the object detections parameters

Returns

◆ PauseObjectDetection()

void PauseObjectDetection ( bool status )

inline

Pause or Unpause the object detection

Parameters

status

◆ IngestCustomBoxObjects()

sl.ERROR_CODE IngestCustomBoxObjects ( List< CustomBoxObjectData > objects_in )

inline

◆ RetrieveObjects()

sl.ERROR_CODE RetrieveObjects	(	ref Objects	objs,
		ref ObjectDetectionRuntimeParameters	od_params
	)

inline

Retrieve object detection data

Parameters

od_params	Object detection runtime parameters
objFrame	ObjectsFrameSDK that contains all the detection data

Returns: returns an ERROR_CODE that indicates the type of error

◆ UpdateObjectsBatch()

sl.ERROR_CODE UpdateObjectsBatch ( out int nbBatches )

inline

Update the batch trajectories and retrieve the number of batches.

Parameters

nbBatches numbers of batches

Returns: returns an ERROR_CODE that indicates the type of error

◆ GetObjectsBatch()

sl.ERROR_CODE GetObjectsBatch	(	int	batch_index,
		ref ObjectsBatch	objectsBatch
	)

inline

Retrieve a batch of objects. This function need to be called after RetrieveObjects, otherwise trajectories will be empty. If also needs to be called after UpdateOBjectsBatch in order to retrieve the number of batch trajectories.

To retrieve all the objectsbatches, you need to iterate from 0 to nbBatches (retrieved from UpdateObjectBatches)

Parameters

batch_index	index of the batch retrieved.
objectsBatch	trajectory that will be filled by the batching queue process

Returns: returns an ERROR_CODE that indicates the type of error

Variables

◆ CameraID

int CameraID = 0

Camera ID (for multiple cameras)

Referenced by Camera.ApplyTexture(), Camera.Camera(), Camera.Close(), Camera.convertFloorPlaneToMesh(), Camera.ConvertFloorPlaneToMesh(), Camera.convertHitPlaneToMesh(), Camera.ConvertHitPlaneToMesh(), Camera.DisableObjectDetection(), Camera.DisablePositionalTracking(), Camera.DisableRecording(), Camera.DisableSpatialMapping(), Camera.DisableStreaming(), Camera.EnableObjectDetection(), Camera.EnablePositionalTracking(), Camera.EnableRecording(), Camera.EnableSpatialMapping(), Camera.EnableStreaming(), Camera.ExtractWholeSpatialMap(), Camera.FilterMesh(), Camera.findFloorPlane(), Camera.FindFloorPlane(), Camera.findPlaneAtHit(), Camera.FindPlaneAtHit(), Camera.GetAreaExportState(), Camera.GetCalibrationParameters(), Camera.GetCameraFirmwareVersion(), Camera.GetCameraFPS(), Camera.GetCameraInformation(), Camera.GetCameraModel(), Camera.GetCameraSettings(), Camera.GetCameraTimeStamp(), Camera.GetConfidenceThreshold(), Camera.GetCurrentMixMaxDepth(), Camera.GetCurrentTimeStamp(), Camera.GetDepthMaxRangeValue(), Camera.GetDepthMinRangeValue(), Camera.GetFrameDroppedCount(), Camera.GetGravityEstimate(), Camera.GetIMUOrientation(), Camera.GetInitParameters(), Camera.GetInputType(), Camera.GetMeshRequestStatus(), Camera.GetObjectDetectionParameters(), Camera.GetObjectsBatch(), Camera.GetPosition(), Camera.GetPositionalTrackingParameters(), Camera.GetRecordingParameters(), Camera.GetRecordingStatus(), Camera.GetRuntimeParameters(), Camera.GetSensorsConfiguration(), Camera.GetSensorsData(), Camera.GetSensorsFirmwareVersion(), Camera.GetSpatialMappingParameters(), Camera.GetSpatialMappingState(), Camera.GetStreamingParameters(), Camera.GetSVONumberOfFrames(), Camera.GetSVOPosition(), Camera.GetZEDSerialNumber(), Camera.Grab(), Camera.IngestCustomBoxObjects(), Camera.IsOpened(), Camera.IsPositionalTrackingEnabled(), Camera.IsStreamingEnabled(), Camera.LoadMesh(), Camera.MergeChunks(), Camera.Open(), Camera.PauseObjectDetection(), Camera.PauseRecording(), Camera.PauseSpatialMapping(), Camera.RequestSpatialMap(), Camera.ResetPositionalTracking(), Camera.RetrieveChunks(), Camera.RetrieveFusedPointCloud(), Camera.RetrieveImage(), Camera.RetrieveMeasure(), Camera.RetrieveMesh(), Camera.RetrieveObjects(), Camera.SaveAreaMap(), Camera.SaveCurrentDepthInFile(), Camera.SaveCurrentImageInFile(), Camera.SaveCurrentPointCloudInFile(), Camera.SaveMesh(), Camera.SavePointCloud(), Camera.SetCameraSettings(), Camera.SetIMUOrientationPrior(), Camera.SetRegionOfInterest(), Camera.SetSVOPosition(), Camera.UpdateFusedPointCloud(), Camera.UpdateMesh(), Camera.UpdateObjectsBatch(), and Camera.UpdateSelfCalibration().

