From a3ba789d1441f1140e0b9988269b5a7b8d471f45 Mon Sep 17 00:00:00 2001
From: BenjaminV_sl <60651082+Bvallon-sl@users.noreply.github.com>
Date: Mon, 25 Sep 2023 11:35:46 +0200
Subject: [PATCH] update to sdk v4.0.7 (#32)

---
 .../Mesh/ZED_Manny/CR_ZED_Manny_FootIK.uasset |  Bin 2001046 -> 1906226 bytes
 Content/ZED/Levels/L_BodyTrackingSingle.umap  |  Bin 42632 -> 42636 bytes
 .../Private/Core/StereolabsCameraProxy.cpp    |   53 +
 .../Public/Core/StereolabsBaseTypes.h         |  104 +-
 .../Public/Core/StereolabsCameraProxy.h       |   24 +
 .../Public/Core/StereolabsCoreGlobals.h       |   40 +-
 .../ThirdParty/sl_zed_c/bin/sl_zed_c.dll      |  Bin 152064 -> 156160 bytes
 .../sl_zed_c/include/sl/c_api/types_c.h       | 3076 +++++++++++------
 .../sl_zed_c/include/sl/c_api/zed_interface.h | 1509 ++++----
 .../ThirdParty/sl_zed_c/lib/sl_zed_c.lib      |  Bin 48116 -> 51130 bytes
 10 files changed, 3036 insertions(+), 1770 deletions(-)

diff --git a/Content/ZED/Assets/Mannequin/Mesh/ZED_Manny/CR_ZED_Manny_FootIK.uasset b/Content/ZED/Assets/Mannequin/Mesh/ZED_Manny/CR_ZED_Manny_FootIK.uasset
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diff --git a/Content/ZED/Levels/L_BodyTrackingSingle.umap b/Content/ZED/Levels/L_BodyTrackingSingle.umap
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diff --git a/Plugins/Stereolabs/Source/Stereolabs/Private/Core/StereolabsCameraProxy.cpp b/Plugins/Stereolabs/Source/Stereolabs/Private/Core/StereolabsCameraProxy.cpp
index 00f7dd7..4f39159 100644
--- a/Plugins/Stereolabs/Source/Stereolabs/Private/Core/StereolabsCameraProxy.cpp
+++ b/Plugins/Stereolabs/Source/Stereolabs/Private/Core/StereolabsCameraProxy.cpp
@@ -261,6 +261,7 @@ void USlCameraProxy::Internal_OpenCamera(const FSlInitParameters& InitParameters
 	sl_init_parameters.async_grab_camera_recovery = InitParameters.bAsyncGrabCameraRecovery;
 	sl_init_parameters.open_timeout_sec = InitParameters.OpenTimeoutSec;
 	sl_init_parameters.grab_compute_capping_fps = InitParameters.GrabComputeCappingFPS;
+	sl_init_parameters.enable_image_validity_check = InitParameters.bEnableImageValidityCheck;
 
 	InputType = (SL_INPUT_TYPE)InitParameters.InputType;
 	bool IsCameraCreated = sl_create_camera(CameraID);
@@ -569,6 +570,37 @@ ESlTrackingState USlCameraProxy::GetPosition(FSlPose& Pose, ESlReferenceFrame Re
 	SL_SCOPE_UNLOCK
 }
 
+ESlErrorCode USlCameraProxy::SetRegionOfInterest(FSlMat& Mat)
+{
+	SL_ERROR_CODE err = (SL_ERROR_CODE)sl_set_region_of_interest(CameraID, Mat.Mat);
+	return sl::unreal::ToUnrealType(err);
+}
+
+ESlErrorCode USlCameraProxy::GetRegionOfInterest(FSlMat& Mat, FIntPoint& resolution)
+{
+	if (!Mat.Mat) {
+		Mat.Mat = sl_mat_create_new(resolution.X, resolution.Y, SL_MAT_TYPE_U8_C1, SL_MEM_CPU);
+	}
+	SL_ERROR_CODE err = (SL_ERROR_CODE)sl_get_region_of_interest(CameraID, Mat.Mat, resolution.X, resolution.Y);
+	return sl::unreal::ToUnrealType(err);
+}
+
+ESlErrorCode USlCameraProxy::StartRegionOfInterestAutoDetection(FSlRegionOfInterestParameters& roiParams)
+{
+	SL_RegionOfInterestParameters params;
+	params.auto_apply = roiParams.bAutoApply;
+	params.depth_far_threshold_meters = roiParams.depthFarThresholdMeters;
+	params.image_height_ratio_cutoff = roiParams.imageHeightRatioCutoff;
+
+	SL_ERROR_CODE err = (SL_ERROR_CODE)sl_start_region_of_interest_auto_detection(CameraID, &params);
+	return sl::unreal::ToUnrealType(err);
+}
+
+ESlRegionOfInterestAutoDetectionState USlCameraProxy::GetRegionOfInterestAutoDetectionStatus()
+{
+	return (ESlRegionOfInterestAutoDetectionState)sl_get_region_of_interest_auto_detection_status(CameraID);
+}
+
 ESlErrorCode USlCameraProxy::GetIMUData(FSlIMUData& IMUData, ESlTimeReference TimeReference)
 {
 	SL_ERROR_CODE ErrorCode = SL_ERROR_CODE_FAILURE;
@@ -846,6 +878,11 @@ FSlVideoSettings USlCameraProxy::GetCameraSettings()
 	return CameraSettings;
 }
 
+bool USlCameraProxy::GetCameraSetting(ESlVideoSettings CameraSetting, int& value)
+{
+	return (sl_get_camera_settings(CameraID, (SL_VIDEO_SETTINGS)CameraSetting, &value) == SL_ERROR_CODE_SUCCESS);
+}
+
 bool USlCameraProxy::EnableSpatialMapping(const FSlSpatialMappingParameters& SpatialMappingParameters)
 {
 	SL_ERROR_CODE ErrorCode;
@@ -1015,6 +1052,22 @@ bool USlCameraProxy::RetrieveMeasure(void* Mat, ESlMeasure MeasureType, ESlMemor
 	return (ErrorCode == SL_ERROR_CODE_SUCCESS);
 }
 
+bool USlCameraProxy::IsCameraSettingSupported(ESlVideoSettings CameraSetting)
+{
+	return sl_is_camera_setting_supported(CameraID, (SL_VIDEO_SETTINGS)CameraSetting);
+}
+
+bool USlCameraProxy::SetCameraSetting(ESlVideoSettings NewCameraSettings, int value)
+{
+	if (sl_is_camera_setting_supported(CameraID, (SL_VIDEO_SETTINGS)NewCameraSettings))
+	{
+		sl_set_camera_settings(CameraID, (SL_VIDEO_SETTINGS)NewCameraSettings, value);
+		return true;
+	}
+	return false;
+}
+
+
 void USlCameraProxy::SetCameraSettings(FSlVideoSettings& NewCameraSettings)
 {
 	bool bDefault = NewCameraSettings.bDefault;
diff --git a/Plugins/Stereolabs/Source/Stereolabs/Public/Core/StereolabsBaseTypes.h b/Plugins/Stereolabs/Source/Stereolabs/Public/Core/StereolabsBaseTypes.h
index 291f730..e016132 100644
--- a/Plugins/Stereolabs/Source/Stereolabs/Public/Core/StereolabsBaseTypes.h
+++ b/Plugins/Stereolabs/Source/Stereolabs/Public/Core/StereolabsBaseTypes.h
@@ -325,6 +325,7 @@ enum class ESlRetrieveResult : uint8
 UENUM(BlueprintType, Category = "Stereolabs|Enum")
 enum class ESlErrorCode : uint8
 {
+	EC_CorruptedFrame = 254			 UMETA(DisplayName = "Corrupted frame"),
 	EC_CameraRebooting  = 255		 UMETA(DisplayName = "Camera rebooting"),
  	EC_Success		    = 0			 UMETA(DisplayName = "Success"),
 	EC_Failure					     UMETA(DisplayName = "Failure"),
@@ -364,6 +365,38 @@ enum class ESlErrorCode : uint8
 	EC_None					  	   UMETA(DisplayName = "No error")
 };
 
+/**
+\brief Lists available camera settings for the camera (contrast, hue, saturation, gain, ...).
+\warning All \ref VIDEO_SETTINGS are not supported for all camera models. You can find the supported \ref VIDEO_SETTINGS for each ZED camera in our <a href="https://www.stereolabs.com/docs/video/camera-controls#adjusting-camera-settings">documentation</a>.\n\n
+ GAIN and EXPOSURE are linked in auto/default mode (see \ref sl::Camera.setCameraSettings()).
+ */
+UENUM(BlueprintType, Category = "Stereolabs|Enum")
+enum class ESlVideoSettings: uint8
+{
+	VS_BRIGHTNESS					UMETA(DisplayName = "Brightness"), /**< Brightness control \n Affected value should be between 0 and 8. \note Not available for ZED X/X Mini cameras.*/
+	VS_CONTRAST						UMETA(DisplayName = "Contrast"), /**< Contrast control \n Affected value should be between 0 and 8. \note Not available for ZED X/X Mini cameras.*/
+	VS_HUE							UMETA(DisplayName = "Hue"), /**< Hue control \n Affected value should be between 0 and 11. \note Not available for ZED X/X Mini cameras.*/
+	VS_SATURATION					UMETA(DisplayName = "Saturation"), /**< Saturation control \n Affected value should be between 0 and 8.*/
+	VS_SHARPNESS					UMETA(DisplayName = "Sharpness"), /**< Digital sharpening control \n Affected value should be between 0 and 8.*/
+	VS_GAMMA						UMETA(DisplayName = "Gamma"), /**< ISP gamma control \n Affected value should be between 1 and 9.*/
+	VS_GAIN							UMETA(DisplayName = "Gain"), /**< Gain control \n Affected value should be between 0 and 100 for manual control. \note If EXPOSURE is set to -1 (automatic mode), then GAIN will be automatic as well.*/
+	VS_EXPOSURE						UMETA(DisplayName = "Exposure"), /**< Exposure control \n Affected value should be between 0 and 100 for manual control.\n The exposition is mapped linearly in a percentage of the following max values.\n Special case for <code>EXPOSURE = 0</code> that corresponds to 0.17072ms.\n The conversion to milliseconds depends on the framerate: <ul><li>15fps & <code>EXPOSURE = 100</code> -> 19.97ms</li><li>30fps & <code>EXPOSURE = 100</code> -> 19.97ms</li><li>60fps & <code>EXPOSURE = 100</code> -> 10.84072ms</li><li>100fps & <code>EXPOSURE = 100</code> -> 10.106624ms</li></ul>*/
+	VS_AEC_AGC						UMETA(DisplayName = "AEC AGC"), /**< Defines if the GAIN and EXPOSURE are in automatic mode or not.\n Setting GAIN or EXPOSURE values will automatically set this value to 0.*/
+	VS_AEC_AGC_ROI					UMETA(DisplayName = "AEC AGC Roi"), /**< Defines the region of interest for automatic exposure/gain computation.\n To be used with overloaded \ref Camera.setCameraSettings(VIDEO_SETTINGS,Rect,sl::SIDE,bool) "setCameraSettings()" / \ref Camera.getCameraSettings(VIDEO_SETTINGS,Rect&,sl::SIDE) "getCameraSettings()" methods.*/
+	VS_WHITEBALANCE_TEMPERATURE		UMETA(DisplayName = "White balance"), /**< Color temperature control \n Affected value should be between 2800 and 6500 with a step of 100. \note Setting a value will automatically set WHITEBALANCE_AUTO to 0.*/
+	VS_WHITEBALANCE_AUTO			UMETA(DisplayName = "Auto White balance"), /**< Defines if the white balance is in automatic mode or not.*/
+	VS_LED_STATUS					UMETA(DisplayName = "LED status"), /**< Status of the front LED of the camera.\n Set to 0 to disable the light, 1 to enable the light.\n Default value is on. \note Requires camera firmware 1523 at least.*/
+	VS_EXPOSURE_TIME				UMETA(DisplayName = "Exposure time"), /**< Real exposure time control in microseconds. \note Only available for ZED X/X Mini cameras.\note Replace EXPOSURE setting.*/
+	VS_ANALOG_GAIN					UMETA(DisplayName = "Analog gain"), /**< Real analog gain (sensor) control in mDB.\n The range is defined by Jetson DTS and by default [1000-16000]. \note Only available for ZED X/X Mini cameras.\note Replace GAIN settings.*/
+	VS_DIGITAL_GAIN					UMETA(DisplayName = "Digital gain"), /**< Real digital gain (ISP) as a factor.\n The range is defined by Jetson DTS and by default [1-256]. \note Only available for ZED X/X Mini cameras.\note Replace GAIN settings.*/
+	VS_AUTO_EXPOSURE_TIME_RANGE		UMETA(DisplayName = "Auto exposure time range"), /**< Range of exposure auto control in microseconds.\n Used with \ref Camera.setCameraSettings(VIDEO_SETTINGS,int,int) "setCameraSettings()".\n Min/max range between max range defined in DTS.\n By default: [28000 - <fps_time> or 19000] us. \note Only available for ZED X/X Mini cameras.*/
+	VS_AUTO_ANALOG_GAIN_RANGE		UMETA(DisplayName = "Auto analog gain range"), /**< Range of sensor gain in automatic control.\n Used with \ref Camera.setCameraSettings(VIDEO_SETTINGS,int,int) "setCameraSettings()".\n Min/max range between max range defined in DTS.\n By default: [1000 - 16000] mdB. \note Only available for ZED X/X Mini cameras.*/
+	VS_AUTO_DIGITAL_GAIN_RANGE		UMETA(DisplayName = "Auto digital gain range"), /**< Range of digital ISP gain in automatic control.\n Used with \ref Camera.setCameraSettings(VIDEO_SETTINGS,int,int) "setCameraSettings()".\n Min/max range between max range defined in DTS.\n By default: [1 - 256]. \note Only available for ZED X/X Mini cameras.*/
+	VS_EXPOSURE_COMPENSATION		UMETA(DisplayName = "Exposure compensation"), /**< Exposure-target compensation made after auto exposure.\n Reduces the overall illumination target by factor of F-stops.\n Affected value should be between 0 and 100 (mapped between [-2.0,2.0]).\n Default value is 50, i.e. no compensation applied. \note Only available for ZED X/X Mini cameras.*/
+	VS_DENOISING					UMETA(DisplayName = "Denoising"), /**< Level of denoising applied on both left and right images.\n Affected value should be between 0 and 100.\n Default value is 50. \note Only available for ZED X/X Mini cameras.*/
+	VS_LAST
+};
+
 /*
  * SDK SVO compression modes
  * see sl::SVO_COMPRESSION_MODE
@@ -511,6 +544,17 @@ enum class ESlPositionalTrackingMode : uint8
 	PTM_Quality			UMETA(DisplayName = "Quality")
 };
 
+/**
+\brief Lists the different states of region of interest auto detection.
+ */
+UENUM(BlueprintType, Category = "Stereolabs|Enum")
+enum class ESlRegionOfInterestAutoDetectionState : uint8
+{
+	ROI_RUNNING			UMETA(DisplayName = "Running"), /**< The region of interest auto detection is initializing.*/
+	ROI_READY			UMETA(DisplayName = "Ready"), /**< The region of interest mask is ready, if auto_apply was enabled, the region of interest mask is being used*/
+	ROI_NOT_ENABLED		UMETA(DisplayName = "Not Enabled"), /**< The region of interest auto detection is not enabled*/
+};
+
 /*
 * Lists available object tracking state.
 */
@@ -2238,6 +2282,40 @@ struct STEREOLABS_API FSlPose
 	bool bValid;
 };
 
+USTRUCT(BlueprintType, Category = "Stereolabs|Struct")
+struct STEREOLABS_API FSlRegionOfInterestParameters
+{
+	GENERATED_BODY()
+
+	FSlRegionOfInterestParameters()
+	:
+		depthFarThresholdMeters(2.5f),
+		imageHeightRatioCutoff(0.5f),
+		bAutoApply(false)
+	{}
+
+	/**
+	 \brief Filtering how far object in the ROI should be considered, this is useful for a vehicle for instance
+
+	 Default: 2.5 meters
+	 */
+	float depthFarThresholdMeters = 2.5;
+
+	/**
+	 \brief By default consider only the lower half of the image, can be useful to filter out the sky
+
+	 Default: 0.5, correspond to the lower half of the image
+	 */
+	float imageHeightRatioCutoff = 0.5;
+
+	/**
+	 \brief Once computed the ROI computed will be automatically applied
+
+	 Default: Enabled
+	 */
+	bool bAutoApply = true;
+};
+
 /*
  * SDK IMU data
  * see Sl::IMUData
@@ -2313,7 +2391,8 @@ struct STEREOLABS_API FSlInitParameters
 		bEnableImageEnhancement(true),
 		OpenTimeoutSec(5.0f),
 		VerboseFilePath(""),
-		GrabComputeCappingFPS(0.0f)
+		GrabComputeCappingFPS(0.0f),
+		bEnableImageValidityCheck(false)
 	{
 	}
 
@@ -2493,6 +2572,13 @@ struct STEREOLABS_API FSlInitParameters
 			GrabComputeCappingFPS,
 			*Path
 		);
+
+		GConfig->GetBool(
+			Section,
+			TEXT("bEnableImageValidityCheck"),
+			bEnableImageValidityCheck,
+			*Path
+		);
 	}
 
 	FORCEINLINE void Save(const FString& Path) const
@@ -2657,6 +2743,13 @@ struct STEREOLABS_API FSlInitParameters
 			GrabComputeCappingFPS,
 			*Path
 		);
+		
+		GConfig->SetBool(
+			Section,
+			TEXT("bEnableImageValidityCheck"),
+			bEnableImageValidityCheck,
+			*Path
+		);
 	}
 
 	/** Input type used in the ZED SDK */
@@ -2785,6 +2878,15 @@ struct STEREOLABS_API FSlInitParameters
 	 */
 	UPROPERTY(EditAnywhere, BlueprintReadWrite)
 	float GrabComputeCappingFPS;
+	/**
+	 Enable or disable the image validity verification.
+	 This will perform additional verification on the image to identify corrupted data. This verification is done in the grab function and requires some computations.
+	 If an issue is found, the grab function will output a warning as sl::ERROR_CODE::CORRUPTED_FRAME.
+	 This version doesn't detect frame tearing currently.
+	 \n default: disabled
+	 */
+	UPROPERTY(EditAnywhere, BlueprintReadWrite)
+	bool bEnableImageValidityCheck;
 };
 
 /*
diff --git a/Plugins/Stereolabs/Source/Stereolabs/Public/Core/StereolabsCameraProxy.h b/Plugins/Stereolabs/Source/Stereolabs/Public/Core/StereolabsCameraProxy.h
index 92d0f26..ef0cbd8 100644
--- a/Plugins/Stereolabs/Source/Stereolabs/Public/Core/StereolabsCameraProxy.h
+++ b/Plugins/Stereolabs/Source/Stereolabs/Public/Core/StereolabsCameraProxy.h
@@ -188,6 +188,19 @@ class STEREOLABS_API USlCameraProxy : public UObject
 	UFUNCTION(BlueprintPure, meta = (Keywords = "get zed camera settings"), Category = "Zed|Camera")
 	FSlVideoSettings GetCameraSettings();
 
+	UFUNCTION(BlueprintPure, meta = (Keywords = "get zed camera setting"), Category = "Zed|Camera")
+	bool GetCameraSetting(ESlVideoSettings CameraSetting, int& value);
+
+	UFUNCTION(BlueprintPure, meta = (Keywords = "is camera setting supported"), Category = "Zed|Camera")
+
+	bool IsCameraSettingSupported(ESlVideoSettings CameraSetting);
+
+		/*
+	 * Set a camera setting
+	 * @param NewCameraSettings The camera setting to set
+	 */
+	UFUNCTION(BlueprintPure, meta = (Keywords = "set zed camera setting"), Category = "Zed|Camera")
+	bool SetCameraSetting(ESlVideoSettings NewCameraSettings, int value);
 	/*
 	 * Set the camera settings
 	 * @param NewCameraSettings The camera settings to set
@@ -262,6 +275,17 @@ class STEREOLABS_API USlCameraProxy : public UObject
 	UFUNCTION(BlueprintPure, meta = (Keywords = "get zed pose"), Category = "Zed|Tracking")
 	ESlTrackingState GetPosition(FSlPose& Pose, ESlReferenceFrame ReferenceFrame);
 
