sl Namespace Reference

Classes
class	Camera
	This class is the main interface with the camera and the SDK features, such as: video, depth, tracking, mapping, and more. More...
class	ZEDCommon
struct	Matrix3x3
	Holds a 3x3 matrix that can be marshaled between the wrapper and C# scripts. More...
struct	Resolution
	Holds a camera resolution as two pointers (for height and width) for easy passing back and forth to the ZED wrapper. More...
struct	Rect
	Rect structure to define a rectangle or a ROI in pixels Use to set ROI target for AEC/AGC More...
struct	CameraConfiguration
	Structure containing information about the camera sensor More...
struct	CameraInformation
	Structure containing information of a single camera (serial number, model, input type, etc.) More...
class	PositionalTrackingParameters
	Parameters for positional tracking initialization. More...
struct	Pose
	Pose structure with data on timing and validity in addition to position and rotation. More...
struct	ImuData
	Full IMU data structure. More...
struct	BarometerData
struct	MagnetometerData
struct	TemperatureSensorData
struct	SensorsData
struct	SensorParameters
	Structure containing information about a single sensor available in the current device More...
struct	SensorsConfiguration
	Structure containing information about all the sensors available in the current device More...
class	RuntimeParameters
	Runtime parameters used by the ZEDCamera.Grab() function, and its Camera::grab() counterpart in the SDK. More...
struct	CameraParameters
	Calibration information for an individual sensor on the ZED (left or right). More...
struct	CalibrationParameters
	Holds calibration information about the current ZED's hardware, including per-sensor calibration and offsets between the two sensors. More...
class	InitParameters
	Struct containing all parameters passed to the SDK when initializing the ZED. These parameters will be fixed for the whole execution life time of the camera. More...
struct	RecordingParameters
	Sets the recording parameters. More...
struct	StreamingParameters
	Sets the streaming parameters. More...
struct	DeviceProperties
	Device properties More...
struct	StreamingProperties
	Streaming device properties More...
struct	RecordingStatus
	Container for information about the current SVO recording process. More...
class	SpatialMappingParameters
	Sets the spatial mapping parameters. More...
class	Mesh
	A mesh contains the geometric (and optionally texture) data of the scene captured by spatial mapping. More...
class	FusedPointCloud
	A fused point cloud contains both geometric and color data of the scene captured by spatial mapping. More...
struct	Chunk
	Represents a sub-mesh, it contains local vertices and triangles. More...
struct	PlaneData
	Structure that defines a new plane, holding information directly from the ZED SDK. Data within is relative to the camera; More...
struct	BatchParameters
	sets batch trajectory parameters The default constructor sets all parameters to their default settings. Parameters can be user adjusted. More...
struct	AI_Model_status
	Contains AI model status. More...
struct	ObjectDetectionParameters
	Sets the object detection parameters. More...
struct	ObjectDetectionRuntimeParameters
	Sets the object detection runtime parameters. More...
struct	ObjectData
	Object data structure directly from the SDK. Represents a single object detection. More...
struct	CustomBoxObjectData
	Container to store the externally detected objects. The objects can be ingested using IngestCustomBoxObjects() function to extract 3D information and tracking over time. More...
struct	Objects
	Object Scene data directly from the ZED SDK. Represents all detections given during a single image frame. Contains the number of object in the scene and the objectData structure for each object. Since the data is transmitted from C++ to C#, the size of the structure must be constant. Therefore, there is a limitation of 200 (MAX_OBJECT constant) objects in the image. More...
class	ObjectsBatch
	Contains batched data of a detected object More...
struct	char2
	Represents a 2D vector of uchars for use on both the CPU and GPU. More...
struct	char3
	Represents a 3D vector of uchars for use on both the CPU and GPU. More...
struct	char4
	Represents a 4D vector of uchars for use on both the CPU and GPU. More...
struct	float2
	Represents a 2D vector of floats for use on both the CPU and GPU. More...
struct	float3
	Represents a 3D vector of floats for use on both the CPU and GPU. More...
struct	float4
	Represents a 4D vector of floats for use on both the CPU and GPU. More...
class	Mat
	Mirrors the sl::Mat class used in the ZED C++ SDK to store images. Can be used to retrieve individual images from GPU or CPU memory: see Camera.RetrieveImage() and Camera.RetrieveMeasure(). More...