Property Documentation

◆ ImageWidth

int ImageWidth

get

Width of the images returned by the ZED in pixels. Corresponds to the ZED's current resolution setting.

◆ ImageHeight

int ImageHeight

get

Height of the images returned by the ZED in pixels. Corresponds to the ZED's current resolution setting.

◆ Baseline

float Baseline

get

Camera's stereo baseline (distance between the cameras). Extracted from calibration files.

Referenced by Camera.GetPosition().

◆ HorizontalFieldOfView

float HorizontalFieldOfView

get

ZED's current horizontal field of view in degrees.

◆ VerticalFieldOfView

float VerticalFieldOfView

get

ZED's current vertical field of view in degrees.

◆ SensorsConfiguration

SensorsConfiguration SensorsConfiguration

get

Referenced by Camera.GetSensorsConfiguration().

◆ CalibrationParametersRaw

CalibrationParameters CalibrationParametersRaw

get

Stereo parameters for current ZED camera prior to rectification (distorted).

◆ CalibrationParametersRectified

CalibrationParameters CalibrationParametersRectified

get

Stereo parameters for current ZED camera after rectification (undistorted).

◆ CameraModel

sl.MODEL CameraModel

get

Camera model - ZED or ZED Mini.

◆ IsCameraReady

bool IsCameraReady

get

Whether the camera has been successfully initialized.

Functions

Static Functions

Attributes

Properties

Video

Spatial Mapping

Object Detection

Detailed Description

Constructor and Destructor

◆ Camera()

Functions

◆ GetRequestedCameraFPS()

◆ UnloadPlugin()

◆ UnloadInstance()

◆ GenerateUniqueID()

◆ Open()

◆ Close()

◆ Grab()

◆ GetInputType()

◆ RetrieveImage()

◆ GetInitParameters()

◆ GetRuntimeParameters()

◆ GetPositionalTrackingParameters()

◆ GetResolution()

◆ SetCameraSettings() [1/2]

◆ GetCameraSettings() [1/2]

◆ SetCameraSettings() [2/2]

◆ GetCameraSettings() [2/2]

◆ ResetCameraSettings()

◆ GetCameraTimeStamp()

◆ GetCurrentTimeStamp()

◆ GetSVOPosition()

◆ GetSVONumberOfFrames()

◆ SetSVOPosition()

◆ GetCameraFPS()

◆ IsOpened()

◆ GetCalibrationParameters()

◆ GetCameraModel()

◆ GetCameraFirmwareVersion()

◆ GetSensorsFirmwareVersion()

◆ GetZEDSerialNumber()

◆ GetFOV()

◆ UpdateSelfCalibration()

◆ GetFrameDroppedCount()

◆ GetSDKVersion() [1/2]

◆ ConvertCoordinateSystem()

◆ GetSDKVersion() [2/2]

◆ GetDeviceList()

◆ GetStreamingDeviceList()

◆ Reboot()

◆ RetrieveMeasure()

◆ GetConfidenceThreshold()

◆ GetDepthMinRangeValue()

◆ GetCurrentMixMaxDepth()

◆ GetDepthMaxRangeValue()

◆ EnablePositionalTracking()

◆ DisablePositionalTracking()

◆ IsPositionalTrackingEnabled()

◆ SaveAreaMap()

◆ GetAreaExportState()

◆ ResetPositionalTracking()

◆ GetSensorsConfiguration()

◆ GetCameraInformation()

◆ GetPosition() [1/4]

◆ GetPosition() [2/4]

◆ GetPosition() [3/4]

◆ GetPosition() [4/4]

◆ SetIMUOrientationPrior()

◆ GetIMUOrientation()

◆ GetSensorsData()

◆ SetRegionOfInterest()

◆ EnableSpatialMapping() [1/2]

◆ EnableSpatialMapping() [2/2]

◆ GetSpatialMappingParameters()

◆ DisableSpatialMapping()

◆ UpdateMesh() [1/2]

◆ UpdateMesh() [2/2]

◆ RetrieveMesh() [1/2]

◆ RetrieveMesh() [2/2]

◆ RetrieveChunks()