+	UFUNCTION(BlueprintPure, meta = (Keywords = "Set Region Of Interest"), Category = "Zed|Tracking")
+	ESlErrorCode SetRegionOfInterest(FSlMat& Mat);
+
+	UFUNCTION(BlueprintPure, meta = (Keywords = "Get Region Of Interest"), Category = "Zed|Tracking")
+	ESlErrorCode GetRegionOfInterest(FSlMat& Mat, FIntPoint& resolution);
+
+	UFUNCTION(BlueprintPure, meta = (Keywords = "start region of interest auto detection"), Category = "Zed|Tracking")
+	ESlErrorCode StartRegionOfInterestAutoDetection(FSlRegionOfInterestParameters& roiParams);
+
+	UFUNCTION(BlueprintPure, meta = (Keywords = "get region of interest auto detection status"), Category = "Zed|Tracking")
+	ESlRegionOfInterestAutoDetectionState GetRegionOfInterestAutoDetectionStatus();
 	/*
 	 * Get the current IMU data
 	 * @param IMUData The current IMU data
diff --git a/Plugins/Stereolabs/Source/Stereolabs/Public/Core/StereolabsCoreGlobals.h b/Plugins/Stereolabs/Source/Stereolabs/Public/Core/StereolabsCoreGlobals.h
index fc894e2..45b7241 100644
--- a/Plugins/Stereolabs/Source/Stereolabs/Public/Core/StereolabsCoreGlobals.h
+++ b/Plugins/Stereolabs/Source/Stereolabs/Public/Core/StereolabsCoreGlobals.h
@@ -229,6 +229,10 @@ namespace sl
 		{
 			switch (SlType)
 			{
+				case sl::ERROR_CODE::CORRUPTED_FRAME: /**< The image could be corrupted, Enabled with the parameter InitParameters::enable_image_validity_check.*/
+					return ESlErrorCode::EC_CorruptedFrame;
+				case sl::ERROR_CODE::CAMERA_REBOOTING: /**< The camera is currently rebooting.*/
+					return ESlErrorCode::EC_CameraRebooting;
 				case sl::ERROR_CODE::SUCCESS: /**< Standard code for successful behavior.*/
 					return ESlErrorCode::EC_Success;
 				case sl::ERROR_CODE::FAILURE: /**< Standard code for unsuccessful behavior.*/
@@ -312,7 +316,9 @@ namespace sl
 		{
 			switch (SlType)
 			{
-			case -1:
+			case SL_ERROR_CODE_CORRUPTED_FRAME:
+				return ESlErrorCode::EC_CorruptedFrame;
+			case SL_ERROR_CODE_CAMERA_REBOOTING:
 				return ESlErrorCode::EC_CameraRebooting;
 			case SL_ERROR_CODE_SUCCESS: /**< Standard code for successful behavior.*/
 				return ESlErrorCode::EC_Success;
@@ -2109,38 +2115,6 @@ namespace sl
 			return TrackingParameters;
 		}
 
-		/*
-		 * Covnert from FSlInitParameters to sl::InitParameters
-		 */
-		FORCEINLINE sl::InitParameters ToSlType(const FSlInitParameters& UnrealData)
-		{
-			sl::InitParameters InitParameters;
-
-			InitParameters.camera_disable_self_calib = UnrealData.bDisableSelfCalibration;
-			InitParameters.camera_fps = UnrealData.FPS;
-			InitParameters.camera_image_flip = (int)UnrealData.VerticalFlipImage;
-			InitParameters.camera_resolution = sl::unreal::ToSlType(UnrealData.Resolution);
-			InitParameters.coordinate_system = sl::unreal::ToSlType(UnrealData.CoordinateSystem);
-			InitParameters.coordinate_units = sl::unreal::ToSlType(UnrealData.Unit);
-			InitParameters.depth_minimum_distance = UnrealData.DepthMinimumDistance;
-			InitParameters.depth_mode = sl::unreal::ToSlType(UnrealData.DepthMode);
-			InitParameters.enable_right_side_measure = UnrealData.bEnableRightSideMeasure;
-			InitParameters.sdk_gpu_id = FMath::FloorToInt(UnrealData.GPUID);
-			InitParameters.sdk_verbose = UnrealData.Verbose;
-			InitParameters.sdk_verbose_log_file = TCHAR_TO_UTF8(*UnrealData.VerboseFilePath);
-			InitParameters.grab_compute_capping_fps = UnrealData.GrabComputeCappingFPS;
-			if (UnrealData.InputType == ESlInputType::IT_SVO)
-			{
-				InitParameters.input.setFromSVOFile(TCHAR_TO_UTF8(*UnrealData.SvoPath));
-				InitParameters.svo_real_time_mode = UnrealData.bRealTime;
-			}
-			else if (UnrealData.InputType == ESlInputType::IT_STREAM) {
-				InitParameters.input.setFromStream(TCHAR_TO_UTF8(*UnrealData.StreamIP), UnrealData.StreamPort);
-			}
-			InitParameters.depth_stabilization = UnrealData.DepthStabilization;
-
-			return InitParameters;
-		}
 
 		FORCEINLINE SL_ObjectDetectionParameters ToSlType(const FSlObjectDetectionParameters& UnrealData)
 		{
diff --git a/Plugins/Stereolabs/Source/ThirdParty/sl_zed_c/bin/sl_zed_c.dll b/Plugins/Stereolabs/Source/ThirdParty/sl_zed_c/bin/sl_zed_c.dll
index b821f5aa13ad2d78024279d53d69891eed155201..97324d45293deda721624e42bfdb06fe1340850a 100644
GIT binary patch
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diff --git a/Plugins/Stereolabs/Source/ThirdParty/sl_zed_c/include/sl/c_api/types_c.h b/Plugins/Stereolabs/Source/ThirdParty/sl_zed_c/include/sl/c_api/types_c.h
index 845d9ae..7e0fefa 100644
--- a/Plugins/Stereolabs/Source/ThirdParty/sl_zed_c/include/sl/c_api/types_c.h
+++ b/Plugins/Stereolabs/Source/ThirdParty/sl_zed_c/include/sl/c_api/types_c.h
@@ -19,92 +19,183 @@
 
 #include "cuda.h"
 
- /**
- * \brief Quaternion
+/**
+ \brief Structure representing a quaternion.
  */
 struct SL_Quaternion {
-	float x;
-	float y;
-	float z;
-	float w;
+	float x; /**< \brief First component of the quaternion.*/
+	float y; /**< \brief Second component of the quaternion.*/
+	float z; /**< \brief Third component of the quaternion.*/
+	float w; /**< \brief Forth component of the quaternion.*/
 };
 
 /**
-* \brief Vector2
+* \brief Structure representing a generic 2-dimensional vector.
 */
 struct SL_Vector2 {
+	/**
+	\brief Fist component of the vector.
+	*/
 	float x;
+	/**
+	\brief Second component of the vector.
+	*/
 	float y;
 };
 
 /**
-* \brief Vector3
+* \brief Structure representing a generic 3-dimensional vector.
 */
 struct SL_Vector3 {
+	/**
+	\brief Fist component of the vector.
+	*/
 	float x;
+	/**
+	\brief Second component of the vector.
+	*/
 	float y;
+	/**
+	\brief Third component of the vector.
+	*/
 	float z;
 };
 
 /**
-* \brief Vector4
+* \brief Structure representing a generic 4-dimensional vector.
 */
 struct SL_Vector4 {
+	/**
+	\brief Fist component of the vector.
+	*/
 	float x;
+	/**
+	\brief Second component of the vector.
+	*/
 	float y;
+	/**
+	\brief Third component of the vector.
+	*/
 	float z;
+	/**
+	\brief Forth component of the vector.
+	*/
 	float w;
 };
 
 /**
-* \brief uchar2
+* \brief Structure representing an unsigned char 2-dimensional vector.
 */
 struct SL_Uchar2 {
+	/**
+	\brief Fist component of the vector.
+	*/
 	unsigned char x;
+	/**
+	\brief Second component of the vector.
+	*/
 	unsigned char y;
 };
 
 /**
-* \brief uchar3
+* \brief Structure representing an unsigned char 3-dimensional vector.
 */
 struct SL_Uchar3 {
+	/**
+	\brief Fist component of the vector.
+	*/
 	unsigned char x;
+	/**
+	\brief Second component of the vector.
+	*/
 	unsigned char y;
+	/**
+	\brief Third component of the vector.
+	*/
 	unsigned char z;
 };
 
 /**
-* \brief uchar4
+* \brief Structure representing an unsigned char 4-dimensional vector.
 */
 struct SL_Uchar4 {
+	/**
+	\brief Fist component of the vector.
+	*/
 	unsigned char x;
+	/**
+	\brief Second component of the vector.
+	*/
 	unsigned char y;
+	/**
+	\brief Third component of the vector.
+	*/
 	unsigned char z;
+	/**
+	\brief Fourth component of the vector.
+	*/
 	unsigned char w;
 };
 
 /**
-* \brief Matric4x4
+* \brief Structure representing a generic 4*4 matrix.
 */
 struct SL_Matrix4f {
+	/**
+	\brief Array containing the values fo the 4*4 matrix.
+	*/
 	float p[16];
 };
 
 /**
-* \brief Matrix3x3
+* \brief Structure representing a generic 3*3 matrix.
 */
 struct SL_Matrix3f {
+	/**
+	\brief Array containing the values fo the 3*3 matrix.
+	*/
 	float p[9];
 };
 
+/**
+\brief Structure containing positional tracking data giving the position and orientation of the camera in 3D space.
+
+Different representations of position and orientation can be retrieved, along with timestamp and pose confidence.
+*/
 struct SL_PoseData {
+	/**
+	\brief Whether the tracking is activated or not.
+	\note You should check that first if something is wrong.
+     */
 	bool valid;
+	/**
+	\brief Timestamp of the \ref SL_PoseData.
+	
+	This timestamp should be compared with the camera timestamp for synchronization.
+	*/
 	unsigned long long timestamp;
-	struct SL_Quaternion rotation;
-	struct SL_Vector3 translation;
+	struct SL_Quaternion rotation; /**< \brief Quaternion/orientation component of the \ref SL_PoseData.*/
+	struct SL_Vector3 translation; /**< \brief Translation component of the \ref SL_PoseData.*/
+	/**
+	\brief Confidence/quality of the pose estimation for the target frame.
+
+	A confidence metric of the tracking [0-100] with:
+	- 0: tracking is lost
+	- 100: tracking can be fully trusted
+     */
 	int pose_confidence;
-	float pose_covariance[36];
+	float pose_covariance[36]; /**< \brief 6x6 pose covariance matrix of translation (the first 3 values) and rotation in so3 (the last 3 values).*/
+	/**
+	\brief Twist of the camera available in reference camera.
+
+	This expresses velocity in free space, broken into its linear and angular parts.
+     */
 	float twist[6];
+	/**
+	\brief Row-major representation of the 6x6 twist covariance matrix of the camera.
+
+	This expresses the uncertainty of the twist.
+     */
 	float twist_covariance[36];
 };
 
@@ -115,91 +206,200 @@ enum UNITY_PLAN_TYPE {
 	UNITY_PLAN_TYPE_HIT_UNKNOWN
 };
 
+/**
+\brief Structure representing a plane defined by a point and a normal, or a plane equation.
+
+\note The plane measurements are expressed in reference defined by SL_RuntimeParameters.reference_frame.
+*/
 struct SL_PlaneData {
-	int error_code;
+	int error_code; /**< \brief \ref SL_ERROR_CODE returned by the ZED SDK when the plane detection was attempted.*/
+	/**
+	\brief Type of the plane defined by its orientation.
+	\note It is deduced from the gravity vector and is therefore not available with on \ref SL_MODEL_ZED.
+	*/
 	enum UNITY_PLAN_TYPE type;
-	struct SL_Vector3 plane_normal;
-	struct SL_Vector3 plane_center;
-	struct SL_Vector3 plane_transform_position;
-	struct SL_Quaternion plane_transform_orientation;
+	struct SL_Vector3 plane_normal; /**< \brief Plane normalized normal vector.*/
+	struct SL_Vector3 plane_center; /**< \brief Plane center point.*/
+	struct SL_Vector3 plane_transform_position; /**< \brief Plane position relative to the global reference frame.*/
+	struct SL_Quaternion plane_transform_orientation; /**< \brief Plane orientation relative to the global reference frame.*/
+	/**
+	\brief Plane equation coefficients ```{a, b, c, d}```.
+	\note The plane equation has the following form: ```ax + by + cz = d```.
+	*/
 	struct SL_Vector4 plane_equation;
-	struct SL_Vector2 extents;
-	int bounds_size;
+	struct SL_Vector2 extents; /**< \brief Width and height of the bounding rectangle around the plane contours.*/
+	int bounds_size; /**< \brief Size of \ref bounds.*/
+	/**
+	\brief Array of 3D points forming a polygon bounds corresponding to the current visible limits of the plane.
+	*/
 	struct SL_Vector3 bounds[256]; //max 256 points but only BoundsSize are actually filled
 };
 
 /**
-* \brief IMU Data structure
+* \brief Structure containing data from the IMU sensor.
 */
 struct SL_IMUData {
+	/**
+	\brief Whether the IMU sensor is available in your camera.
+	*/
 	bool is_available;
+	/**
+	\brief Data acquisition timestamp in nanoseconds.
+	*/
 	unsigned long long timestamp_ns;
+	/**
+	\brief Gets the angular velocity vector of the gyroscope in deg/s.
+
+	The value is corrected from bias, scale and misalignment.
+	\note The value can be directly ingested in an IMU fusion algorithm to extract a quaternion.
+	\note Not available in SVO or STREAM mode.
+	*/
 	struct SL_Vector3 angular_velocity;
+	/**
+	\brief Linear acceleration vector (3x1) of the gyroscope in m/s².
+	
+	The value is corrected from bias, scale and misalignment.
+	\note The value can be directly ingested in an IMU fusion algorithm to extract a quaternion.
+	\note Not available in SVO or STREAM mode.
+	*/
 	struct SL_Vector3 linear_acceleration;
+	/**
+	\brief Angular velocity vector of the gyroscope in deg/s (uncorrected from the IMU calibration).
+	\note The value is the exact raw values from the IMU.
+	\note Not available in SVO or STREAM mode.
+	*/
 	struct SL_Vector3 angular_velocity_unc; //uncalibrated
+	/**
+	\brief Linear acceleration vector of the gyroscope in m/s² (uncorrected from the IMU calibration).
+	\note The value is the exact raw values from the IMU.
+	\note Not available in SVO or STREAM mode.
+	*/
 	struct SL_Vector3 linear_acceleration_unc; //uncalibrated
+	/**
+	\brief Orientation from the IMU sensor.
+	*/
 	struct SL_Quaternion orientation;
+	/**
+	\brief Covariance matrix of the orientation from the IMU sensor (\ref orientation).
+	*/
 	struct SL_Matrix3f orientation_covariance;
+	/**
+	\brief Covariance matrix of the angular velocity of the gyroscope in deg/s (\ref angular_velocity).
+	\note Not available in SVO or STREAM mode.
+	*/
 	struct SL_Matrix3f angular_velocity_convariance;
+	/**
+	\brief Covariance matrix of the linear acceleration of the gyroscope in m/s² (\ref linear_acceleration).
+	\note Not available in SVO or STREAM mode.
+	*/
 	struct SL_Matrix3f linear_acceleration_convariance;
 };
 
 /**
-* \brief Barometer Data structure
+* \brief Structure containing data from the barometer sensor.
 */
 struct SL_BarometerData {
-	bool is_available;
-	unsigned long long timestamp_ns;
-	float pressure;
-	float relative_altitude;
+	bool is_available; /**< \brief Whether the barometer sensor is available in your camera.*/
+	unsigned long long timestamp_ns; /**< \brief Data acquisition timestamp in nanoseconds.*/
+	float pressure; /**< \brief Ambient air pressure in hectopascal (hPa).*/
+	float relative_altitude; /**< \brief Relative altitude from first camera position (at \ref sl_open_camera() time).*/
 };
 
 /**
-* \brief Heading state enum
+* \brief Lists the different states of the magnetic heading.
 */
 enum SL_HEADING_STATE {
 	SL_HEADING_STATE_GOOD,/**< The heading is reliable and not affected by iron interferences. */
 	SL_HEADING_STATE_OK,/**< The heading is reliable, but affected by slight iron interferences. */
 	SL_HEADING_STATE_NOT_GOOD,/**< The heading is not reliable because affected by strong iron interferences. */
 	SL_HEADING_STATE_NOT_CALIBRATED,/**< The magnetometer has not been calibrated. */
-	SL_HEADING_STATE_MAG_NOT_AVAILABLE,/**< The magnetomer sensor is not available. */
+	SL_HEADING_STATE_MAG_NOT_AVAILABLE,/**< The magnetometer sensor is not available. */
 	SL_HEADING_STATE_LAST
 };
 
 /**
-* \brief Magnometer Data structure
+* \brief Structure containing data from the magnetometer sensor.
 */
 struct SL_MagnetometerData {
+	/**
+	\brief Whether the magnetometer sensor is available in your camera.
+	*/
 	bool is_available;
+	/**
+	\brief Data acquisition timestamp in nanoseconds.
+	*/
 	unsigned long long  timestamp_ns;
+	/**
+	\brief Magnetic field local vector in microtesla (μT).
+	\note To calibrate the magnetometer sensor, please use \b ZED \b Sensor \b Viewer tool after placing the camera in the final operating environment.
+	*/
 	struct SL_Vector3 magnetic_field_c; //calibrated
+	/**
+	\brief Uncalibrated magnetic field local vector in microtesla (μT).
+	\note The magnetometer raw values are affected by soft and hard iron interferences.
+	\note The sensor must be calibrated by placing the camera in the working environment and using \b ZED \b Sensor \b Viewer tool.
+	\note Not available in SVO or STREAM mode.
+	*/
 	struct SL_Vector3 magnetic_field_unc; //uncalibrated
+	/**
+	\brief Camera heading in degrees relative to the magnetic North Pole.
+	\note The magnetic North Pole has an offset with respect to the geographic North Pole, depending on the geographic position of the camera.
+	\note To get a correct magnetic heading, the magnetometer sensor must be calibrated using \b ZED \b Sensor \b Viewer tool.
+	*/
 	float magnetic_heading;
+	/**
+	\brief State of \ref magnetic_heading.
+	*/
 	enum SL_HEADING_STATE magnetic_heading_state;
+	/**
+	\brief Accuracy of \ref magnetic_heading measure in the range [0.0, 1.0].
+	\note A negative value means that the magnetometer must be calibrated using \b ZED \b Sensor \b Viewer tool.
+	*/
 	float magnetic_heading_accuracy;
+	/**
+	\brief Realtime data acquisition rate in hertz (Hz).
+	*/
 	float effective_rate;
 };
 
 /**
-* \brief Temperature Data structure
+* \brief Structure containing data from the temperature sensors.
 */
 struct SL_TemperatureData {
-	float imu_temp;
-	float barometer_temp;
-	float onboard_left_temp;
-	float onboard_right_temp;
+	float imu_temp; /**< \brief Temperature in °C at the IMU location (-100 if not available).*/
+	float barometer_temp; /**< \brief Temperature in °C at the barometer location (-100 if not available).*/
+	float onboard_left_temp; /**< \brief Temperature in °C next to the left image sensor (-100 if not available).*/
+	float onboard_right_temp; /**< \brief Temperature in °C next to the right image sensor (-100 if not available).*/
 };
 
 /**
-* \brief Sensor Data structure
+\brief Structure containing all sensors data (except image sensors) to be used for positional tracking or environment study.
+
+\note Some data are not available in SVO and streaming input mode.
+\note They are specified by a note "Not available in SVO or STREAM mode." in the documentation of a specific data.
+\note If nothing is mentioned in the documentation, they are available in all input modes.
 */
 struct SL_SensorsData {
 	//IMU data
-	struct SL_IMUData imu;
-	struct SL_BarometerData barometer;
-	struct SL_MagnetometerData magnetometer;
-	struct SL_TemperatureData temperature;
+	struct SL_IMUData imu; /**< \brief IMU data.*/
+	struct SL_BarometerData barometer; /**< \brief Barometer data.*/
+	struct SL_MagnetometerData magnetometer; /**< \brief Magnetometer data.*/
+	struct SL_TemperatureData temperature; /**< \brief Temperature data.*/
+
+	/**
+	\brief Motion state of the camera.
+	- static: 0
+	- moving: 1
+	- falling: 2
+	*/
 	int camera_moving_state;
+
+	/**
+	\brief Indicates if the Sensors data has been taken during a frame capture on sensor.
+
+	If the value is 1, the data has been taken during the same time than a frame has been acquired by the left sensor (the time precision is linked to the IMU rate, therefore 800Hz == 1.3ms).
+	\n If the value is 0, the data has not been taken during a frame acquisition.
+	 */
 	int image_sync_trigger;
 };
 