Enumerations
enum class	Constant
	Constant for plugin. Should not be changed More...
enum class	ERROR_CODE
	List of error codes in the ZED SDK. More...
enum class	COORDINATE_SYSTEM
	List of available coordinate systems. More...
enum class	POSITIONAL_TRACKING_STATE
	Possible states of the ZED's Tracking system. More...
enum class	REFERENCE_FRAME
	Reference frame (world or camera) for tracking and depth sensing. More...
enum class	SENSOR_WORLD
	Defines the world type that the SDK can use to initialize the Positionnal Tracking module More...
enum class	TRACKING_FRAME
	Part of the ZED (left/right sensor, center) that's considered its center for tracking purposes. More...
enum class	HEADING_STATE
enum class	SENSOR_TYPE
	List of the available onboard sensors More...
enum class	SENSORS_UNIT
	List of the available onboard sensors measurement units More...
enum class	DEPTH_MODE
	Lists available depth computation modes. Each mode offers better accuracy than the mode before it, but at a performance cost. More...
enum class	SENSING_MODE
	Lists available sensing modes - whether to produce the original depth map (STANDARD) or one with smoothing and other effects added to fill gaps and roughness (FILL). More...
enum class	MEASURE
	Lists available measure types retrieved from the camera, used for creating precise measurement maps (Measure-type textures). Based on the MEASURE enum in the ZED C++ SDK. For more info, see: https://www.stereolabs.com/docs/api_3.X/group__Depth__group.html#ga798a8eed10c573d759ef7e5a5bcd545d More...
enum class	INPUT_TYPE
	Lists available input type in SDK. More...
enum class	CAMERA_STATE
	List of possible camera state More...
enum class	RESOLUTION
	Represents the available resolution options. More...
enum class	FLIP_MODE
	brief Lists available compression modes for SVO recording. More...
enum class	MODEL
	Types of compatible ZED cameras. More...
enum class	VIEW
	Lists available view types retrieved from the camera, used for creating human-viewable (Image-type) textures. More...
enum class	VIDEO_SETTINGS
	Lists available camera settings for the ZED camera (contrast, hue, saturation, gain, etc.) More...
enum class	TIME_REFERENCE
	Categories indicating when a timestamp is captured. More...
enum class	SVO_COMPRESSION_MODE
	SVO compression modes. More...
enum class	STREAMING_CODEC
	Streaming codecs More...
enum class	SIDE
	defines left,right,both to distinguish between left and right or both sides More...
enum class	MAPPING_RESOLUTION
	Spatial mapping depth resolution presets. More...
enum class	MAPPING_RANGE
	Spatial mapping depth range presets. More...
enum class	SPATIAL_MAP_TYPE
	Spatial Mapping type (default is mesh) More...
enum class	MESH_FILE_FORMAT
	Mesh formats that can be saved/loaded with spatial mapping. More...
enum class	MESH_FILTER
	Presets for filtering meshes scannedw ith spatial mapping. Higher values reduce total face count by more. More...
enum class	SPATIAL_MAPPING_STATE
	Possible states of the ZED's Spatial Mapping system. More...
enum class	UNIT
	Units used by the SDK for measurements and tracking. More...
enum class	PLANE_TYPE
	Type of the plane, determined by its orientation and whether detected by ZEDPlaneDetectionManager's DetectFloorPlane() or DetectPlaneAtHit(). More...
enum class	AREA_EXPORT_STATE
	Possible states of the ZED's spatial memory area export, for saving 3D features used by the tracking system to relocalize the camera. This is used when saving a mesh generated by spatial mapping when Save Mesh is enabled - a .area file is saved as well. More...
enum class	BODY_FORMAT
	Lists of supported skeleton body model More...
enum class	OBJECT_CLASS
	Lists available object class More...
enum class	OBJECT_SUBCLASS
	Lists available object subclass. More...
enum class	OBJECT_TRACKING_STATE
	Tracking state of an individual object. More...
enum class	OBJECT_ACTION_STATE
	Lists available object action state. More...
enum class	DETECTION_MODEL
	List available models for detection More...
enum class	AI_MODELS
enum class	OBJECT_FILTERING_MODE
	Lists of supported bounding box preprocessing More...
enum class	BODY_PARTS
	semantic and order of human body keypoints. More...
enum class	BODY_PARTS_POSE_34
	ssemantic of human body parts and order keypoints for BODY_FORMAT.POSE_34. More...
enum class	MAT_TYPE
	Type of mat, indicating the data type and the number of channels it holds. Proper mat type depends on the image type. See sl.VIEW and sl.MEASURE (in ZEDCommon.cs) More...
enum class	COPY_TYPE
	Categories for copying data within or between the CPU (processor) memory and GPU (graphics card) memory. More...
enum class	MEM
	Which memory to store an image/mat: CPU/processor memory or GPU (graphics card) memory. More...

