Classes | |
class | CommunicationParameters |
Holds the communication parameter to configure the connection between senders and receiver. More... | |
class | FusionConfiguration |
Useful struct to store the Fusion configuration, can be read from /write to a JSON file. More... | |
class | InitFusionParameters |
Holds the options used to initialize the Fusion object. More... | |
class | CameraIdentifier |
Used to identify a specific camera in the Fusion API. More... | |
class | BodyTrackingFusionParameters |
Holds the options used to initialize the body tracking module of the Fusion. More... | |
class | BodyTrackingFusionRuntimeParameters |
Holds the options used to change the behavior of the body tracking module at runtime. More... | |
class | GNSSCalibrationParameters |
Holds the options used for calibrating GNSS / VIO. More... | |
class | PositionalTrackingFusionParameters |
Holds the options used for initializing the positional tracking fusion module. More... | |
class | SpatialMappingFusionParameters |
Sets the spatial mapping parameters. More... | |
class | CameraMetrics |
Holds the metrics of a sender in the fusion process. More... | |
class | FusionMetrics |
Holds the metrics of the fusion process. More... | |
class | ECEF |
Represents a world position in ECEF format. More... | |
class | LatLng |
Represents a world position in LatLng format. More... | |
class | UTM |
Represents a world position in UTM format. More... | |
class | GeoConverter |
Purely static class for Geo functions. More... | |
class | GeoPose |
Holds Geo reference position. More... | |
class | Fusion |
Holds Fusion process data and functions. More... | |
Enumerations | |
enum class | FUSION_ERROR_CODE |
Lists the types of error that can be raised by the Fusion. More... | |
enum class | SENDER_ERROR_CODE |
Lists the types of error that can be raised during the Fusion by senders. More... | |
enum class | GNSS_CALIBRATION_STATE |
Lists the different states of the GNSS calibration. More... | |
enum class | POSITION_TYPE |
Lists the types of possible position outputs. More... | |
Functions | |
FusionConfiguration | readFusionConfigurationFile (std::string json_config_filename, int serial_number, sl::COORDINATE_SYSTEM coord_sys, sl::UNIT unit) |
Read a configuration JSON file to configure a fusion process. More... | |
std::vector< FusionConfiguration > | readFusionConfigurationFile (std::string json_config_filename, sl::COORDINATE_SYSTEM coord_sys, sl::UNIT unit) |
Read a Configuration JSON file to configure a fusion process. More... | |
void | writeConfigurationFile (std::string json_config_filename, std::vector< FusionConfiguration > &configuration, sl::COORDINATE_SYSTEM coord_sys, sl::UNIT unit) |
Write a Configuration JSON file to configure a fusion process. More... | |
Fusion | |
ERROR_CODE | stopPublishing () |
Set this camera as normal camera (without data providing). Stop to send camera data to fusion. More... | |
CommunicationParameters | getCommunicationParameters () |
Returns the CommunicationParameters used. It corresponds to the structure given as argument to the startPublishing() method. More... | |
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strong |
Lists the types of error that can be raised by the Fusion.
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strong |
Lists the types of error that can be raised during the Fusion by senders.
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strong |
Lists the different states of the GNSS calibration.
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ERROR_CODE stopPublishing | ( | ) |
Set this camera as normal camera (without data providing).
Stop to send camera data to fusion.
CommunicationParameters getCommunicationParameters | ( | ) |
Returns the CommunicationParameters used.
It corresponds to the structure given as argument to the startPublishing() method.
FusionConfiguration sl::readFusionConfigurationFile | ( | std::string | json_config_filename, |
int | serial_number, | ||
sl::COORDINATE_SYSTEM | coord_sys, | ||
sl::UNIT | unit | ||
) |
Read a configuration JSON file to configure a fusion process.
json_config_filename | : The name of the JSON file containing the configuration. |
serial_number | : The serial number of the ZED Camera you want to retrieve. |
coord_sys | : The COORDINATE_SYSTEM in which you want the World Pose to be in. |
unit | : The UNIT in which you want the World Pose to be in. |
std::vector<FusionConfiguration> sl::readFusionConfigurationFile | ( | std::string | json_config_filename, |
sl::COORDINATE_SYSTEM | coord_sys, | ||
sl::UNIT | unit | ||
) |
Read a Configuration JSON file to configure a fusion process.
json_config_filename | : The name of the JSON file containing the configuration. |
coord_sys | : The COORDINATE_SYSTEM in which you want the World Pose to be in. |
unit | : The UNIT in which you want the World Pose to be in. |
void sl::writeConfigurationFile | ( | std::string | json_config_filename, |
std::vector< FusionConfiguration > & | configuration, | ||
sl::COORDINATE_SYSTEM | coord_sys, | ||
sl::UNIT | unit | ||
) |
Write a Configuration JSON file to configure a fusion process.
json_config_filename | : The name of the JSON that will contain the information. |
conf | A vector of FusionConfiguration listing all the camera configurations. |
coord_sys | : The COORDINATE_SYSTEM in which the World Pose is. |
unit | : The UNIT in which the World Pose is. |