@@ -218,67 +418,69 @@ struct USB_product {
 \brief Lists error codes in the ZED SDK.
  */
 enum SL_ERROR_CODE {
-	SL_ERROR_CODE_CAMERA_REBOOTING = -1, /**< The ZED camera is currently rebooting.*/
+	SL_ERROR_CODE_CORRUPTED_FRAME = -2,/**< The image could be corrupted, Enabled with the parameter InitParameters::enable_image_validity_check.*/
+	SL_ERROR_CODE_CAMERA_REBOOTING = -1, /**< The camera is currently rebooting.*/
 	SL_ERROR_CODE_SUCCESS, /**< Standard code for successful behavior.*/
 	SL_ERROR_CODE_FAILURE, /**< Standard code for unsuccessful behavior.*/
 	SL_ERROR_CODE_NO_GPU_COMPATIBLE, /**< No GPU found or CUDA capability of the device is not supported.*/
-	SL_ERROR_CODE_NOT_ENOUGH_GPU_MEMORY, /**< Not enough GPU memory for this depth mode, try a different mode (such as PERFORMANCE), or increase the minimum depth value (see InitParameters::depth_minimum_distance).*/
-	SL_ERROR_CODE_CAMERA_NOT_DETECTED, /**< The ZED camera is not plugged or detected.*/
-	SL_ERROR_CODE_SENSORS_NOT_INITIALIZED, /**< The MCU that controls the sensors module has an invalid Serial Number. You can try to recover it launching the 'ZED Diagnostic' tool from the command line with the option '-r'.*/
-	SL_ERROR_CODE_SENSORS_NOT_AVAILABLE, /**< a ZED-M or ZED2/2i camera is detected but the sensors (imu,barometer...) cannot be opened. Only for ZED-M or ZED2/2i devices. Unplug/replug is required*/
-	SL_ERROR_CODE_INVALID_RESOLUTION, /**< In case of invalid resolution parameter, such as a upsize beyond the original image size in Camera::retrieveImage */
-	SL_ERROR_CODE_LOW_USB_BANDWIDTH, /**< This issue can occurs when you use multiple ZED or a USB 2.0 port (bandwidth issue).*/
-	SL_ERROR_CODE_CALIBRATION_FILE_NOT_AVAILABLE, /**< ZED calibration file is not found on the host machine. Use ZED Explorer or ZED Calibration to get one.*/
-	SL_ERROR_CODE_INVALID_CALIBRATION_FILE, /**< ZED calibration file is not valid, try to download the factory one or recalibrate your camera using 'ZED Calibration'.*/
+	SL_ERROR_CODE_NOT_ENOUGH_GPU_MEMORY, /**< Not enough GPU memory for this depth mode. Try a different mode (such as \ref SL_DEPTH_MODE_PERFORMANCE), or increase the minimum depth value (see SL_InitParameters.depth_minimum_distance).*/
+	SL_ERROR_CODE_CAMERA_NOT_DETECTED, /**< No camera was detected.*/
+	SL_ERROR_CODE_SENSORS_NOT_INITIALIZED, /**< The MCU that controls the sensors module has an invalid serial number. You can try to recover it by launching the <b>ZED Diagnostic</b> tool from the command line with the option <code>-r</code>.*/
+	SL_ERROR_CODE_SENSORS_NOT_AVAILABLE, /**< A camera with sensor is detected but the sensors (IMU, barometer, ...) cannot be opened. Only the \ref SL_MODEL_ZED does not has sensors. Unplug/replug is required.*/
+	SL_ERROR_CODE_INVALID_RESOLUTION, /**< In case of invalid resolution parameter, such as an upsize beyond the original image size in \ref sl_retrieve_image. */
+	SL_ERROR_CODE_LOW_USB_BANDWIDTH, /**< Insufficient bandwidth for the correct use of the camera. This issue can occur when you use multiple cameras or a USB 2.0 port.*/
+	SL_ERROR_CODE_CALIBRATION_FILE_NOT_AVAILABLE, /**< The calibration file of the camera is not found on the host machine. Use <b>ZED Explorer</b> or <b>ZED Calibration</b> to download the factory calibration file.*/
+	SL_ERROR_CODE_INVALID_CALIBRATION_FILE, /**< The calibration file is not valid. Try to download the factory calibration file or recalibrate your camera using <b>ZED Calibration</b>.*/
 	SL_ERROR_CODE_INVALID_SVO_FILE, /**< The provided SVO file is not valid.*/
-	SL_ERROR_CODE_SVO_RECORDING_ERROR, /**< An recorder related error occurred (not enough free storage, invalid file).*/
-	SL_ERROR_CODE_SVO_UNSUPPORTED_COMPRESSION, /**< An SVO related error when NVIDIA based compression cannot be loaded.*/
-	SL_ERROR_CODE_END_OF_SVOFILE_REACHED, /**<SVO end of file has been reached, and no frame will be available until the SVO position is reset.*/
+	SL_ERROR_CODE_SVO_RECORDING_ERROR, /**< An error occurred while trying to record an SVO (not enough free storage, invalid file, ...).*/
+	SL_ERROR_CODE_SVO_UNSUPPORTED_COMPRESSION, /**< An SVO related error, occurs when NVIDIA based compression cannot be loaded.*/
+	SL_ERROR_CODE_END_OF_SVOFILE_REACHED, /**< SVO end of file has been reached.\n No frame will be available until the SVO position is reset.*/
 	SL_ERROR_CODE_INVALID_COORDINATE_SYSTEM, /**< The requested coordinate system is not available.*/
-	SL_ERROR_CODE_INVALID_FIRMWARE, /**< The firmware of the ZED is out of date. Update to the latest version.*/
-	SL_ERROR_CODE_INVALID_FUNCTION_PARAMETERS, /**< An invalid parameter has been set for the function. */
-	SL_ERROR_CODE_CUDA_ERROR, /**< In grab() or retrieveXXX() only, a CUDA error has been detected in the process. Activate verbose in SL_Camera::open for more info.*/
-	SL_ERROR_CODE_CAMERA_NOT_INITIALIZED, /**< In grab() only, ZED SDK is not initialized. Probably a missing call to SL_Camera::open.*/
+	SL_ERROR_CODE_INVALID_FIRMWARE, /**< The firmware of the camera is out of date. Update to the latest version.*/
+	SL_ERROR_CODE_INVALID_FUNCTION_PARAMETERS, /**< Invalid parameters have been given for the function. */
+	SL_ERROR_CODE_CUDA_ERROR, /**< A CUDA error has been detected in the process, in \ref sl_grab() or sl_retrieve_xxx() only. Activate verbose in \ref sl_open_camera() for more info.*/
+	SL_ERROR_CODE_CAMERA_NOT_INITIALIZED, /**< The ZED SDK is not initialized. Probably a missing call to \ref sl_open_camera().*/
 	SL_ERROR_CODE_NVIDIA_DRIVER_OUT_OF_DATE, /**< Your NVIDIA driver is too old and not compatible with your current CUDA version. */
-	SL_ERROR_CODE_INVALID_FUNCTION_CALL, /**< The call of the function is not valid in the current context. Could be a missing call of SL_Camera::open. */
-	SL_ERROR_CODE_CORRUPTED_SDK_INSTALLATION, /**< The SDK wasn't able to load its dependencies or some assets are missing, the installer should be launched. */
-	SL_ERROR_CODE_INCOMPATIBLE_SDK_VERSION, /**< The installed SDK is incompatible SDK used to compile the program. */
-	SL_ERROR_CODE_INVALID_AREA_FILE, /**< The given area file does not exist, check the path. */
-	SL_ERROR_CODE_INCOMPATIBLE_AREA_FILE, /**< The area file does not contain enough data to be used or the SL_DEPTH_MODE used during the creation of the area file is different from the one currently set. */
+	SL_ERROR_CODE_INVALID_FUNCTION_CALL, /**< The call of the function is not valid in the current context. Could be a missing call of \ref sl_open_camera(). */
+	SL_ERROR_CODE_CORRUPTED_SDK_INSTALLATION, /**< The ZED SDK was not able to load its dependencies or some assets are missing. Reinstall the ZED SDK or check for missing dependencies (cuDNN, TensorRT). */
+	SL_ERROR_CODE_INCOMPATIBLE_SDK_VERSION, /**< The installed ZED SDK is incompatible with the one used to compile the program. */
+	SL_ERROR_CODE_INVALID_AREA_FILE, /**< The given area file does not exist. Check the path. */
+	SL_ERROR_CODE_INCOMPATIBLE_AREA_FILE, /**< The area file does not contain enough data to be used or the \ref SL_DEPTH_MODE used during the creation of the area file is different from the one currently set. */
 	SL_ERROR_CODE_CAMERA_FAILED_TO_SETUP, /**< Failed to open the camera at the proper resolution. Try another resolution or make sure that the UVC driver is properly installed.*/
-	SL_ERROR_CODE_CAMERA_DETECTION_ISSUE, /**< Your ZED can not be opened, try replugging it to another USB port or flipping the USB-C connector.*/
-	SL_ERROR_CODE_CANNOT_START_CAMERA_STREAM, /**< Cannot start camera stream. Make sure your camera is not already used by another process or blocked by firewall or antivirus.*/
-	SL_ERROR_CODE_NO_GPU_DETECTED, /**< No GPU found, CUDA is unable to list it. Can be a driver/reboot issue.*/
-	SL_ERROR_CODE_PLANE_NOT_FOUND, /**< Plane not found, either no plane is detected in the scene, at the location or corresponding to the floor, or the floor plane doesn't match the prior given*/
-	SL_ERROR_CODE_MODULE_NOT_COMPATIBLE_WITH_CAMERA, /**< The Object detection module is only compatible with the ZED 2*/
-	SL_ERROR_CODE_MOTION_SENSORS_REQUIRED, /**< The module needs the sensors to be enabled (see InitParameters::disable_sensors) */
-	SL_ERROR_CODE_MODULE_NOT_COMPATIBLE_WITH_CUDA_VERSION, /**< The module needs a newer version of CUDA */
+	SL_ERROR_CODE_CAMERA_DETECTION_ISSUE, /**< Your camera can not be opened. Try replugging it to another port or flipping the USB-C connector (if there is one).*/
+	SL_ERROR_CODE_CANNOT_START_CAMERA_STREAM, /**< Cannot start the camera stream. Make sure your camera is not already used by another process or blocked by firewall or antivirus.*/
+	SL_ERROR_CODE_NO_GPU_DETECTED, /**<  No GPU found. CUDA is unable to list it. Can be a driver/reboot issue.*/
+	SL_ERROR_CODE_PLANE_NOT_FOUND, /**< Plane not found. Either no plane is detected in the scene, at the location or corresponding to the floor, or the floor plane doesn't match the prior given.*/
+	SL_ERROR_CODE_MODULE_NOT_COMPATIBLE_WITH_CAMERA, /**< The module you try to use is not compatible with your camera \ref SL_MODEL. \note \ref SL_MODEL_ZED does not has an IMU and does not support the AI modules.*/
+	SL_ERROR_CODE_MOTION_SENSORS_REQUIRED, /**< The module needs the sensors to be enabled (see SL_InitParameters.sensors_required). */
+	SL_ERROR_CODE_MODULE_NOT_COMPATIBLE_WITH_CUDA_VERSION, /**< The module needs a newer version of CUDA. */
 };
 
 /**
-\brief Represents the available resolution defined in the \ref cameraResolution list.
+\brief Lists available resolutions.
 \note The VGA resolution does not respect the 640*480 standard to better fit the camera sensor (672*376 is used).
-\warning All resolution are not available for every camera. You can find the available resolutions for each camera in <a href="https://www.stereolabs.com/docs/video/camera-controls#selecting-a-resolution">our documentation</a>.
+\warning All resolutions are not available for every camera.
+\warning You can find the available resolutions for each camera in <a href="https://www.stereolabs.com/docs/video/camera-controls#selecting-a-resolution">our documentation</a>.
  */
 enum SL_RESOLUTION {
-	SL_RESOLUTION_HD2K, /**< 2208*1242, available framerates: 15 fps.*/
-	SL_RESOLUTION_HD1080, /**< 1920*1080, available framerates: 15, 30, 60 fps.*/
-	SL_RESOLUTION_HD1200, /**< 1920*1200, available framerates: 15, 30, 60 fps.*/
-	SL_RESOLUTION_HD720, /**< 1280*720, available framerates: 15, 30, 60 fps.*/
-	SL_RESOLUTION_SVGA, /**< 960*600, available framerates: 15, 30, 60, 120 fps.*/
-	SL_RESOLUTION_VGA, /**< 672*376, available framerates: 15, 30, 60, 100 fps.*/
-	SL_RESOLUTION_AUTO, /**< Select the resolution compatible with camera, on ZED X HD1200, HD720 otherwise */
+	SL_RESOLUTION_HD2K, /**< 2208*1242 (x2) \n Available FPS: 15*/
+	SL_RESOLUTION_HD1080, /**< 1920*1080 (x2) \n Available FPS: 15, 30*/
+	SL_RESOLUTION_HD1200, /**< 1920*1200 (x2) \n Available FPS: 15, 30, 60*/
+	SL_RESOLUTION_HD720, /**< 1280*720 (x2) \n Available FPS: 15, 30, 60*/
+	SL_RESOLUTION_SVGA, /**< 960*600 (x2) \n Available FPS: 15, 30, 60, 120*/
+	SL_RESOLUTION_VGA, /**< 672*376 (x2) \n Available FPS: 15, 30, 60, 100*/
+	SL_RESOLUTION_AUTO, /**< Select the resolution compatible with the camera: <ul><li>ZED X/X Mini: \ref SL_RESOLUTION_HD1200</li><li>other cameras: \ref SL_RESOLUTION_HD720</li></ul>*/
 };
 
 /**
-\brief Lists available unit for measures.
+\brief Lists available units for measures.
  */
 enum SL_UNIT {
-	SL_UNIT_MILLIMETER, /**< International System, 1/1000 METER. */
-	SL_UNIT_CENTIMETER, /**< International System, 1/100 METER. */
-	SL_UNIT_METER, /**< International System, 1 METER */
-	SL_UNIT_INCH, /**< Imperial Unit, 1/12 FOOT */
-	SL_UNIT_FOOT /**< Imperial Unit, 1 FOOT */
+	SL_UNIT_MILLIMETER, /**< International System (1/1000 meters) */
+	SL_UNIT_CENTIMETER, /**< International System (1/100 meters) */
+	SL_UNIT_METER, /**< International System (1 meter) */
+	SL_UNIT_INCH, /**< Imperial Unit (1/12 feet) */
+	SL_UNIT_FOOT /**< Imperial Unit (1 foot) */
 };
 
 /**
@@ -287,129 +489,138 @@ enum SL_UNIT {
 \image html CoordinateSystem.png
  */
 enum SL_COORDINATE_SYSTEM {
-	SL_COORDINATE_SYSTEM_IMAGE, /**< Standard coordinates system in computer vision. Used in OpenCV : see <a href="http://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html">here</a>. */
-	SL_COORDINATE_SYSTEM_LEFT_HANDED_Y_UP, /**< Left-Handed with Y up and Z forward. Used in Unity with DirectX. */
-	SL_COORDINATE_SYSTEM_RIGHT_HANDED_Y_UP, /**< Right-Handed with Y pointing up and Z backward. Used in OpenGL. */
-	SL_COORDINATE_SYSTEM_RIGHT_HANDED_Z_UP, /**< Right-Handed with Z pointing up and Y forward. Used in 3DSMax. */
-	SL_COORDINATE_SYSTEM_LEFT_HANDED_Z_UP, /**< Left-Handed with Z axis pointing up and X forward. Used in Unreal Engine. */
-	SL_COORDINATE_SYSTEM_RIGHT_HANDED_Z_UP_X_FWD /**< Right-Handed with Z pointing up and X forward. Used in ROS (REP 103). */
+	SL_COORDINATE_SYSTEM_IMAGE, /**< Standard coordinates system in computer vision.\n Used in OpenCV: see <a href="http://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html">here</a>. */
+	SL_COORDINATE_SYSTEM_LEFT_HANDED_Y_UP, /**< Left-handed with Y up and Z forward.\n Used in Unity with DirectX. */
+	SL_COORDINATE_SYSTEM_RIGHT_HANDED_Y_UP, /**< Right-handed with Y pointing up and Z backward.\n Used in OpenGL. */
+	SL_COORDINATE_SYSTEM_RIGHT_HANDED_Z_UP, /**< Right-handed with Z pointing up and Y forward.\n Used in 3DSMax. */
+	SL_COORDINATE_SYSTEM_LEFT_HANDED_Z_UP, /**< Left-handed with Z axis pointing up and X forward.\n Used in Unreal Engine. */
+	SL_COORDINATE_SYSTEM_RIGHT_HANDED_Z_UP_X_FWD /**< Right-handed with Z pointing up and X forward.\n Used in ROS (REP 103). */
 };
 
 /**
-\brief List of possible camera state
+\brief Lists possible camera states.
  */
 enum SL_CAMERA_STATE {
-	SL_CAMERA_STATE_AVAILABLE, /**< Defines if the camera can be opened by the SDK */
-	SL_CAMERA_STATE_NOT_AVAILABLE, /**<  Defines if the camera is already opened and unavailable*/
+	SL_CAMERA_STATE_AVAILABLE, /**< The camera can be opened by the ZED SDK. */
+	SL_CAMERA_STATE_NOT_AVAILABLE, /**< The camera is already opened and unavailable. */
 };
 
 /**
-\brief Lists compatible ZED Camera model
+\brief Lists ZED camera model.
  */
 enum SL_MODEL {
-	SL_MODEL_ZED, /**< Defines ZED Camera model */
-	SL_MODEL_ZED_M, /**<  Defines ZED Mini (ZED-M) Camera model */
-	SL_MODEL_ZED2, /**< Defines ZED 2 Camera model */
-	SL_MODEL_ZED2i, /**< Defines ZED 2i Camera model */
-	SL_MODEL_ZED_X,
-	SL_MODEL_ZED_XM
+	SL_MODEL_ZED, /**< ZED camera model */
+	SL_MODEL_ZED_M, /**< ZED Mini (ZED M) camera model */
+	SL_MODEL_ZED2, /**< ZED 2 camera model */
+	SL_MODEL_ZED2i, /**< ZED 2i camera model */
+	SL_MODEL_ZED_X, /**< ZED X camera model */
+	SL_MODEL_ZED_XM /**< ZED X Mini (ZED XM) camera model */
 };
 
 /**
-\brief List available memory type
+\brief Lists available memory type.
  */
 enum SL_MEM
 {
-	SL_MEM_CPU, /**< CPU Memory (Processor side).*/
-	SL_MEM_GPU  /**< GPU Memory (Graphic card side).*/
+	SL_MEM_CPU, /**< Data will be stored on the CPU (processor side).*/
+	SL_MEM_GPU  /**< Data will be stored on the GPU (graphic card side).*/
 };
 
 /**
-\brief List of the available onboard sensors
+\brief Lists available sensor types.
+\note Sensors are not available on \ref SL_MODEL_ZED.
  */
 enum SL_SENSOR_TYPE {
-	SL_SENSOR_TYPE_ACCELEROMETER, /**< Three axis Accelerometer sensor to measure the inertial accelerations. */
-	SL_SENSOR_TYPE_GYROSCOPE, /**< Three axis Gyroscope sensor to measure the angular velocitiers. */
-	SL_SENSOR_TYPE_MAGNETOMETER, /**< Three axis Magnetometer sensor to measure the orientation of the device respect to the earth magnetic field. */
+	SL_SENSOR_TYPE_ACCELEROMETER, /**< Three-axis accelerometer sensor to measure the inertial accelerations. */
+	SL_SENSOR_TYPE_GYROSCOPE, /**< Three-axis gyroscope sensor to measure the angular velocities. */
+	SL_SENSOR_TYPE_MAGNETOMETER, /**< Three-axis magnetometer sensor to measure the orientation of the device with respect to the Earth's magnetic field. */
 	SL_SENSOR_TYPE_BAROMETER, /**< Barometer sensor to measure the atmospheric pressure. */
 };
 