Enumeration Type Documentation

Constant

enum Constant

strong

Constant for plugin. Should not be changed

Enumerator
MAX_OBJECTS
MAX_SUBMESH	Maximum number of chunks. It's best to get relatively few chunks and to update them quickly.
MAX_BATCH_SIZE	Max size of trajectory data (number of frames stored)
MAX_CAMERA_PLUGIN	Maximum number of camera can that be instancied at the same time. Used to initialized arrays of cameras (ex: GetDeviceList())

SENSOR_WORLD

enum SENSOR_WORLD

strong

Defines the world type that the SDK can use to initialize the Positionnal Tracking module

Enumerator
OFF	default behavior
IMU_GRAVITY	align world to imu gravity measurement. keep the yaw from the user

HEADING_STATE

enum HEADING_STATE

strong

Enumerator
GOOD	The heading is reliable and not affected by iron interferences.
OK	The heading is reliable, but affected by slight iron interferences.
NOT_GOOD	The heading is not reliable because affected by strong iron interferences.
NOT_CALIBRATED	The magnetometer has not been calibrated.
MAG_NOT_AVAILABLE	The magnetomer sensor is not available.

SIDE

enum SIDE

strong

defines left,right,both to distinguish between left and right or both sides

Enumerator
LEFT	Left side only.
RIGHT	Right side only.
BOTH	Left and Right side.

AI_MODELS

enum AI_MODELS

strong

Enumerator
MULTI_CLASS_DETECTION	related to sl.DETECTION_MODEL.MULTI_CLASS_BOX
MULTI_CLASS_MEDIUM_DETECTION	related to sl.DETECTION_MODEL.MULTI_CLASS_BOX_MEDIUM
MULTI_CLASS_ACCURATE_DETECTION	related to sl.DETECTION_MODEL.MULTI_CLASS_BOX_ACCURATE
HUMAN_BODY_FAST_DETECTION	related to sl.DETECTION_MODEL.HUMAN_BODY_FAST
HUMAN_BODY_MEDIUM_DETECTION	related to sl.DETECTION_MODEL.HUMAN_BODY_MEDIUM
HUMAN_BODY_ACCURATE_DETECTION	related to sl.DETECTION_MODEL.HUMAN_BODY_ACCURATE
PERSON_HEAD_DETECTION	related to sl.DETECTION_MODEL.PERSON_HEAD
PERSON_HEAD_ACCURATE_DETECTION	related to sl.DETECTION_MODEL.PERSON_HEAD_ACCURATE
REID_ASSOCIATION	related to sl.BatchParameters.enable
NEURAL_DEPTH	related to sl.DETECTION_MODEL.NEURAL
LAST

OBJECT_FILTERING_MODE

enum OBJECT_FILTERING_MODE

strong

Lists of supported bounding box preprocessing

Enumerator
NONE	SDK will not apply any preprocessing to the detected objects
NMS3D	SDK will remove objects that are in the same 3D position as an already tracked object (independant of class ID). Default value
NMS3D_PER_CLASS	SDK will remove objects that are in the same 3D position as an already tracked object of the same class ID