 /**
-\brief List of the available onboard sensors measurement units
+\brief Lists available measurement units of onboard sensors.
+\note Sensors are not available on \ref SL_MODEL_ZED.
  */
 enum SL_SENSORS_UNIT {
-	SL_SENSORS_UNIT_M_SEC_2, /**< Acceleration [m/s²]. */
-	SL_SENSORS_UNIT_DEG_SEC, /**< Angular velocity [deg/s]. */
-	SL_SENSORS_UNIT_U_T, /**< MAgnetic Fiels [uT]. */
-	SL_SENSORS_UNIT_HPA, /**< Atmospheric pressure [hPa]. */
-	SL_SENSORS_UNIT_CELSIUS, /**< Temperature [°C]. */
-	SL_SENSORS_UNIT_HERTZ /**< Frequency [Hz]. */
+	SL_SENSORS_UNIT_M_SEC_2, /**< m/s² (acceleration) */
+	SL_SENSORS_UNIT_DEG_SEC, /**< deg/s (angular velocity) */
+	SL_SENSORS_UNIT_U_T, /**< μT (magnetic field) */
+	SL_SENSORS_UNIT_HPA, /**< hPa (atmospheric pressure) */
+	SL_SENSORS_UNIT_CELSIUS, /**< °C (temperature) */
+	SL_SENSORS_UNIT_HERTZ, /**< Hz (frequency) */
 };
 
+/**
+\brief Lists possible sides on which to get data from.
+*/
 enum SL_SIDE {
 	SL_SIDE_LEFT, /**< Left side only.*/
 	SL_SIDE_RIGHT, /**< Right side only.*/
-	SL_SIDE_BOTH /**< Left and Right side.*/
+	SL_SIDE_BOTH /**< Left and right side.*/
 };
 
+/**
+\brief Lists available input types in the ZED SDK.
+ */
 enum SL_INPUT_TYPE {
-	SL_INPUT_TYPE_USB,
-	SL_INPUT_TYPE_SVO,
-	SL_INPUT_TYPE_STREAM,
-	SL_INPUT_TYPE_GMSL
+	SL_INPUT_TYPE_USB, /**< USB input mode */
+	SL_INPUT_TYPE_SVO, /**<  SVO file input mode */
+	SL_INPUT_TYPE_STREAM, /**< STREAM input mode (requires to use sl_enable_streaming() / sl_disable_streaming() on the "sender" side) */
+	SL_INPUT_TYPE_GMSL /**< GMSL input mode (only on NVIDIA Jetson) */
 };
 
 /**
-\brief Defines which type of position matrix is used to store camera path and pose.
+\brief Lists possible types of position matrix used to store camera path and pose.
  */
 enum SL_REFERENCE_FRAME
 {
-	SL_REFERENCE_FRAME_WORLD,  /**< The transform of SL_Pose will contains the motion with reference to the world frame (previously called PATH).*/
-	SL_REFERENCE_FRAME_CAMERA, /**< The transform of SL_Pose will contains the motion with reference to the previous camera frame (previously called POSE).*/
+	SL_REFERENCE_FRAME_WORLD,  /**< SL_PoseData will contain the motion with reference to the world frame (previously called SL_PATH).*/
+	SL_REFERENCE_FRAME_CAMERA, /**< SL_PoseData will contain the motion with reference to the previous camera frame (previously called SL_POSE)*/
 };
 
 /**
-\brief Lists specific and particular timestamps
+\brief Lists possible time references for timestamps or data.
  */
 enum SL_TIME_REFERENCE {
-	SL_TIME_REFERENCE_IMAGE, /** Defines the timestamp at the time the frame has been extracted from USB stream. */
-	SL_TIME_REFERENCE_CURRENT, /**  Defines the timestamp at the time of the function call. */
+	SL_TIME_REFERENCE_IMAGE, /**< The requested timestamp or data will be at the time of the frame extraction. */
+	SL_TIME_REFERENCE_CURRENT, /**< The requested timestamp or data will be at the time of the function call. */
 };
 
 /**
-\brief List of codec
+\brief Lists the different encoding types for image streaming.
  */
 enum SL_STREAMING_CODEC {
-	SL_STREAMING_CODEC_H264, /**< AVCHD/H264 encoding used in image streaming.*/
-	SL_STREAMING_CODEC_H265, /**<  HEVC/H265 encoding used in image streaming.*/
+	SL_STREAMING_CODEC_H264, /**< AVCHD/H264 encoding*/
+	SL_STREAMING_CODEC_H265, /**< HEVC/H265 encoding*/
 };
 
 /**
-\brief Lists available camera settings for the ZED camera (contrast, hue, saturation, gain...).
-\warning GAIN and EXPOSURE are linked in auto/default mode (see \ref SL_Camera::setCameraSettings).
+\brief Lists available camera settings for the camera (contrast, hue, saturation, gain, ...).
+\warning \ref SL_VIDEO_SETTINGS_GAIN and \ref SL_VIDEO_SETTINGS_EXPOSURE are linked in auto/default mode (see sl_set_camera_settings()).
  */
-enum SL_VIDEO_SETTINGS {
-	SL_VIDEO_SETTINGS_BRIGHTNESS, /**< Defines the brightness control. Affected value should be between 0 and 8.*/
-	SL_VIDEO_SETTINGS_CONTRAST, /**< Defines the contrast control. Affected value should be between 0 and 8.*/
-	SL_VIDEO_SETTINGS_HUE, /**< Defines the hue control. Affected value should be between 0 and 11.*/
-	SL_VIDEO_SETTINGS_SATURATION, /**< Defines the saturation control. Affected value should be between 0 and 8.*/
-	SL_VIDEO_SETTINGS_SHARPNESS, /**< Defines the digital sharpening control. Affected value should be between 0 and 8.*/
-	SL_VIDEO_SETTINGS_GAMMA, /**< Defines the ISP gamma control. Affected value should be between 1 and 9.*/
-	SL_VIDEO_SETTINGS_GAIN, /**< Defines the gain control. Affected value should be between 0 and 100 for manual control.*/
-	SL_VIDEO_SETTINGS_EXPOSURE, /**< Defines the exposure control. Affected value should be between 0 and 100 for manual control.\n The exposition is mapped linearly in a percentage of the following max values. Special case for the setExposure(0) that corresponds to 0.17072ms.\n The conversion to milliseconds depends on the framerate: <ul><li>15fps setExposure(100) -> 19.97ms</li><li>30fps setExposure(100) -> 19.97ms</li><li>60fps setExposure(100) -> 10.84072ms</li><li>100fps setExposure(100) -> 10.106624ms</li></ul>*/
-	SL_VIDEO_SETTINGS_AEC_AGC, /**< Defines if the Gain and Exposure are in automatic mode or not. Setting a Gain or Exposure through @GAIN or @EXPOSURE values will automatically set this value to 0.*/
-	SL_VIDEO_SETTINGS_AEC_AGC_ROI, /**< Defines the region of interest for automatic exposure/gain computation. To be used with overloaded @setCameraSettings/@getCameraSettings functions.*/
-	SL_VIDEO_SETTINGS_WHITEBALANCE_TEMPERATURE, /**< Defines the color temperature value. Setting a value will automatically set @WHITEBALANCE_AUTO to 0. Affected value should be between 2800 and 6500 with a step of 100.*/
-	SL_VIDEO_SETTINGS_WHITEBALANCE_AUTO, /**< Defines if the White balance is in automatic mode or not*/
-	SL_VIDEO_SETTINGS_LED_STATUS, /**< Defines the status of the camera front LED. Set to 0 to disable the light, 1 to enable the light. Default value is on. Requires Camera FW 1523 at least.*/
-	SL_VIDEO_SETTINGS_EXPOSURE_TIME,/**< Defines the real exposure time in microseconds. Only available for GMSL based cameras. Recommended for ZED-X/ZED-XM to control manual exposure (instead of EXPOSURE setting)*/
-	SL_VIDEO_SETTINGS_ANALOG_GAIN,/**< Defines the real analog gain (sensor) in mDB. Range is defined by Jetson DTS and by default [1000-16000].  Recommended for ZED-X/ZED-XM to control manual sensor gain (instead of GAIN setting). Only available for GMSL based cameras.*/
-	SL_VIDEO_SETTINGS_DIGITAL_GAIN,/**< Defines the real digital gain (ISP) as a factor. Range is defined by Jetson DTS and by default [1-256].  Recommended for ZED-X/ZED-XM to control manual ISP gain (instead of GAIN setting). Only available for GMSL based cameras.*/
-	SL_VIDEO_SETTINGS_AUTO_EXPOSURE_TIME_RANGE,/**< Defines the range of exposure auto control in micro seconds.Used with \ref setCameraSettings(VIDEO_SETTINGS,int,int).  Min/Max range between Max range defined in DTS. By default : [28000 - <fps_time> or 19000] us. Only available for GMSL based cameras.*/
-	SL_VIDEO_SETTINGS_AUTO_ANALOG_GAIN_RANGE, /**< Defines the range of sensor gain in automatic control. Used in setCameraSettings(VIDEO_SETTINGS,int,int). Min/Max range between [1000 - 16000]mdB  */
-	SL_VIDEO_SETTINGS_AUTO_DIGITAL_GAIN_RANGE, /**< Defines the range of digital ISP gain in automatic control. Used in setCameraSettings(VIDEO_SETTINGS,int,int) */
-	SL_VIDEO_SETTINGS_EXPOSURE_COMPENSATION, /**< Exposure target compensation made after AE. Reduces the overall illumination by factor of F-stops. values range is [0 - 100] (mapped between [-2.0,2.0]).  Only available for GMSL based cameras*/
-	SL_VIDEO_SETTINGS_DENOISING, /**< Defines the level of denoising applied on both left and right images. values range is [0-100].Default value is 50. Only available for GMSL based cameras*/
+enum SL_VIDEO_SETTINGS
+{
+	SL_VIDEO_SETTINGS_BRIGHTNESS, /**< Brightness control \n Affected value should be between 0 and 8. \note Not available for ZED X/X Mini cameras.*/
+	SL_VIDEO_SETTINGS_CONTRAST, /**< Contrast control \n Affected value should be between 0 and 8. \note Not available for ZED X/X Mini cameras.*/
+	SL_VIDEO_SETTINGS_HUE, /**< Hue control \n Affected value should be between 0 and 11. \note Not available for ZED X/X Mini cameras.*/
+	SL_VIDEO_SETTINGS_SATURATION, /**< Saturation control \n Affected value should be between 0 and 8.*/
+	SL_VIDEO_SETTINGS_SHARPNESS, /**< Digital sharpening control \n Affected value should be between 0 and 8.*/
+	SL_VIDEO_SETTINGS_GAMMA, /**< ISP gamma control \n Affected value should be between 1 and 9.*/
+	SL_VIDEO_SETTINGS_GAIN, /**< Gain control \n Affected value should be between 0 and 100 for manual control. \note If \ref SL_VIDEO_SETTINGS_EXPOSURE is set to -1 (automatic mode), then \ref SL_VIDEO_SETTINGS_GAIN will be automatic as well.*/
+	SL_VIDEO_SETTINGS_EXPOSURE, /**< Exposure control \n Affected value should be between 0 and 100 for manual control.\n The exposition is mapped linearly in a percentage of the following max values.\n Special case for <code>\ref SL_VIDEO_SETTINGS_EXPOSURE = 0</code> that corresponds to 0.17072ms.\n The conversion to milliseconds depends on the framerate: <ul><li>15fps & <code>\ref SL_VIDEO_SETTINGS_EXPOSURE = 100</code> -> 19.97ms</li><li>30fps & <code>\ref SL_VIDEO_SETTINGS_EXPOSURE = 100</code> -> 19.97ms</li><li>60fps & <code>\ref SL_VIDEO_SETTINGS_EXPOSURE = 100</code> -> 10.84072ms</li><li>100fps & <code>\ref SL_VIDEO_SETTINGS_EXPOSURE = 100</code> -> 10.106624ms</li></ul>*/
+	SL_VIDEO_SETTINGS_AEC_AGC, /**< Defines if the \ref SL_VIDEO_SETTINGS_GAIN and \ref SL_VIDEO_SETTINGS_EXPOSURE are in automatic mode or not.\n Setting \ref SL_VIDEO_SETTINGS_GAIN or \ref SL_VIDEO_SETTINGS_EXPOSURE values will automatically set this value to 0.*/
+	SL_VIDEO_SETTINGS_AEC_AGC_ROI, /**< Defines the region of interest for automatic exposure/gain computation.\n To be used with dedicated sl_set_roi_for_aec_agc() / sl_get_roi_for_aec_agc() functions.*/
+	SL_VIDEO_SETTINGS_WHITEBALANCE_TEMPERATURE, /**< Color temperature control \n Affected value should be between 2800 and 6500 with a step of 100. \note Setting a value will automatically set \ref SL_VIDEO_SETTINGS_WHITEBALANCE_AUTO to 0.*/
+	SL_VIDEO_SETTINGS_WHITEBALANCE_AUTO, /**< Defines if the white balance is in automatic mode or not.*/
+	SL_VIDEO_SETTINGS_LED_STATUS, /**< Status of the front LED of the camera.\n Set to 0 to disable the light, 1 to enable the light.\n Default value is on. \note Requires camera firmware 1523 at least.*/
+	SL_VIDEO_SETTINGS_EXPOSURE_TIME, /**< Real exposure time control in microseconds. \note Only available for ZED X/X Mini cameras.\note Replace \ref SL_VIDEO_SETTINGS_EXPOSURE setting.*/
+	SL_VIDEO_SETTINGS_ANALOG_GAIN, /**< Real analog gain (sensor) control in mDB.\n The range is defined by Jetson DTS and by default [1000-16000]. \note Only available for ZED X/X Mini cameras.\note Replace \ref SL_VIDEO_SETTINGS_GAIN settings.*/
+	SL_VIDEO_SETTINGS_DIGITAL_GAIN, /**< Real digital gain (ISP) as a factor. \n The range is defined by Jetson DTS and by default [1-256]. \note Only available for ZED X/X Mini cameras.\note Replace \ref SL_VIDEO_SETTINGS_GAIN settings.*/
+	SL_VIDEO_SETTINGS_AUTO_EXPOSURE_TIME_RANGE, /**< Range of exposure auto control in microseconds.\n Used with sl_get_camera_settings_min_max().\n Min/max range between max range defined in DTS.\n By default: [28000 - <fps_time> or 19000] us.\note Only available for ZED X/X Mini cameras.*/
+	SL_VIDEO_SETTINGS_AUTO_ANALOG_GAIN_RANGE, /**< Range of sensor gain in automatic control.\n Used with sl_get_camera_settings_min_max().\n Min/max range between max range defined in DTS.\n By default: [1000 - 16000] mdB. \note Only available for ZED X/X Mini cameras.*/
+	SL_VIDEO_SETTINGS_AUTO_DIGITAL_GAIN_RANGE, /**< Range of digital ISP gain in automatic control.\n Used with sl_get_camera_settings_min_max().\n Min/max range between max range defined in DTS.\n By default: [1 - 256]. \note Only available for ZED X/X Mini cameras. */
+	SL_VIDEO_SETTINGS_EXPOSURE_COMPENSATION, /**< Exposure-target compensation made after auto exposure.\n Reduces the overall illumination target by factor of F-stops.\n Affected value should be between 0 and 100 (mapped between [-2.0,2.0]).\n Default value is 50, i.e. no compensation applied. \note Only available for ZED X/X Mini cameras.*/
+	SL_VIDEO_SETTINGS_DENOISING, /**< Level of denoising applied on both left and right images.\n Affected value should be between 0 and 100.\n Default value is 50. \note Only available for ZED X/X Mini cameras.*/
 	SL_VIDEO_SETTINGS_LAST
 };
 
@@ -419,80 +630,86 @@ const int SL_VIDEO_SETTINGS_VALUE_AUTO = -1;
 \brief Lists retrievable measures.
 */
 enum SL_MEASURE {
-	SL_MEASURE_DISPARITY, /** Disparity map. Each pixel contains 1 float. SL_MAT_TYPE_F32_C1.*/
-	SL_MEASURE_DEPTH, /** Depth map. In SL_UNIT defined in SL_InitParameters. Each pixel contains 1 float. SL_MAT_TYPE_F32_C1.*/
-	SL_MEASURE_CONFIDENCE, /** Certainty/confidence of the depth map. Each pixel contains 1 float. SL_MAT_TYPE_F32_C1.*/
-	SL_MEASURE_XYZ, /** Point cloud. Each pixel contains 4 float (X, Y, Z, not used). SL_MAT_TYPE_F32_C4.*/
-	SL_MEASURE_XYZRGBA, /** Colored point cloud. Each pixel contains 4 float (X, Y, Z, color). The color need to be read as an unsigned char[4] representing the RGBA color.  SL_MAT_TYPE_F32_C4.*/
-	SL_MEASURE_XYZBGRA, /** Colored point cloud. Each pixel contains 4 float (X, Y, Z, color). The color need to be read as an unsigned char[4] representing the BGRA color.  SL_MAT_TYPE_F32_C4.*/
-	SL_MEASURE_XYZARGB, /** Colored point cloud. Each pixel contains 4 float (X, Y, Z, color). The color need to be read as an unsigned char[4] representing the ARGB color.  SL_MAT_TYPE_F32_C4.*/
-	SL_MEASURE_XYZABGR, /** Colored point cloud. Each pixel contains 4 float (X, Y, Z, color). The color need to be read as an unsigned char[4] representing the ABGR color.  SL_MAT_TYPE_F32_C4.*/
-	SL_MEASURE_NORMALS, /** Normals vector. Each pixel contains 4 float (X, Y, Z, 0).  SL_MAT_TYPE_F32_C4.*/
-	SL_MEASURE_DISPARITY_RIGHT, /**< Disparity map for right sensor. Each pixel contains 1 float. SL_MAT_TYPE_F32_C1.*/
-	SL_MEASURE_DEPTH_RIGHT, /** Depth map for right sensor. Each pixel contains 1 float. SL_MAT_TYPE_F32_C1.*/
-	SL_MEASURE_XYZ_RIGHT, /** Point cloud for right sensor. Each pixel contains 4 float (X, Y, Z, not used). SL_MAT_TYPE_F32_C4.*/
-	SL_MEASURE_XYZRGBA_RIGHT, /** Colored point cloud for right sensor. Each pixel contains 4 float (X, Y, Z, color). The color need to be read as an unsigned char[4] representing the RGBA color. SL_MAT_TYPE_F32_C4.*/
-	SL_MEASURE_XYZBGRA_RIGHT, /** Colored point cloud for right sensor. Each pixel contains 4 float (X, Y, Z, color). The color need to be read as an unsigned char[4] representing the BGRA color. SL_MAT_TYPE_F32_C4.*/
-	SL_MEASURE_XYZARGB_RIGHT, /** Colored point cloud for right sensor. Each pixel contains 4 float (X, Y, Z, color). The color need to be read as an unsigned char[4] representing the ARGB color. SL_MAT_TYPE_F32_C4.*/
-	SL_MEASURE_XYZABGR_RIGHT, /** Colored point cloud for right sensor. Each pixel contains 4 float (X, Y, Z, color). The color need to be read as an unsigned char[4] representing the ABGR color. SL_MAT_TYPE_F32_C4.*/
-	SL_MEASURE_NORMALS_RIGHT, /** Normals vector for right view. Each pixel contains 4 float (X, Y, Z, 0).  SL_MAT_TYPE_F32_C4.*/
-	SL_MEASURE_DEPTH_U16_MM, /** Depth map in millimeter whatever the SL_UNIT defined in SL_InitParameters. Invalid values are set to 0, depth values are clamped at 65000.  Each pixel  contains 1 unsigned short. SL_MAT_TYPE_U16_C1.*/
-	SL_MEASURE_DEPTH_U16_MM_RIGHT /** Depth map in millimeter for right sensor. Each pixel  contains 1 unsigned short. SL_MAT_TYPE_U16_C1.*/
+	SL_MEASURE_DISPARITY, /**< Disparity map. Each pixel contains 1 float.\n Type: \ref SL_MAT_TYPE_F32_C1*/
+	SL_MEASURE_DEPTH, /**< Depth map in sl::UNIT defined in SL_InitParameters::coordinate_unit. Each pixel contains 1 float.\n Type: \ref SL_MAT_TYPE_F32_C1*/
+	SL_MEASURE_CONFIDENCE, /**< Certainty/confidence of the depth map. Each pixel contains 1 float.\n Type: \ref SL_MAT_TYPE_F32_C1*/
+	SL_MEASURE_XYZ, /**< Point cloud. Each pixel contains 4 float (X, Y, Z, not used).\n Type: \ref SL_MAT_TYPE_F32_C4*/
+	SL_MEASURE_XYZRGBA, /**< Colored point cloud. Each pixel contains 4 float (X, Y, Z, color).\n The color should to be read as an unsigned char[4] representing the RGBA color.\n Type: \ref SL_MAT_TYPE_F32_C4*/
+	SL_MEASURE_XYZBGRA, /**< Colored point cloud. Each pixel contains 4 float (X, Y, Z, color).\n The color should to be read as an unsigned char[4] representing the BGRA color.\n Type: \ref SL_MAT_TYPE_F32_C4*/
+	SL_MEASURE_XYZARGB, /**< Colored point cloud. Each pixel contains 4 float (X, Y, Z, color).\n The color should to be read as an unsigned char[4] representing the ARGB color.\n Type: \ref SL_MAT_TYPE_F32_C4*/
+	SL_MEASURE_XYZABGR, /**< Colored point cloud. Each pixel contains 4 float (X, Y, Z, color).\n The color should to be read as an unsigned char[4] representing the ABGR color.\n Type: \ref SL_MAT_TYPE_F32_C4*/
+	SL_MEASURE_NORMALS, /**< Normal vectors map. Each pixel contains 4 float (X, Y, Z, 0).\n Type: \ref SL_MAT_TYPE_F32_C4*/
+	SL_MEASURE_DISPARITY_RIGHT, /**< Disparity map for right sensor. Each pixel contains 1 float.\n Type: \ref SL_MAT_TYPE_F32_C1*/
+	SL_MEASURE_DEPTH_RIGHT, /**< Depth map for right sensor. Each pixel contains 1 float.\n Type: \ref SL_MAT_TYPE_F32_C1*/
+	SL_MEASURE_XYZ_RIGHT, /**< Point cloud for right sensor. Each pixel contains 4 float (X, Y, Z, not used).\n Type: \ref SL_MAT_TYPE_F32_C4*/
+	SL_MEASURE_XYZRGBA_RIGHT, /**< Colored point cloud for right sensor. Each pixel contains 4 float (X, Y, Z, color).\n The color should to be read as an unsigned char[4] representing the RGBA color.\n Type: \ref SL_MAT_TYPE_F32_C4*/
+	SL_MEASURE_XYZBGRA_RIGHT, /**< Colored point cloud for right sensor. Each pixel contains 4 float (X, Y, Z, color).\n The color should to be read as an unsigned char[4] representing the BGRA color.\n Type: \ref SL_MAT_TYPE_F32_C4*/
+	SL_MEASURE_XYZARGB_RIGHT, /**< Colored point cloud for right sensor. Each pixel contains 4 float (X, Y, Z, color).\n The color should to be read as an unsigned char[4] representing the ARGB color.\n Type: \ref SL_MAT_TYPE_F32_C4*/
+	SL_MEASURE_XYZABGR_RIGHT, /**< Colored point cloud for right sensor. Each pixel contains 4 float (X, Y, Z, color).\n The color should to be read as an unsigned char[4] representing the ABGR color.\n Type: \ref SL_MAT_TYPE_F32_C4*/
+	SL_MEASURE_NORMALS_RIGHT, /**< Normal vectors map for right view. Each pixel contains 4 float (X, Y, Z, 0).\n Type:  \ref SL_MAT_TYPE_F32_C4*/
+	SL_MEASURE_DEPTH_U16_MM, /**< Depth map in millimeter whatever the sl::UNIT defined in SL_InitParameters::coordinate_unit.\n Invalid values are set to 0 and depth values are clamped at 65000.\n Each pixel contains 1 unsigned short.\n Type: \ref SL_MAT_TYPE_U16_C1.*/
+	SL_MEASURE_DEPTH_U16_MM_RIGHT /**< Depth map in millimeter for right sensor. Each pixel contains 1 unsigned short.\n Type: \ref SL_MAT_TYPE_U16_C1.*/
 };
 
 /**
 \brief Lists available views.
  */
 enum SL_VIEW {
-	SL_VIEW_LEFT, /** Left BGRA image. Each pixel contains 4 unsigned char (B,G,R,A). SL_MAT_TYPE_U8_C4.  */
-	SL_VIEW_RIGHT, /** Right BGRA image. Each pixel contains 4 unsigned char (B,G,R,A). SL_MAT_TYPE_U8_C4. */
-	SL_VIEW_LEFT_GRAY, /** Left GRAY image. Each pixel contains 1 unsigned char. SL_MAT_TYPE_U8_C1. */
-	SL_VIEW_RIGHT_GRAY, /** Right GRAY image. Each pixel contains 1 unsigned char. SL_MAT_TYPE_U8_C1. */
-	SL_VIEW_LEFT_UNRECTIFIED, /** Left BGRA unrectified image. Each pixel contains 4 unsigned char (B,G,R,A). SL_MAT_TYPE_U8_C4. */
-	SL_VIEW_RIGHT_UNRECTIFIED, /** Right BGRA unrectified image. Each pixel contains 4 unsigned char (B,G,R,A). SL_MAT_TYPE_U8_C4. */
-	SL_VIEW_LEFT_UNRECTIFIED_GRAY, /** Left GRAY unrectified image. Each pixel contains 1 unsigned char. SL_MAT_TYPE_U8_C1. */
-	SL_VIEW_RIGHT_UNRECTIFIED_GRAY, /** Right GRAY unrectified image. Each pixel contains 1 unsigned char. SL_MAT_TYPE_U8_C1. */
-	SL_VIEW_SIDE_BY_SIDE, /** Left and right image (the image width is therefore doubled). Each pixel contains 4 unsigned char (B,G,R,A). SL_MAT_TYPE_U8_C4. */
-	SL_VIEW_DEPTH, /** Color rendering of the depth. Each pixel contains 4 unsigned char (B,G,R,A). SL_MAT_TYPE_U8_C4. Use \ref MEASURE "MEASURE_DEPTH" with \ref Camera.retrieveMeasure() to get depth values.*/
-	SL_VIEW_CONFIDENCE, /** Color rendering of the depth confidence. Each pixel contains 4 unsigned char (B,G,R,A). SL_MAT_TYPE_U8_C4. */
-	SL_VIEW_NORMALS, /** Color rendering of the normals. Each pixel contains 4 unsigned char (B,G,R,A). SL_MAT_TYPE_U8_C4. */
-	SL_VIEW_DEPTH_RIGHT, /** Color rendering of the right depth mapped on right sensor. Each pixel contains 4 unsigned char (B,G,R,A). SL_MAT_TYPE_U8_C4. */
-	SL_VIEW_NORMALS_RIGHT /** Color rendering of the normals mapped on right sensor. Each pixel contains 4 unsigned char (B,G,R,A). SL_MAT_TYPE_U8_C4. */
-};
-
-/**
-\brief Lists available object tracking state
+	SL_VIEW_LEFT, /**< Left BGRA image. Each pixel contains 4 unsigned char (B, G, R, A).\n Type: \ref SL_MAT_TYPE_U8_C4 */
+	SL_VIEW_RIGHT, /**<  Right BGRA image. Each pixel contains 4 unsigned char (B, G, R, A).\n Type: \ref SL_MAT_TYPE_U8_C4 */
+	SL_VIEW_LEFT_GRAY, /**< Left gray image. Each pixel contains 1 unsigned char.\n Type: \ref SL_MAT_TYPE_U8_C1 */
+	SL_VIEW_RIGHT_GRAY, /**< Right gray image. Each pixel contains 1 unsigned char.\n Type: \ref SL_MAT_TYPE_U8_C1 */
+	SL_VIEW_LEFT_UNRECTIFIED, /**< Left BGRA unrectified image. Each pixel contains 4 unsigned char (B, G, R, A).\n Type: \ref SL_MAT_TYPE_U8_C4 */
+	SL_VIEW_RIGHT_UNRECTIFIED, /**< Right BGRA unrectified image. Each pixel contains 4 unsigned char (B, G, R, A).\n Type: \ref SL_MAT_TYPE_U8_C4 */
+	SL_VIEW_LEFT_UNRECTIFIED_GRAY, /**< Left gray unrectified image. Each pixel contains 1 unsigned char.\n Type: \ref SL_MAT_TYPE_U8_C1 */
+	SL_VIEW_RIGHT_UNRECTIFIED_GRAY, /**< Right gray unrectified image. Each pixel contains 1 unsigned char.\n Type: \ref SL_MAT_TYPE_U8_C1 */
+	SL_VIEW_SIDE_BY_SIDE, /**< Left and right image (the image width is therefore doubled). Each pixel contains 4 unsigned char (B, G, R, A).\n Type: \ref SL_MAT_TYPE_U8_C4 */
+	SL_VIEW_DEPTH, /**< Color rendering of the depth. Each pixel contains 4 unsigned char (B, G, R, A).\n Type: \ref SL_MAT_TYPE_U8_C4 \note Use \ref SL_MEASURE_DEPTH with \ref sl_retrieve_measure() to get depth values.*/
+	SL_VIEW_CONFIDENCE, /**< Color rendering of the depth confidence. Each pixel contains 4 unsigned char (B, G, R, A).\n Type: \ref SL_MAT_TYPE_U8_C4 \note Use \ref SL_MEASURE_CONFIDENCE with \ref sl_retrieve_measure() to get confidence values.*/
+	SL_VIEW_NORMALS, /**< Color rendering of the normals. Each pixel contains 4 unsigned char (B, G, R, A).\n Type: \ref SL_MAT_TYPE_U8_C4 \note Use \ref SL_MEASURE_NORMALS with \ref sl_retrieve_measure() to get normal values.*/
+	SL_VIEW_DEPTH_RIGHT, /**< Color rendering of the right depth mapped on right sensor. Each pixel contains 4 unsigned char (B, G, R, A).\n Type: \ref SL_MAT_TYPE_U8_C4 \note Use \ref SL_MEASURE_DEPTH_RIGHT with \ref sl_retrieve_measure() to get depth right values.*/
+	SL_VIEW_NORMALS_RIGHT /**< Color rendering of the normals mapped on right sensor. Each pixel contains 4 unsigned char (B, G, R, A).\n Type: \ref SL_MAT_TYPE_U8_C4 \note Use \ref SL_MEASURE_NORMALS_RIGHT with \ref sl_retrieve_measure() to get normal right values.*/
+};
+
+/**
+\brief Lists the different states of object tracking.
  */
 enum SL_OBJECT_TRACKING_STATE
 {
-	SL_OBJECT_TRACKING_STATE_OFF,       /**< The tracking is not yet initialized, the object ID is not usable */
-	SL_OBJECT_TRACKING_STATE_OK,        /**< The object is tracked */
-	SL_OBJECT_TRACKING_STATE_SEARCHING, /**< The object couldn't be detected in the image and is potentially occluded, the trajectory is estimated */
-	SL_OBJECT_TRACKING_STATE_TERMINATE /**< This is the last searching state of the track, the track will be deleted in the next retreiveObject */
+	SL_OBJECT_TRACKING_STATE_OFF,       /**< The tracking is not yet initialized.\n The object id is not usable. */
+	SL_OBJECT_TRACKING_STATE_OK,        /**< The object is tracked. */
+	SL_OBJECT_TRACKING_STATE_SEARCHING, /**< The object could not be detected in the image and is potentially occluded.\n The trajectory is estimated.*/
+	SL_OBJECT_TRACKING_STATE_TERMINATE	/**< This is the last searching state of the track.\n The track will be deleted in the next sl_retrieve_objects(). */
 };
 
 /**
 \brief Lists the different states of positional tracking.
  */
 enum SL_POSITIONAL_TRACKING_STATE {
-	SL_POSITIONAL_TRACKING_STATE_SEARCHING, /** The camera is searching for a previously known position to locate itself.*/
-	SL_POSITIONAL_TRACKING_STATE_OK, /** Positional tracking is working normally.*/
-	SL_POSITIONAL_TRACKING_STATE_OFF, /** Positional tracking is not enabled.*/
-	SL_POSITIONAL_TRACKING_STATE_FPS_TOO_LOW, /** Effective FPS is too low to give proper results for motion tracking. Consider using PERFORMANCES parameters (DEPTH_MODE_PERFORMANCE, low camera resolution (VGA,HD720))*/
-	SL_POSITIONAL_TRACKING_STATE_SEARCHING_FLOOR_PLANE, /**< The camera is searching for the floor plane to locate itself related to it, the REFERENCE_FRAME::WORLD will be set afterward.*/
+	SL_POSITIONAL_TRACKING_STATE_SEARCHING, /**< The camera is searching for a previously known position to locate itself.*/
+	SL_POSITIONAL_TRACKING_STATE_OK, /**< The positional tracking is working normally.*/
+	SL_POSITIONAL_TRACKING_STATE_OFF, /**< The positional tracking is not enabled.*/
+	SL_POSITIONAL_TRACKING_STATE_FPS_TOO_LOW, /**< The effective FPS is too low to give proper results for motion tracking.\n Consider using performance parameters (\ref SL_DEPTH_MODE_PERFORMANCE, low camera resolution (\ref SL_RESOLUTION_VGA / \ref SL_RESOLUTION_SVGA or \ref SL_RESOLUTION_HD720).*/
+	SL_POSITIONAL_TRACKING_STATE_SEARCHING_FLOOR_PLANE, /**< The camera is searching for the floor plane to locate itself with respect to it.\n The \ref SL_REFERENCE_FRAME_WORLD will be set afterward.*/
 };
 
 /**
- \enum POSITIONAL_TRACKING_MODE
- \ingroup PositionalTracking_group
- \brief Lists the mode of positional tracking that can be used.
-  */
+\brief Lists the mode of positional tracking that can be used.
+*/
 enum SL_POSITIONAL_TRACKING_MODE {
-	SL_POSITIONAL_TRACKING_MODE_STANDARD, /**< Default mode, best compromise in performance and accuracy */
-	SL_POSITIONAL_TRACKING_MODE_QUALITY, /**< Improve accuracy in more challening scenes such as outdoor repetitive patterns like extensive field. Curently works best with ULTRA depth mode, requires more compute power */
-	///@cond SHOWHIDDEN
-	SL_POSITIONAL_TRACKING_MODE_LAST
-	///@endcond
+	SL_POSITIONAL_TRACKING_MODE_STANDARD, /**< Default mode. Best compromise in performance and accuracy. */
+	SL_POSITIONAL_TRACKING_MODE_QUALITY, /**< Improve accuracy in more challenging scenes such as outdoor repetitive patterns like extensive fields.\n Currently works best with \ref SL_DEPTH_MODE_ULTRA and requires more compute power. */
+};
+
+/**
+\enum SL_REGION_OF_INTEREST_AUTO_DETECTION_STATE
+\brief Lists the different states of region of interest auto detection.
+ */
+enum SL_REGION_OF_INTEREST_AUTO_DETECTION_STATE
+{
+	SL_REGION_OF_INTEREST_AUTO_DETECTION_STATE_RUNNING, /**< The region of interest auto detection is initializing.*/
+	SL_REGION_OF_INTEREST_AUTO_DETECTION_STATE_READY, /**< The region of interest mask is ready, if auto_apply was enabled, the region of interest mask is being used*/
+	SL_REGION_OF_INTEREST_AUTO_DETECTION_STATE_NOT_ENABLED, /**< The region of interest auto detection is not enabled*/
 };
 
 
@@ -501,39 +718,39 @@ enum SL_POSITIONAL_TRACKING_MODE {
  */
 enum SL_AREA_EXPORTING_STATE {
 	SL_AREA_EXPORTING_STATE_SUCCESS, /**< The spatial memory file has been successfully created.*/
-	SL_AREA_EXPORTING_STATE_RUNNING, /**< The spatial memory is currently written.*/
+	SL_AREA_EXPORTING_STATE_RUNNING, /**< The spatial memory is currently being written.*/
 	SL_AREA_EXPORTING_STATE_NOT_STARTED, /**< The spatial memory file exportation has not been called.*/
 	SL_AREA_EXPORTING_STATE_FILE_EMPTY, /**< The spatial memory contains no data, the file is empty.*/
 	SL_AREA_EXPORTING_STATE_FILE_ERROR, /**< The spatial memory file has not been written because of a wrong file name.*/
-	SL_AREA_EXPORTING_STATE_SPATIAL_MEMORY_DISABLED, /**< The spatial memory learning is disable, no file can be created.*/
+	SL_AREA_EXPORTING_STATE_SPATIAL_MEMORY_DISABLED, /**< The spatial memory learning is disabled. No file can be created.*/
 };
 
 /**
-\brief Gives the spatial mapping state.
+\brief Lists the different states of spatial mapping.
  */
 enum SL_SPATIAL_MAPPING_STATE {
-	SL_SPATIAL_MAPPING_STATE_INITIALIZING, /** The spatial mapping is initializing.*/
-	SL_SPATIAL_MAPPING_STATE_OK, /** The depth and tracking data were correctly integrated in the fusion algorithm.*/
-	SL_SPATIAL_MAPPING_STATE_NOT_ENOUGH_MEMORY, /** The maximum memory dedicated to the scanning has been reach, the mesh will no longer be updated.*/
-	SL_SPATIAL_MAPPING_STATE_NOT_ENABLED, /** Camera::enableSpatialMapping() wasn't called (or the scanning was stopped and not relaunched).*/
-	SL_SPATIAL_MAPPING_STATE_FPS_TOO_LOW, /** Effective FPS is too low to give proper results for spatial mapping. Consider using PERFORMANCES parameters (DEPTH_MODE_PERFORMANCE, low camera resolution (VGA,HD720), spatial mapping low resolution)*/
+	SL_SPATIAL_MAPPING_STATE_INITIALIZING, /**< The spatial mapping is initializing.*/
+	SL_SPATIAL_MAPPING_STATE_OK, /**< The depth and tracking data were correctly integrated in the mapping algorithm.*/
+	SL_SPATIAL_MAPPING_STATE_NOT_ENOUGH_MEMORY, /**< The maximum memory dedicated to the scanning has been reached.\n The mesh will no longer be updated.*/
+	SL_SPATIAL_MAPPING_STATE_NOT_ENABLED, /**< sl_enable_spatial_mapping() wasn't called or the scanning was stopped and not relaunched.*/
+	SL_SPATIAL_MAPPING_STATE_FPS_TOO_LOW, /**< The effective FPS is too low to give proper results for spatial mapping.\n Consider using performance parameters (\ref SL_DEPTH_MODE_PERFORMANCE, low camera resolution (\ref SL_RESOLUTION_VGA / \ref SL_RESOLUTION_SVGA or \ref SL_RESOLUTION_HD720).*/
 };
 
 /**
 \brief Lists the types of spatial maps that can be created.
  */
 enum SL_SPATIAL_MAP_TYPE {
-	SL_SPATIAL_MAP_TYPE_MESH, /**< Represents a surface with faces, 3D points are linked by edges, no color information.*/
-	SL_SPATIAL_MAP_TYPE_FUSED_POINT_CLOUD /**< Geometry is represented by a set of 3D colored points.*/
+	SL_SPATIAL_MAP_TYPE_MESH, /**< The geometry is represented by a set of vertices connected by edges and forming faces.\n No color information is available.*/
+	SL_SPATIAL_MAP_TYPE_FUSED_POINT_CLOUD /**< The geometry is represented by a set of 3D colored points.*/
 };
 
 /**
-\brief Lists available mesh filtering intensity.
+\brief Lists available mesh filtering intensities.
  */
 enum SL_MESH_FILTER {
 	SL_MESH_FILTER_LOW, /**< Clean the mesh by closing small holes and removing isolated faces.*/
-	SL_MESH_FILTER_MEDIUM, /**< Soft decimation and smoothing.*/
-	SL_MESH_FILTER_HIGH, /**< Decimate the number of triangles and apply a soft smooth.*/
+	SL_MESH_FILTER_MEDIUM, /**< Soft faces decimation and smoothing.*/
+	SL_MESH_FILTER_HIGH, /**< Drastically reduce the number of faces and apply a soft smooth.*/
 };
 
 /**
@@ -541,106 +758,110 @@ enum SL_MESH_FILTER {
  */
 enum SL_MESH_FILE_FORMAT {
 	SL_MESH_FILE_FORMAT_PLY, /**< Contains only vertices and faces.*/
-	SL_MESH_FILE_FORMAT_PLY_BIN, /**< Contains only vertices and faces, encoded in binary.*/
-	SL_MESH_FILE_FORMAT_OBJ, /**< Contains vertices, normals, faces and textures informations if possible.*/
-
+	SL_MESH_FILE_FORMAT_PLY_BIN, /**< Contains only vertices and faces encoded in binary.*/
+	SL_MESH_FILE_FORMAT_OBJ, /**< Contains vertices, normals, faces, and texture information (if possible).*/
 };
 
 /**
 \brief Lists available depth computation modes.
  */
 enum SL_DEPTH_MODE {
-	SL_DEPTH_MODE_NONE, /** This mode does not compute any depth map. Only rectified stereo images will be available.*/
+	SL_DEPTH_MODE_NONE, /** No depth map computation.\n Only rectified stereo images will be available.*/
 	SL_DEPTH_MODE_PERFORMANCE, /** Computation mode optimized for speed.*/
 	SL_DEPTH_MODE_QUALITY, /**< Computation mode designed for challenging areas with untextured surfaces.*/
 	//SL_DEPTH_MODE_NEURAL_FAST, /**< End to End Neural disparity estimation, requires AI module */
-	SL_DEPTH_MODE_ULTRA, /** Computation mode favorising edges and sharpness. Requires more GPU memory and computation power.*/
-	SL_DEPTH_MODE_NEURAL /**< End to End Neural disparity estimation, requires AI module */
+	SL_DEPTH_MODE_ULTRA, /**< Computation mode that favors edges and sharpness.\n Requires more GPU memory and computation power.*/
+	SL_DEPTH_MODE_NEURAL /**< End to End Neural disparity estimation.\n Requires AI module. */
 };
 
 /**
-\brief Gives the camera flip mode
+\brief Lists possible flip modes of the camera.
  */
 enum SL_FLIP_MODE {
-	SL_FLIP_MODE_OFF, /**  default behavior.*/
-	SL_FLIP_MODE_ON, /** Images and camera sensors data are flipped useful when your camera is mounted upside down.*/
-	SL_FLIP_MODE_AUTO, /** Live mode: use the camera orientation (if an IMU is available) to set the flip mode. SVO mode: read the state of this enum when recorded.*/
+	SL_FLIP_MODE_OFF, /**< No flip applied. Default behavior.*/
+	SL_FLIP_MODE_ON, /**< Images and camera sensors' data are flipped useful when your camera is mounted upside down.*/
+	SL_FLIP_MODE_AUTO, /**< In LIVE mode, use the camera orientation (if an IMU is available) to set the flip mode.\n In SVO mode, read the state of this enum when recorded.*/
 };
 
 /**
-\brief List available copy operation on Mat
+\brief Lists available copy operation on matrix.
  */
 enum SL_COPY_TYPE
 {
-	SL_COPY_TYPE_CPU_CPU, /**< copy data from CPU to CPU.*/
-	SL_COPY_TYPE_CPU_GPU, /**< copy data from CPU to GPU.*/
+	SL_COPY_TYPE_CPU_CPU, /**< Copy data from CPU to CPU.*/
+	SL_COPY_TYPE_CPU_GPU, /**< Copy data from CPU to GPU.*/
 	SL_COPY_TYPE_GPU_GPU, /**< copy data from GPU to GPU.*/
-	SL_COPY_TYPE_GPU_CPU  /**< copy data from GPU to CPU.*/
+	SL_COPY_TYPE_GPU_CPU  /**< Copy data from GPU to CPU.*/
 };
 
 /**
 \brief Lists available compression modes for SVO recording.
-\brief SL_SVO_COMPRESSION_MODE_LOSSLESS is an improvement of previous lossless compression (used in ZED Explorer), even if size may be bigger, compression time is much faster.
+\note \ref SL_SVO_COMPRESSION_MODE_LOSSLESS is an improvement of previous lossless compression (used in ZED Explorer), even if size may be bigger, compression time is much faster.
  */
 enum SL_SVO_COMPRESSION_MODE {
-	SL_SVO_COMPRESSION_MODE_LOSSLESS, /**< PNG/ZSTD (lossless) CPU based compression : avg size = 42% (of RAW).*/
-	SL_SVO_COMPRESSION_MODE_H264, /**< H264(AVCHD) GPU based compression : avg size = 1% (of RAW). Requires a NVIDIA GPU*/
-	SL_SVO_COMPRESSION_MODE_H265, /**< H265(HEVC) GPU based compression: avg size = 1% (of RAW). Requires a NVIDIA GPU, Pascal architecture or newer*/
-	SL_SVO_COMPRESSION_MODE_H264_LOSSLESS, /**< H264 Lossless GPU/Hardware based compression: avg size = 25% (of RAW). Provides a SSIM/PSNR result (vs RAW) >= 99.9%. Requires a NVIDIA GPU */
-	SL_SVO_COMPRESSION_MODE_H265_LOSSLESS, /**< H265 Lossless GPU/Hardware based compression: avg size = 25% (of RAW). Provides a SSIM/PSNR result (vs RAW) >= 99.9%. Requires a NVIDIA GPU */
+	SL_SVO_COMPRESSION_MODE_LOSSLESS, /**< PNG/ZSTD (lossless) CPU based compression.\n Average size: 42% of RAW*/
+	SL_SVO_COMPRESSION_MODE_H264, /**< H264 (AVCHD) GPU based compression.\n Average size: 1% of RAW \note Requires a NVIDIA GPU.*/
+	SL_SVO_COMPRESSION_MODE_H265, /**<  H265 (HEVC) GPU based compression.\n Average size: 1% of RAW \note Requires a NVIDIA GPU.*/
+	SL_SVO_COMPRESSION_MODE_H264_LOSSLESS, /**< H264 Lossless GPU/Hardware based compression.\n Average size: 25% of RAW \n Provides a SSIM/PSNR result (vs RAW) >= 99.9%. \note Requires a NVIDIA GPU. */
+	SL_SVO_COMPRESSION_MODE_H265_LOSSLESS, /**< H265 Lossless GPU/Hardware based compression.\n Average size: 25% of RAW \n Provides a SSIM/PSNR result (vs RAW) >= 99.9%. \note Requires a NVIDIA GPU. */
 };
 
 /**
-\brief List available Mat formats.
+\brief Lists available matrix formats.
+\note Matrix type depends on image or measure type.
+\note For the dependencies, see \ref SL_VIEW and \ref SL_MEASURE.
  */
 enum SL_MAT_TYPE
 {
-	SL_MAT_TYPE_F32_C1, /**< float 1 channel.*/
-	SL_MAT_TYPE_F32_C2, /**< float 2 channels.*/
-	SL_MAT_TYPE_F32_C3, /**< float 3 channels.*/
-	SL_MAT_TYPE_F32_C4, /**< float 4 channels.*/
-	SL_MAT_TYPE_U8_C1,  /**< unsigned char 1 channel.*/
-	SL_MAT_TYPE_U8_C2,  /**< unsigned char 2 channels.*/
-	SL_MAT_TYPE_U8_C3,  /**< unsigned char 3 channels.*/
-	SL_MAT_TYPE_U8_C4,  /**< unsigned char 4 channels.*/
-	SL_MAT_TYPE_U16_C1,  /**< unsigned short 1 channel.*/
-	SL_MAT_TYPE_S8_C4 /**< signed char 4 channels.*/
+	SL_MAT_TYPE_F32_C1, /**< 1-channel matrix of float*/
+	SL_MAT_TYPE_F32_C2, /**< 2-channel matrix of float*/
+	SL_MAT_TYPE_F32_C3, /**< 3-channel matrix of float*/
+	SL_MAT_TYPE_F32_C4, /**< 4-channel matrix of float*/
+	SL_MAT_TYPE_U8_C1,  /**< 1-channel matrix of unsigned char*/
+	SL_MAT_TYPE_U8_C2,  /**< 2-channel matrix of unsigned char*/
+	SL_MAT_TYPE_U8_C3,  /**< 3-channel matrix of unsigned char*/
+	SL_MAT_TYPE_U8_C4,  /**< 4-channel matrix of unsigned char*/
+	SL_MAT_TYPE_U16_C1, /**< 1-channel matrix of unsigned short*/
+	SL_MAT_TYPE_S8_C4 /**< 4-channel matrix of signed char*/
 };
 
 /**
-\brief Available object subclass, given as hint, when using object tracking an object can change of OBJECT_SUBCLASS while keeping the same OBJECT_CLASS and id (i.e: frame M: MOTORBIKE, frame N:BICYCLE)
-  */
+\brief List available object subclasses.
+
+Given as hint, when using object tracking an object can change of \ref SL_OBJECT_SUBCLASS while keeping the same \ref SL_OBJECT_CLASS
+(i.e.: frame n: \ref SL_OBJECT_SUBCLASS_MOTORBIKE, frame n+1: \ref SL_OBJECT_SUBCLASS_BICYCLE).
+*/
 enum SL_OBJECT_SUBCLASS
 {
-	SL_OBJECT_SUBCLASS_PERSON,       /**< PERSON / PERSON_BODY */
-	SL_OBJECT_SUBCLASS_BICYCLE,      /**< VEHICLE */
-	SL_OBJECT_SUBCLASS_CAR,          /**< VEHICLE */
-	SL_OBJECT_SUBCLASS_MOTORBIKE,    /**< VEHICLE */
-	SL_OBJECT_SUBCLASS_BUS,          /**< VEHICLE */
-	SL_OBJECT_SUBCLASS_TRUCK,        /**< VEHICLE */
-	SL_OBJECT_SUBCLASS_BOAT,         /**< VEHICLE */
-	SL_OBJECT_SUBCLASS_BACKPACK,     /**< BAG */
-	SL_OBJECT_SUBCLASS_HANDBAG,      /**< BAG */
-	SL_OBJECT_SUBCLASS_SUITCASE,     /**< BAG */
-	SL_OBJECT_SUBCLASS_BIRD,        /**< ANIMAL */
-	SL_OBJECT_SUBCLASS_CAT,         /**< ANIMAL */
-	SL_OBJECT_SUBCLASS_DOG,         /**< ANIMAL */
-	SL_OBJECT_SUBCLASS_HORSE,       /**< ANIMAL */
-	SL_OBJECT_SUBCLASS_SHEEP,       /**< ANIMAL */
-	SL_OBJECT_SUBCLASS_COW,         /**< ANIMAL */
-	SL_OBJECT_SUBCLASS_CELLPHONE,   /**< ELECTRONIC */
-	SL_OBJECT_SUBCLASS_LAPTOP,      /**< ELECTRONIC */
-	SL_OBJECT_SUBCLASS_BANANA,      /**< FRUIT/VEGETABLE */
-	SL_OBJECT_SUBCLASS_APPLE,       /**< FRUIT/VEGETABLE */
-	SL_OBJECT_SUBCLASS_ORANGE,      /**< FRUIT/VEGETABLE */
-	SL_OBJECT_SUBCLASS_CARROT,      /**< FRUIT/VEGETABLE */
-	SL_OBJECT_SUBCLASS_PERSON_HEAD, /**< PERSON */
-	SL_OBJEC_SUBCLASS_SPORTSBALL  /**< SPORTSBALL >*/
-
-};
-
-/**
-\brief Lists available object action state
+	SL_OBJECT_SUBCLASS_PERSON,       /**< \ref SL_OBJECT_CLASS_PERSON */
+	SL_OBJECT_SUBCLASS_BICYCLE,      /**< \ref SL_OBJECT_CLASS_VEHICLE */
+	SL_OBJECT_SUBCLASS_CAR,          /**< \ref SL_OBJECT_CLASS_VEHICLE */
+	SL_OBJECT_SUBCLASS_MOTORBIKE,    /**< \ref SL_OBJECT_CLASS_VEHICLE */
+	SL_OBJECT_SUBCLASS_BUS,          /**< \ref SL_OBJECT_CLASS_VEHICLE */
+	SL_OBJECT_SUBCLASS_TRUCK,        /**< \ref SL_OBJECT_CLASS_VEHICLE */
+	SL_OBJECT_SUBCLASS_BOAT,         /**< \ref SL_OBJECT_CLASS_VEHICLE */
+	SL_OBJECT_SUBCLASS_BACKPACK,     /**< \ref SL_OBJECT_CLASS_BAG */
+	SL_OBJECT_SUBCLASS_HANDBAG,      /**< \ref SL_OBJECT_CLASS_BAG */
+	SL_OBJECT_SUBCLASS_SUITCASE,     /**< \ref SL_OBJECT_CLASS_BAG */
+	SL_OBJECT_SUBCLASS_BIRD,        /**< \ref SL_OBJECT_CLASS_ANIMAL */
+	SL_OBJECT_SUBCLASS_CAT,         /**< \ref SL_OBJECT_CLASS_ANIMAL */
+	SL_OBJECT_SUBCLASS_DOG,         /**< \ref SL_OBJECT_CLASS_ANIMAL */
+	SL_OBJECT_SUBCLASS_HORSE,       /**< \ref SL_OBJECT_CLASS_ANIMAL */
+	SL_OBJECT_SUBCLASS_SHEEP,       /**< \ref SL_OBJECT_CLASS_ANIMAL */
+	SL_OBJECT_SUBCLASS_COW,         /**< \ref SL_OBJECT_CLASS_ANIMAL */
+	SL_OBJECT_SUBCLASS_CELLPHONE,   /**< \ref SL_OBJECT_CLASS_ELECTRONICS */
+	SL_OBJECT_SUBCLASS_LAPTOP,      /**< \ref SL_OBJECT_CLASS_ELECTRONICS */
+	SL_OBJECT_SUBCLASS_BANANA,      /**< \ref SL_OBJECT_CLASS_FRUIT_VEGETABLE */
+	SL_OBJECT_SUBCLASS_APPLE,       /**< \ref SL_OBJECT_CLASS_FRUIT_VEGETABLE */
+	SL_OBJECT_SUBCLASS_ORANGE,      /**< \ref SL_OBJECT_CLASS_FRUIT_VEGETABLE */
+	SL_OBJECT_SUBCLASS_CARROT,      /**< \ref SL_OBJECT_CLASS_FRUIT_VEGETABLE */
+	SL_OBJECT_SUBCLASS_PERSON_HEAD, /**< \ref SL_OBJECT_CLASS_PERSON */
+	SL_OBJEC_SUBCLASS_SPORTSBALL 	/**< \ref SL_OBJECT_CLASS_SPORT*/
+
+};
+
+/**
+\brief Lists the different states of an object's actions.
  */
 enum SL_OBJECT_ACTION_STATE
 {
@@ -649,84 +870,78 @@ enum SL_OBJECT_ACTION_STATE
 };
 
 /**
-\brief List available models for detection
+\brief Lists available models for the object detection module.
  */
 enum SL_OBJECT_DETECTION_MODEL {
-	SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX_FAST, /**< Any objects, bounding box based */
-	SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX_MEDIUM, /**< Any objects, bounding box based, compromise between accuracy and speed */
-	SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX_ACCURATE, /**< Any objects, bounding box based, more accurate but slower than the base model */
-	SL_OBJECT_DETECTION_MODEL_PERSON_HEAD_BOX_FAST, /**<  Bounding Box detector specialized in person heads, particulary well suited for crowded environement, the person localization is also improved */
-	SL_OBJECT_DETECTION_MODEL_PERSON_HEAD_BOX_ACCURATE, /**<  Bounding Box detector specialized in person heads, particulary well suited for crowded environments, the person localization is also improved, state of the art accuracy */
-	SL_OBJECT_DETECTION_MODEL_CUSTOM_BOX_OBJECTS, /**< For external inference, using your own custom model and/or frameworks. This mode disable the internal inference engine, the 2D bounding box detection must be provided */
+	SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX_FAST, /**< Any objects, bounding box based. */
+	SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX_MEDIUM, /**< Any objects, bounding box based, compromise between accuracy and speed. */
+	SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX_ACCURATE, /**< Any objects, bounding box based, more accurate but slower than the base model. */
+	SL_OBJECT_DETECTION_MODEL_PERSON_HEAD_BOX_FAST, /**< Bounding box detector specialized in person heads particularly well suited for crowded environments. The person localization is also improved. */
+	SL_OBJECT_DETECTION_MODEL_PERSON_HEAD_BOX_ACCURATE, /**< Bounding box detector specialized in person heads, particularly well suited for crowded environments. The person localization is also improved, more accurate but slower than the base model.*/
+	SL_OBJECT_DETECTION_MODEL_CUSTOM_BOX_OBJECTS, /**< For external inference, using your own custom model and/or frameworks. This mode disables the internal inference engine, the 2D bounding box detection must be provided. */
 };
-
+/**
+\brief Lists available models for the body tracking module.
+*/
 enum SL_BODY_TRACKING_MODEL
 {
-	SL_BODY_TRACKING_MODEL_HUMAN_BODY_FAST, /**<  Keypoints based, specific to human skeleton, real time performance even on Jetson or low end GPU cards */
-	SL_BODY_TRACKING_MODEL_HUMAN_BODY_MEDIUM, /**<  Keypoints based, specific to human skeleton, compromise between accuracy and speed */
-	SL_BODY_TRACKING_MODEL_HUMAN_BODY_ACCURATE, /**<  Keypoints based, specific to human skeleton, state of the art accuracy, requires powerful GPU */
+	SL_BODY_TRACKING_MODEL_HUMAN_BODY_FAST, /**< Keypoints based, specific to human skeleton, real time performance even on Jetson or low end GPU cards. */
+	SL_BODY_TRACKING_MODEL_HUMAN_BODY_MEDIUM, /**< Keypoints based, specific to human skeleton, compromise between accuracy and speed. */
+	SL_BODY_TRACKING_MODEL_HUMAN_BODY_ACCURATE, /**< Keypoints based, specific to human skeleton, state of the art accuracy, requires powerful GPU. */
 };
 
 /**
-   \brief Lists available  AI moles.
-   */
+ \brief Lists available  AI models.
+*/
 enum SL_AI_MODELS {
-	SL_AI_MODELS_MULTI_CLASS_DETECTION, // related to sl::DETECTION_MODEL::MULTI_CLASS_BOX
-	SL_AI_MODELS_MULTI_CLASS_MEDIUM_DETECTION, // related to sl::DETECTION_MODEL::MULTI_CLASS_BOX_MEDIUM
-	SL_AI_MODELS_MULTI_CLASS_ACCURATE_DETECTION, // related to sl::DETECTION_MODEL::MULTI_CLASS_BOX_ACCURATE
-	SL_AI_MODELS_HUMAN_BODY_FAST_DETECTION, // related to sl::DETECTION_MODEL::HUMAN_BODY_FAST
-	SL_AI_MODELS_HUMAN_BODY_MEDIUM_DETECTION, // related to sl::DETECTION_MODEL::HUMAN_BODY_MEDIUM
-	SL_AI_MODELS_HUMAN_BODY_ACCURATE_DETECTION, // related to sl::DETECTION_MODEL::HUMAN_BODY_ACCURATE
-	SL_AI_MODELS_HUMAN_BODY_38_FAST_DETECTION, // related to sl::DETECTION_MODEL::HUMAN_BODY_FAST
-	SL_AI_MODELS_HUMAN_BODY_38_MEDIUM_DETECTION, // related to sl::DETECTION_MODEL::HUMAN_BODY_FAST
-	SL_AI_MODELS_HUMAN_BODY_38_ACCURATE_DETECTION, // related to sl::DETECTION_MODEL::HUMAN_BODY_FAST
-	//SL_AI_MODELS_HUMAN_BODY_70_FAST_DETECTION, // related to sl::DETECTION_MODEL::HUMAN_BODY_FAST.
-	//SL_AI_MODELS_HUMAN_BODY_70_MEDIUM_DETECTION, // related to sl::DETECTION_MODEL::HUMAN_BODY_MEDIUM
-	//SL_AI_MODELS_HUMAN_BODY_70_ACCURATE_DETECTION, // related to sl::DETECTION_MODEL::HUMAN_BODY_ACCURATE
-	SL_AI_MODELS_PERSON_HEAD_DETECTION, // related to sl::DETECTION_MODEL::PERSON_HEAD_BOX
-	SL_AI_MODELS_PERSON_HEAD_ACCURATE_DETECTION, // related to sl::DETECTION_MODEL::PERSON_HEAD_BOX_ACCURATE
-	SL_AI_MODELS_REID_ASSOCIATION, // related to sl::BatchParameters::enable
-	SL_AI_MODELS_NEURAL_DEPTH, // related to sl::DEPTH_MODE::NEURAL
+	SL_AI_MODELS_MULTI_CLASS_DETECTION, /**< Related to \ref SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX_FAST*/
+	SL_AI_MODELS_MULTI_CLASS_MEDIUM_DETECTION, /**< Related to \ref SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX_MEDIUM*/
+	SL_AI_MODELS_MULTI_CLASS_ACCURATE_DETECTION, /**< Related to \ref SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX_ACCURATE*/
+	SL_AI_MODELS_HUMAN_BODY_FAST_DETECTION, /**< Related to \ref SL_BODY_TRACKING_MODEL_HUMAN_BODY_FAST*/
+	SL_AI_MODELS_HUMAN_BODY_MEDIUM_DETECTION, /**< Related to \ref SL_BODY_TRACKING_MODEL_HUMAN_BODY_MEDIUM*/
+	SL_AI_MODELS_HUMAN_BODY_ACCURATE_DETECTION, /**< Related to \ref SL_BODY_TRACKING_MODEL_HUMAN_BODY_ACCURATE*/
+	SL_AI_MODELS_HUMAN_BODY_38_FAST_DETECTION, /**< Related to \ref SL_BODY_TRACKING_MODEL_HUMAN_BODY_FAST*/
+	SL_AI_MODELS_HUMAN_BODY_38_MEDIUM_DETECTION, /**< Related to \ref SL_BODY_TRACKING_MODEL_HUMAN_BODY_FAST*/
+	SL_AI_MODELS_HUMAN_BODY_38_ACCURATE_DETECTION, /**< Related to \ref SL_BODY_TRACKING_MODEL_HUMAN_BODY_FAST*/
+	//SL_AI_MODELS_HUMAN_BODY_70_FAST_DETECTION, /**< Related to \ref SL_BODY_TRACKING_MODEL_HUMAN_BODY_FAST*/
+	//SL_AI_MODELS_HUMAN_BODY_70_MEDIUM_DETECTION, /**< Related to \ref SL_BODY_TRACKING_MODEL_HUMAN_BODY_MEDIUM*/
+	//SL_AI_MODELS_HUMAN_BODY_70_ACCURATE_DETECTION, /**< Related to \ref SL_BODY_TRACKING_MODEL_HUMAN_BODY_ACCURATE*/
+	SL_AI_MODELS_PERSON_HEAD_DETECTION, /**< Related to \ref SL_BODY_TRACKING_MODEL_HUMAN_BODY_FAST*/
+	SL_AI_MODELS_PERSON_HEAD_ACCURATE_DETECTION, /**< Related to \ref SL_OBJECT_DETECTION_MODEL_PERSON_HEAD_BOX_ACCURATE*/
+	SL_AI_MODELS_REID_ASSOCIATION, /**< Related to \ref SL_BatchParameters.enable*/
+	SL_AI_MODELS_NEURAL_DEPTH, /**< Related to \ref SL_DEPTH_MODE_NEURAL*/
 	SL_AI_MODELS_LAST
 };
 
 /**
-\brief Lists of supported bounding box preprocessing
+\brief Lists supported bounding box preprocessing.
  */
 enum SL_OBJECT_FILTERING_MODE {
-	/**
-	 * \brief SDK will not apply any preprocessing to the detected objects
-	 */
-	SL_OBJECT_FILTERING_MODE_NONE,
-	/**
-	 * \brief SDK will remove objects that are in the same 3D position as an already tracked object (independant of class ID)
-	 */
-	 SL_OBJECT_FILTERING_MODE_NMS_3D,
-	 /**
-	  * \brief SDK will remove objects that are in the same 3D position as an already tracked object of the same class ID
-	  */
-	  SL_OBJECT_FILTERING_MODE_NMS_3D_PER_CLASS
+	SL_OBJECT_FILTERING_MODE_NONE, /**< The ZED SDK will not apply any preprocessing to the detected objects. */
+	SL_OBJECT_FILTERING_MODE_NMS_3D, /**< The ZED SDK will remove objects that are in the same 3D position as an already tracked object (independent of class id). */
+	SL_OBJECT_FILTERING_MODE_NMS_3D_PER_CLASS, /**< The ZED SDK will remove objects that are in the same 3D position as an already tracked object of the same class id. */
 };
 
 
 /**
-\brief Lists of supported skeleton body model
+\brief Lists supported skeleton body models.
 */
 enum SL_BODY_FORMAT
 {
 	/**
-	 * \brief Legacy 38 keypoint model.
-	 * Body model, including feet simplified face and hands
+	 * \brief 18-keypoint model
+	 * \n Basic body model
 	 */
 	SL_BODY_FORMAT_BODY_18,
 	/**
-	* \brief Legacy 34 keypoints model.
-	* Body model, requires body fitting enabled
+	 * \brief 34-keypoint model
+	 * \note Requires body fitting enabled.
 	 */
 	SL_BODY_FORMAT_BODY_34,
 	/**
-	 * \brief 38 keypoint model.
-	 * Body model, including feet simplified face and hands
+	 * \brief 38-keypoint model
+	 * \n Including simplified face, hands and feet.
+	 *  \note Early Access
 	 */
 	SL_BODY_FORMAT_BODY_38,
 
@@ -738,16 +953,18 @@ enum SL_BODY_FORMAT
 	SL_BODY_FORMAT_BODY_70,
 #endif
 };
-
+/**
+\brief Lists supported models for skeleton keypoints selection.
+*/
 enum SL_BODY_KEYPOINTS_SELECTION
 {
 	/**
-	 * \brief Full keypoint model.
+	 * \brief Full keypoint model
 	 */
 	SL_BODY_KEYPOINTS_SELECTION_FULL,
 	/**
-	 * \brief Upper body keypoint model.
-	 * Only the upper body will be outputted (from hip)
+	 * \brief Upper body keypoint model
+	 * \n Will output only upper body (from hip).
 	 */
 	SL_BODY_KEYPOINTS_SELECTION_UPPER_BODY,
 	/**
@@ -758,118 +975,118 @@ enum SL_BODY_KEYPOINTS_SELECTION
 
 
 /**
- * \brief semantic of human body parts and order of \ref ObjectData::keypoint for BODY_FORMAT::BODY_18.
+ * \brief Semantic of human body parts and order of \ref SL_BodyData.keypoint for \ref SL_BODY_FORMAT_BODY_18.
  */
 enum SL_BODY_18_PARTS
 {
-	SL_BODY_18_PARTS_NOSE,
-	SL_BODY_18_PARTS_NECK,
-	SL_BODY_18_PARTS_RIGHT_SHOULDER,
-	SL_BODY_18_PARTS_RIGHT_ELBOW,
-	SL_BODY_18_PARTS_RIGHT_WRIST,
-	SL_BODY_18_PARTS_LEFT_SHOULDER,
-	SL_BODY_18_PARTS_LEFT_ELBOW,
-	SL_BODY_18_PARTS_LEFT_WRIST,
-	SL_BODY_18_PARTS_RIGHT_HIP,
-	SL_BODY_18_PARTS_RIGHT_KNEE,
-	SL_BODY_18_PARTS_RIGHT_ANKLE,
-	SL_BODY_18_PARTS_LEFT_HIP,
-	SL_BODY_18_PARTS_LEFT_KNEE,
-	SL_BODY_18_PARTS_LEFT_ANKLE,
-	SL_BODY_18_PARTS_RIGHT_EYE,
-	SL_BODY_18_PARTS_LEFT_EYE,
-	SL_BODY_18_PARTS_RIGHT_EAR,
-	SL_BODY_18_PARTS_LEFT_EAR,
+	SL_BODY_18_PARTS_NOSE, /**< 0*/
+	SL_BODY_18_PARTS_NECK, /**< 1*/
+	SL_BODY_18_PARTS_RIGHT_SHOULDER, /**< 2*/
+	SL_BODY_18_PARTS_RIGHT_ELBOW, /**< 3*/
+	SL_BODY_18_PARTS_RIGHT_WRIST, /**< 4*/
+	SL_BODY_18_PARTS_LEFT_SHOULDER, /**< 5*/
+	SL_BODY_18_PARTS_LEFT_ELBOW, /**< 6*/
+	SL_BODY_18_PARTS_LEFT_WRIST, /**< 7*/
+	SL_BODY_18_PARTS_RIGHT_HIP, /**< 8*/
+	SL_BODY_18_PARTS_RIGHT_KNEE, /**< 9*/
+	SL_BODY_18_PARTS_RIGHT_ANKLE, /**< 10*/
+	SL_BODY_18_PARTS_LEFT_HIP, /**< 11*/
+	SL_BODY_18_PARTS_LEFT_KNEE, /**< 12*/
+	SL_BODY_18_PARTS_LEFT_ANKLE, /**< 13*/
+	SL_BODY_18_PARTS_RIGHT_EYE, /**< 14*/
+	SL_BODY_18_PARTS_LEFT_EYE, /**< 15*/
+	SL_BODY_18_PARTS_RIGHT_EAR, /**< 16*/
+	SL_BODY_18_PARTS_LEFT_EAR, /**< 17*/
 	SL_BODY_18_PARTS_LAST
 };
 
 /**
- * \brief semantic of human body parts and order of \ref ObjectData::keypoint for BODY_FORMAT::BODY_34.
+ * \brief Semantic of human body parts and order of \ref SL_BodyData.keypoint for \ref SL_BODY_FORMAT_BODY_34.
  */
 enum SL_BODY_34_PARTS
 {
-	SL_BODY_34_PARTS_PELVIS,
-	SL_BODY_34_PARTS_NAVAL_SPINE,
-	SL_BODY_34_PARTS_CHEST_SPINE,
-	SL_BODY_34_PARTS_NECK,
-	SL_BODY_34_PARTS_LEFT_CLAVICLE,
-	SL_BODY_34_PARTS_LEFT_SHOULDER,
-	SL_BODY_34_PARTS_LEFT_ELBOW,
-	SL_BODY_34_PARTS_LEFT_WRIST,
-	SL_BODY_34_PARTS_LEFT_HAND,
-	SL_BODY_34_PARTS_LEFT_HANDTIP,
-	SL_BODY_34_PARTS_LEFT_THUMB,
-	SL_BODY_34_PARTS_RIGHT_CLAVICLE,
-	SL_BODY_34_PARTS_RIGHT_SHOULDER,
-	SL_BODY_34_PARTS_RIGHT_ELBOW,
-	SL_BODY_34_PARTS_RIGHT_WRIST,
-	SL_BODY_34_PARTS_RIGHT_HAND,
-	SL_BODY_34_PARTS_RIGHT_HANDTIP,
-	SL_BODY_34_PARTS_RIGHT_THUMB,
-	SL_BODY_34_PARTS_LEFT_HIP,
-	SL_BODY_34_PARTS_LEFT_KNEE,
-	SL_BODY_34_PARTS_LEFT_ANKLE,
-	SL_BODY_34_PARTS_LEFT_FOOT,
-	SL_BODY_34_PARTS_RIGHT_HIP,
-	SL_BODY_34_PARTS_RIGHT_KNEE,
-	SL_BODY_34_PARTS_RIGHT_ANKLE,
-	SL_BODY_34_PARTS_RIGHT_FOOT,
-	SL_BODY_34_PARTS_HEAD,
-	SL_BODY_34_PARTS_NOSE,
-	SL_BODY_34_PARTS_LEFT_EYE,
-	SL_BODY_34_PARTS_LEFT_EAR,
-	SL_BODY_34_PARTS_RIGHT_EYE,
-	SL_BODY_34_PARTS_RIGHT_EAR,
-	SL_BODY_34_PARTS_LEFT_HEEL,
-	SL_BODY_34_PARTS_RIGHT_HEEL,
+	SL_BODY_34_PARTS_PELVIS, /**< 0*/
+	SL_BODY_34_PARTS_NAVAL_SPINE, /**< 1*/
+	SL_BODY_34_PARTS_CHEST_SPINE, /**< 2*/
+	SL_BODY_34_PARTS_NECK, /**< 3*/
+	SL_BODY_34_PARTS_LEFT_CLAVICLE, /**< 4*/
+	SL_BODY_34_PARTS_LEFT_SHOULDER, /**< 5*/
+	SL_BODY_34_PARTS_LEFT_ELBOW, /**< 6*/
+	SL_BODY_34_PARTS_LEFT_WRIST, /**< 7*/
+	SL_BODY_34_PARTS_LEFT_HAND, /**< 8*/
+	SL_BODY_34_PARTS_LEFT_HANDTIP, /**< 9*/
+	SL_BODY_34_PARTS_LEFT_THUMB, /**< 10*/
+	SL_BODY_34_PARTS_RIGHT_CLAVICLE, /**< 11*/
+	SL_BODY_34_PARTS_RIGHT_SHOULDER, /**< 12*/
+	SL_BODY_34_PARTS_RIGHT_ELBOW, /**< 13*/
+	SL_BODY_34_PARTS_RIGHT_WRIST, /**< 14*/
+	SL_BODY_34_PARTS_RIGHT_HAND, /**< 15*/
+	SL_BODY_34_PARTS_RIGHT_HANDTIP, /**< 16*/
+	SL_BODY_34_PARTS_RIGHT_THUMB, /**< 17*/
+	SL_BODY_34_PARTS_LEFT_HIP, /**< 18*/
+	SL_BODY_34_PARTS_LEFT_KNEE, /**< 19*/
+	SL_BODY_34_PARTS_LEFT_ANKLE, /**< 20*/
+	SL_BODY_34_PARTS_LEFT_FOOT, /**< 21*/
+	SL_BODY_34_PARTS_RIGHT_HIP, /**< 22*/
+	SL_BODY_34_PARTS_RIGHT_KNEE, /**< 23*/
+	SL_BODY_34_PARTS_RIGHT_ANKLE, /**< 24*/
+	SL_BODY_34_PARTS_RIGHT_FOOT, /**< 25*/
+	SL_BODY_34_PARTS_HEAD, /**< 26*/
+	SL_BODY_34_PARTS_NOSE, /**< 27*/
+	SL_BODY_34_PARTS_LEFT_EYE, /**< 28*/
+	SL_BODY_34_PARTS_LEFT_EAR, /**< 29*/
+	SL_BODY_34_PARTS_RIGHT_EYE, /**< 30*/
+	SL_BODY_34_PARTS_RIGHT_EAR, /**< 31*/
+	SL_BODY_34_PARTS_LEFT_HEEL, /**< 32*/
+	SL_BODY_34_PARTS_RIGHT_HEEL, /**< 33*/
 	SL_BODY_34_PARTS_LAST
 };
 
 
 /**
- * \brief semantic of human body parts and order of \ref ObjectData::keypoint for BODY_FORMAT::BODY_38.
+ * \brief Semantic of human body parts and order of \ref SL_BodyData.keypoint for \ref SL_BODY_FORMAT_BODY_38.
  */
 enum SL_BODY_38_PARTS
 {
-	SL_BODY_38_PARTS_PELVIS,
-	SL_BODY_38_PARTS_SPINE_1,
-	SL_BODY_38_PARTS_SPINE_2,
-	SL_BODY_38_PARTS_SPINE_3,
-	SL_BODY_38_PARTS_NECK,
-	SL_BODY_38_PARTS_NOSE,
-	SL_BODY_38_PARTS_LEFT_EYE,
-	SL_BODY_38_PARTS_RIGHT_EYE,
-	SL_BODY_38_PARTS_LEFT_EAR,
-	SL_BODY_38_PARTS_RIGHT_EAR,
-	SL_BODY_38_PARTS_LEFT_CLAVICLE,
-	SL_BODY_38_PARTS_RIGHT_CLAVICLE,
-	SL_BODY_38_PARTS_LEFT_SHOULDER,
-	SL_BODY_38_PARTS_RIGHT_SHOULDER,
-	SL_BODY_38_PARTS_LEFT_ELBOW,
-	SL_BODY_38_PARTS_RIGHT_ELBOW,
-	SL_BODY_38_PARTS_LEFT_WRIST,
-	SL_BODY_38_PARTS_RIGHT_WRIST,
-	SL_BODY_38_PARTS_LEFT_HIP,
-	SL_BODY_38_PARTS_RIGHT_HIP,
-	SL_BODY_38_PARTS_LEFT_KNEE,
-	SL_BODY_38_PARTS_RIGHT_KNEE,
-	SL_BODY_38_PARTS_LEFT_ANKLE,
-	SL_BODY_38_PARTS_RIGHT_ANKLE,
-	SL_BODY_38_PARTS_LEFT_BIG_TOE,
-	SL_BODY_38_PARTS_RIGHT_BIG_TOE,
-	SL_BODY_38_PARTS_LEFT_SMALL_TOE,
-	SL_BODY_38_PARTS_RIGHT_SMALL_TOE,
-	SL_BODY_38_PARTS_LEFT_HEEL,
-	SL_BODY_38_PARTS_RIGHT_HEEL,
+	SL_BODY_38_PARTS_PELVIS, /**< 0*/
+	SL_BODY_38_PARTS_SPINE_1, /**< 1*/
+	SL_BODY_38_PARTS_SPINE_2, /**< 2*/
+	SL_BODY_38_PARTS_SPINE_3, /**< 3*/
+	SL_BODY_38_PARTS_NECK, /**< 4*/
+	SL_BODY_38_PARTS_NOSE, /**< 5*/
+	SL_BODY_38_PARTS_LEFT_EYE, /**< 6*/
+	SL_BODY_38_PARTS_RIGHT_EYE, /**< 7*/
+	SL_BODY_38_PARTS_LEFT_EAR, /**< 8*/
+	SL_BODY_38_PARTS_RIGHT_EAR, /**< 9*/
+	SL_BODY_38_PARTS_LEFT_CLAVICLE, /**< 10*/
+	SL_BODY_38_PARTS_RIGHT_CLAVICLE, /**< 11*/
+	SL_BODY_38_PARTS_LEFT_SHOULDER, /**< 12*/
+	SL_BODY_38_PARTS_RIGHT_SHOULDER, /**< 13*/
+	SL_BODY_38_PARTS_LEFT_ELBOW, /**< 14*/
+	SL_BODY_38_PARTS_RIGHT_ELBOW, /**< 15*/
+	SL_BODY_38_PARTS_LEFT_WRIST, /**< 16*/
+	SL_BODY_38_PARTS_RIGHT_WRIST, /**< 17*/
+	SL_BODY_38_PARTS_LEFT_HIP, /**< 18*/
+	SL_BODY_38_PARTS_RIGHT_HIP, /**< 19*/
+	SL_BODY_38_PARTS_LEFT_KNEE, /**< 20*/
+	SL_BODY_38_PARTS_RIGHT_KNEE, /**< 21*/
+	SL_BODY_38_PARTS_LEFT_ANKLE, /**< 22*/
+	SL_BODY_38_PARTS_RIGHT_ANKLE, /**< 23*/
+	SL_BODY_38_PARTS_LEFT_BIG_TOE, /**< 24*/
+	SL_BODY_38_PARTS_RIGHT_BIG_TOE, /**< 25*/
+	SL_BODY_38_PARTS_LEFT_SMALL_TOE, /**< 26*/
+	SL_BODY_38_PARTS_RIGHT_SMALL_TOE, /**< 27*/
+	SL_BODY_38_PARTS_LEFT_HEEL, /**< 28*/
+	SL_BODY_38_PARTS_RIGHT_HEEL, /**< 29*/
 	// Hands
-	SL_BODY_38_PARTS_LEFT_HAND_THUMB_4,
-	SL_BODY_38_PARTS_RIGHT_HAND_THUMB_4,
-	SL_BODY_38_PARTS_LEFT_HAND_INDEX_1,
-	SL_BODY_38_PARTS_RIGHT_HAND_INDEX_1,
-	SL_BODY_38_PARTS_LEFT_HAND_MIDDLE_4,
-	SL_BODY_38_PARTS_RIGHT_HAND_MIDDLE_4,
-	SL_BODY_38_PARTS_LEFT_HAND_PINKY_1,
-	SL_BODY_38_PARTS_RIGHT_HAND_PINKY_1,
+	SL_BODY_38_PARTS_LEFT_HAND_THUMB_4, /**< 30*/
+	SL_BODY_38_PARTS_RIGHT_HAND_THUMB_4, /**< 31*/
+	SL_BODY_38_PARTS_LEFT_HAND_INDEX_1, /**< 32*/
+	SL_BODY_38_PARTS_RIGHT_HAND_INDEX_1, /**< 33*/
+	SL_BODY_38_PARTS_LEFT_HAND_MIDDLE_4, /**< 34*/
+	SL_BODY_38_PARTS_RIGHT_HAND_MIDDLE_4, /**< 35*/
+	SL_BODY_38_PARTS_LEFT_HAND_PINKY_1, /**< 36*/
+	SL_BODY_38_PARTS_RIGHT_HAND_PINKY_1, /**< 37*/
 	SL_BODY_38_PARTS_LAST
 };
 
@@ -957,386 +1174,573 @@ enum SL_BODY_70_PARTS
 #endif
 
 /**
-\brief Change the type of outputed position for the Fusion positional tracking (raw data or fusion data projected into zed camera)
+* \brief Lists the types of possible position outputs.
 */
 enum SL_POSITION_TYPE {
-	SL_POSITION_TYPE_RAW = 0, /*The output position will be the raw position data*/
-	SL_POSITION_TYPE_FUSION, /*The output position will be the fused position projected into the requested camera repository*/
+	SL_POSITION_TYPE_RAW,/**< The output position will be the raw position data. */
+	SL_POSITION_TYPE_FUSION,/**< The output position will be the fused position projected into the requested camera repository. */
 	///@cond SHOWHIDDEN 
 	SL_POSITION_TYPE_LAST
 	///@endcond
 };
 
 /**
-* \brief Resolution
+* \brief Structure containing the width and height of an image.
 */
 struct SL_Resolution {
+	/**
+	\brief Width of the image in pixels.
+	*/
 	long long width;
+	/**
+	\brief Height of the image in pixels.
+	*/
 	long long height;
 };
 
 /**
-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.
-For more details, see the InitParameters class in the SDK API documentation:
-https://www.stereolabs.com/docs/api/structsl_1_1InitParameters.html
+\brief Structure containing the options used to initialize a camera.
+
+This class allows you to select multiple parameters for the camera to open such as the selected camera, resolution, depth mode, coordinate system, and units of measurement.
+\n Once filled with the desired options, it should be passed to the sl_open_camera() function.
+
+\note For more info, read about the ZED SDK C++ class it mirrors:
+<a href="https://www.stereolabs.com/docs/api/structsl_1_1InitParameters.html">InitParameters</a>
 */
 struct SL_InitParameters
 {
 	/**
+	\brief Defines the input source to initialize and open an camera from.
+	
 	The SDK can handle different input types:
-	  - Select a camera by its ID (/dev/video<i>X</i> on Linux, and 0 to N cameras connected on Windows)
-	  - Select a camera by its serial number
-	  - Open a recorded sequence in the SVO file format
-	  - Open a streaming camera from its IP address and port
-
-	This parameter allows you to select to desired input.
+	- Select a camera by its ID (<i>/dev/videoX</i> on Linux, and 0 to N cameras connected on Windows)
+	- Select a camera by its serial number
+	- Open a recorded sequence in the SVO file format
+	- Open a streaming camera from its IP address and port
+
+	\note Available cameras and their id/serial number can be listed using sl_get_device_list() and sl_get_streaming_device_list().
+	\note Each camera will create its own memory (CPU and GPU),
+	therefore the number of cameras used at the same time can be limited by the configuration of your computer (GPU/CPU memory and capabilities).
+	
+	Default : (empty)
+	\note See \ref SL_INPUT_TYPE for complementary information.
 	*/
 	enum  SL_INPUT_TYPE input_type;
 
 	/**
-	Define the chosen camera resolution. Small resolutions offer higher framerate and lower computation time (SL_RESOLUTION).\n
-	In most situations, the \ref RESOLUTION "RESOLUTION_HD720" at 60 fps is the best balance between image quality and framerate.\n
-	Available resolutions are listed here: \ref RESOLUTION.
-	\n default : \ref RESOLUTION "RESOLUTION_HD720"
+	\brief Desired camera resolution.
+	
+	\note Small resolutions offer higher framerate and lower computation time.
+	\note In most situations, \ref SL_RESOLUTION_HD720 at 60 FPS is the best balance between image quality and framerate.
+
+	Default: <ul>
+	<li>ZED X/X Mini: \ref SL_RESOLUTION_HD1200</li>
+	<li>other cameras: \ref SL_RESOLUTION_HD720</li></ul>
+	\note Available resolutions are listed here: \ref SL_RESOLUTION.
 	 */
 	enum  SL_RESOLUTION resolution;
 
 	/**
-	Requested camera frame rate. If set to 0, the highest FPS of the specified \ref camera_resolution will be used.\n
-	See \ref RESOLUTION for a list of supported framerates.
-	\n default : 0
-	\note If the requested camera_fps is unsupported, the closest available FPS will be used.
+	\brief Requested camera frame rate.
+        
+	If set to 0, the highest FPS of the specified \ref camera_resolution will be used.
+	\n Default: 0
+	\n\n See \ref SL_RESOLUTION for a list of supported frame rates.
+	\note If the requested \ref camera_fps is unsupported, the closest available FPS will be used.
 	 */
 	int camera_fps;
 
 	/**
-	Id of the Camera.
+	\brief Id for identifying which camera to use from the connected cameras.
 	*/
 	int camera_device_id;
 
 	/**
-	If you are using the camera upside down, setting this parameter to FLIP_MODE_ON will cancel its rotation. The images will be horizontally flipped.
-	\n default : FLIP_MODE_AUTO
-	* From ZED SDK 3.2 a new FLIP_MODE enum was introduced to add the automatic flip mode detection based on the IMU gravity detection. This only works for ZED-M or ZED2 cameras.
+	\brief Defines if a flip of the images is needed.
+	
+	If you are using the camera upside down, setting this parameter to \ref SL_FLIP_MODE_ON will cancel its rotation.
+	\n The images will be horizontally flipped.
+	\n Default: \ref SL_FLIP_MODE_AUTO
+	\note From ZED SDK 3.2 a new \ref SL_FLIP_MODE enum was introduced to add the automatic flip mode detection based on the IMU gravity detection.
+	\note This does not work on \ref SL_MODEL_ZED cameras since they do not have the necessary sensors.
 	*/
 	enum  SL_FLIP_MODE camera_image_flip;
 
 	/**
-	At initialization, the \ref Camera runs a self-calibration process that corrects small offsets from the device's factory calibration.\n
-	A drawback is that calibration parameters will slightly change from one (live) run to another, which can be an issue for repeatability.\n
-	If set to true, self-calibration will be disabled and calibration parameters won't be optimized, raw calibration parameters from the conf file will be used\n
-	default : false
+	\brief Defines if a flip of the images is needed.
+	
+	At initialization, sl_open_camera() runs a self-calibration process that corrects small offsets from the device's factory calibration.
+	\n A drawback is that calibration parameters will slightly change from one (live) run to another, which can be an issue for repeatability.
+	\n If set to true, self-calibration will be disabled and calibration parameters won't be optimized, raw calibration parameters from the configuration file will be used.
+	\n Default: false
 	\note In most situations, self calibration should remain enabled.
-	\note You can also trigger the self-calibration at anytime after open() by calling \ref Camera::UpdateSelfCalibration(), even if this parameter is set to true.
-	 */
+	\note You can also trigger the self-calibration at anytime after sl_open_camera() by calling sl_update_self_calibration(), even if this parameter is set to true.
+	*/
 	bool camera_disable_self_calib;
 
 	/**
-	By default, the SDK only computes a single depth map, aligned with the left camera image.\n
-	This parameter allows you to enable the \ref MEASURE "MEASURE_DEPTH_RIGHT" and other \ref MEASURE "MEASURE_<XXX>_RIGHT" at the cost of additional computation time.\n
+	\brief Enable the measurement computation on the right images.
 
-	For example, mixed reality pass-through applications require one depth map per eye, so this parameter can be activated.
-	\n default : false
-	 */
+	By default, the ZED SDK only computes a single depth map, aligned with the left camera image.
+	\n This parameter allows you to enable \ref SL_MEASURE_DEPTH_RIGHT and other \ref SL_MEASURE "SL_MEASURE_XXX_RIGHT" at the cost of additional computation time.
+	\n For example, mixed reality pass-through applications require one depth map per eye, so this parameter can be activated.
+	\n Default: false
+	*/
 	bool enable_right_side_measure;
 
 	/**
-	When playing back an SVO file, each call to \ref Camera::grab() will extract a new frame and use it.\n
-	However, this ignores the real capture rate of the images saved in the SVO file.\n
-	Enabling this parameter will bring the SDK closer to a real simulation when playing back a file by using the images' timestamps. However, calls to \ref Camera::grab() will return an error when trying to play too fast, and frames will be dropped when playing too slowly.
-
-	\n default : false
-	 */
+	\brief Defines if the camera return the frame in real time mode.
+	
+	When playing back an SVO file, each call to \ref sl_grab() will extract a new frame and use it.
+	\n However, it ignores the real capture rate of the images saved in the SVO file.
+	\n Enabling this parameter will bring the SDK closer to a real simulation when playing back a file by using the images' timestamps.
+	\n Default: false
+	\note \ref sl_grab() will return an error when trying to play too fast, and frames will be dropped when playing too slowly.
+	*/
 	bool svo_real_time_mode;
-	/**
-	The SDK offers several \ref DEPTH_MODE options offering various levels of performance and accuracy.
-	\n This parameter allows you to set the \ref DEPTH_MODE that best matches your needs.
-	\n default : \ref DEPTH_MODE "DEPTH_MODE_PERFORMANCE"
-	 */
+	
+	/**
+	\brief \ref SL_DEPTH_MODE to be used.
+	
+	The ZED SDK offers several \ref SL_DEPTH_MODE, offering various levels of performance and accuracy.
+	\n This parameter allows you to set the \ref SL_DEPTH_MODE that best matches your needs.
+	\n Default: \ref SL_DEPTH_MODE_PERFORMANCE
+	\note Available depth mode are listed here: \ref SL_DEPTH_MODE.
+	*/
 	enum SL_DEPTH_MODE depth_mode;
-	/**
-	Regions of the generated depth map can oscillate from one frame to another. These oscillations result from a lack of texture (too homogeneous) on an object and by image noise.
-	\n This parameter control a stabilization filter that reduces these oscillations. In the range [0-100], 0 is disable (raw depth), smoothness is linear from 1 to 100.
-	\n default : 1
-	\note The stabilization uses the positional tracking to increase its accuracy, so the Positional Tracking module will be enabled automatically when set to a value different from 0.\n
-	 */
+	
+	/**
+	\brief Defines whether the depth needs to be stabilized and to what extent.
+
+	Regions of generated depth map can oscillate from one frame to another.
+	\n These oscillations result from a lack of texture (too homogeneous) on an object and by image noise.
+	\n This parameter controls a stabilization filter that reduces these oscillations.
+	\n In the range [0-100]: <ul>
+	<li>0 disable the depth stabilization (raw depth will be return)</li>
+	<li>stabilization smoothness is linear from 1 to 100</li></ul>
+	Default: 1
+	
+	\note The stabilization uses the positional tracking to increase its accuracy, 
+	so the positional tracking module will be enabled automatically when set to a value different from 0.
+	\note Note that calling sl_enable_positional_tracking() with your own parameters afterwards is still possible.
+	*/
 	int depth_stabilization;
+	
 	/**
-	This parameter allows you to specify the minimum depth value (from the camera) that will be computed, measured in the \ref UNIT you define.
+	\brief Minimum depth distance to be returned, measured in the \ref SL_UNIT defined in \ref coordinate_unit.
+	
+	This parameter allows you to specify the minimum depth value (from the camera) that will be computed.
+	
 	\n In stereovision (the depth technology used by the camera), looking for closer depth values can have a slight impact on performance and memory consumption.
-	\n On most of modern GPUs, performance impact will be low. However, the impact of memory footprint will be visible.
+	\n On most modern GPUs, performance impact will be low. However, the impact of memory footprint will be visible.
 	\n In cases of limited computation power, increasing this value can provide better performance.
-	\n default : (-1) corresponding to 700 mm for a ZED/ZED2 and 300 mm for ZED Mini.
+	\n Default: -1 (corresponding values are available <a href="https://www.stereolabs.com/docs/depth-sensing/depth-settings#depth-range">here</a>)
 
-	\note With a ZED camera you can decrease this value to 300 mm whereas you can set it to 100 mm using a ZED Mini and 200 mm for a ZED2. In any case this value cannot be greater than 3 meters.
-	\note Specific value (0) : This will set the depth minimum distance to the minimum authorized value :
-								- 300mm for ZED
-								- 100mm for ZED-M
-								- 200mm for ZED2
-	*/
+	\note \ref depth_minimum_distance value cannot be greater than 3 meters.
+	\note 0 will imply that \ref depth_minimum_distance is set to the minimum depth possible for each camera
+	(those values are available <a href="https://www.stereolabs.com/docs/depth-sensing/depth-settings#depth-range">here</a>).
+		*/
 	float depth_minimum_distance;
 	/**
-	Defines the current maximum distance that can be computed in the defined \ref UNIT.
-	When estimating the depth, the SDK uses this upper limit to turn higher values into \ref TOO_FAR ones.
+	\brief Maximum depth distance to be returned, measured in the \ref SL_UNIT defined in \ref coordinate_unit.
 
-	\note Changing this value has no impact on performance and doesn't affect the positional tracking nor the spatial mapping. (Only the depth, point cloud, normals)
+	When estimating the depth, the ZED SDK uses this upper limit to turn higher values into <b>inf</b> ones.
+	\note Changing this value has no impact on performance and doesn't affect the positional tracking nor the spatial mapping.
+	\note It only change values the depth, point cloud and normals.
 	 */
 	float depth_maximum_distance;
+	
 	/**
-	This parameter allows you to select the unit to be used for all metric values of the SDK. (depth, point cloud, tracking, mesh, and others) (SL_UNIT).
-	\n default : \ref UNIT "UNIT_MILLIMETER"
-	 */
+	\brief Unit of spatial data (depth, point cloud, tracking, mesh, etc.) for retrieval.
+	
+	Default: \ref SL_UNIT_MILLIMETER
+		*/
 	enum  SL_UNIT coordinate_unit;
+	
 	/**
-	Positional tracking, point clouds and many other features require a given \ref COORDINATE_SYSTEM to be used as reference.
-	This parameter allows you to select the \ref COORDINATE_SYSTEM used by the \ref Camera to return its measures.
+	\brief \ref SL_COORDINATE_SYSTEM to be used as reference for positional tracking, mesh, point clouds, etc.
+
+	This parameter allows you to select the \ref SL_COORDINATE_SYSTEM used by the camera to return its measures.
 	\n This defines the order and the direction of the axis of the coordinate system.
-	\n default : \ref COORDINATE_SYSTEM "COORDINATE_SYSTEM_IMAGE"
-	 */
+	\n Default: \ref SL_COORDINATE_SYSTEM_IMAGE
+		*/
 	enum  SL_COORDINATE_SYSTEM coordinate_system;
+	
 	/**
+	\brief NVIDIA graphics card id to use.
+	
 	By default the SDK will use the most powerful NVIDIA graphics card found.
-	However, when running several applications, or using several cameras at the same time, splitting the load over available GPUs can be useful.
-	This parameter allows you to select the GPU used by the \ref Camera using an ID from 0 to n-1 GPUs in your PC.
-	\n default : -1
+	\n However, when running several applications, or using several cameras at the same time, splitting the load over available GPUs can be useful.
+	\n This parameter allows you to select the GPU used by the sl::Camera using an ID from 0 to n-1 GPUs in your PC.
+	\n Default: -1
 	\note A non-positive value will search for all CUDA capable devices and select the most powerful.
 	 */
 	int sdk_gpu_id;
+
 	/**
-	This parameter allows you to enable the verbosity of the SDK to get a variety of runtime information in the console.
-	When developing an application, enabling verbose mode can help you understand the current SDK behavior.
+	\brief Enable the ZED SDK verbose mode.
+	
+	This parameter allows you to enable the verbosity of the ZED SDK to get a variety of runtime information in the console.
+	\n When developing an application, enabling verbose (<code>\ref sdk_verbose >= 1</code>) mode can help you understand the current ZED SDK behavior.
 	\n However, this might not be desirable in a shipped version.
-	\n default : false
-	\note The verbose messages can also be exported into a log file. See \ref sdk_verbose_log_file for more.
+	\n Default: 0 (no verbose message)
+	\note The verbose messages can also be exported into a log file.
 	 */
-	int  sdk_verbose;
+	int sdk_verbose;
 	/**
-	Force the motion sensors opening of the ZED 2 / ZED-M to open the camera.
-	\n default : false.
-	\n If set to false, the SDK will try to <b>open and use</b> the IMU (second USB device on USB2.0) and will open the camera successfully even if the sensors failed to open.
-	\n This can be used for example when using a USB3.0 only extension cable (some fiber extension for example).
-	\n This parameter only impacts the LIVE mode.
-	\n If set to true, the camera will fail to open if the sensors cannot be opened. This parameter should be used when the IMU data must be available, such as Object Detection module or when the gravity is needed.
-	\note This setting is not taken into account for ZED camera since it does not include sensors.
+	\brief Requires the successful opening of the motion sensors before opening the camera.
+	
+	Default: false.
+
+	\note If set to false, the ZED SDK will try to <b>open and use</b> the IMU (second USB device on USB2.0) and will open the camera successfully even if the sensors failed to open.
+	
+	This can be used for example when using a USB3.0 only extension cable (some fiber extension for example).
+	\note This parameter only impacts the LIVE mode.
+	\note If set to true, sl_open_camera() will fail if the sensors cannot be opened.
+	\note This parameter should be used when the IMU data must be available, such as object detection module or when the gravity is needed.
+	
+	\n\note This setting is not taken into account for \ref SL_MODEL_ZED camera since it does not include sensors.
 	 */
 	bool sensors_required;
+	
 	/**
-	Enable or Disable the Enhanced Contrast Technology, to improve image quality.
-	\n default : true.
+	\brief Enable the Enhanced Contrast Technology, to improve image quality.
+
+	Default: true.
+	
 	\n If set to true, image enhancement will be activated in camera ISP. Otherwise, the image will not be enhanced by the IPS.
-	\n This only works for firmware version starting from 1523 and up.
+	\note This only works for firmware version starting from 1523 and up.
 	 */
 	bool enable_image_enhancement;
 
 	/**
-	Define a timeout in seconds after which an error is reported if the \ref open() command fails.
+	\brief Define a timeout in seconds after which an error is reported if the sl_open_camera() function fails.
+
 	Set to '-1' to try to open the camera endlessly without returning error in case of failure.
-	Set to '0' to return error in case of failure at the first attempt.
-	\n This parameter only impacts the LIVE mode.
+	\n Set to '0' to return error in case of failure at the first attempt.
+	\n Default: 5.0
+	\note This parameter only impacts the LIVE mode.
 	 */
 	float open_timeout_sec;
 
 	/**
-	 Define the behavior of the automatic camera recovery during grab() function call. When async is enabled and there's an issue with the communication with the camera
-	 the grab() will exit after a short period and return the ERROR_CODE::CAMERA_REBOOTING warning. The recovery will run in the background until the correct communication is restored.
-	 When async_grab_camera_recovery is false, the grab() function is blocking and will return only once the camera communication is restored or the timeout is reached.
-	 The default behavior is synchronous, like previous ZED SDK versions
+	\brief Define the behavior of the automatic camera recovery during sl_grab() function call.
+        
+	When async is enabled and there's an issue with the communication with the camera,
+	sl_grab() will exit after a short period and return the \ref SL_ERROR_CODE_CAMERA_REBOOTING warning.
+	\n The recovery will run in the background until the correct communication is restored.
+	\n When \ref async_grab_camera_recovery is false, the sl_grab() function is blocking and will return
+	only once the camera communication is restored or the timeout is reached.
+    \n Default: false
 	 */
 	bool async_grab_camera_recovery;
 
 	/**
-	 Define a computation upper limit to the grab frequency.
-	 This can be useful to get a known constant fixed rate or limit the computation load while keeping a short exposure time by setting a high camera capture framerate.
-	 \n The value should be inferior to the InitParameters::camera_fps and strictly positive. It has no effect when reading an SVO file.
-	 \n This is an upper limit and won't make a difference if the computation is slower than the desired compute capping fps.
-	 \note Internally the grab function always tries to get the latest available image while respecting the desired fps as much as possible.
-	 default is 0.
+	\brief Define a computation upper limit to the grab frequency.
+
+	This can be useful to get a known constant fixed rate or limit the computation load while keeping a short exposure time by setting a high camera capture framerate.
+	\n The value should be inferior to the SL_InitParameters::camera_fps and strictly positive.
+	\note  It has no effect when reading an SVO file.
+	
+	This is an upper limit and won't make a difference if the computation is slower than the desired compute capping FPS.
+	\note Internally the sl_grab() function always tries to get the latest available image while respecting the desired FPS as much as possible.
 	 */
 	float grab_compute_capping_fps;
+	/**
+	 Enable or disable the image validity verification.
+	 This will perform additional verification on the image to identify corrupted data. This verification is done in the grab function and requires some computations.
+	 If an issue is found, the grab function will output a warning as sl::ERROR_CODE::CORRUPTED_FRAME.
+	 This version doesn't detect frame tearing currently.
+	 \n default: disabled
+	 */
+	bool enable_image_validity_check;
 };
 
 /**
-Parameters that define the behavior of the grab.
+\brief Structure containing parameters that defines the behavior of sl_grab().
+
+The default constructor sets all parameters to their default settings.
+\note Parameters can be adjusted by the user.
 */
 struct SL_RuntimeParameters
 {
 	/**
-	Provides 3D measures (point cloud and normals) in the desired reference frame (default is REFERENCE_FRAME_CAMERA)
-	\n default : \ref REFERENCE_FRAME_CAMERA
+	\brief Reference frame in which to provides the 3D measures (point cloud, normals, etc.).
+	
+	Default: \ref SL_REFERENCE_FRAME_CAMERA
 	 */
 	enum SL_REFERENCE_FRAME reference_frame;
+
 	/**
-	Defines if the depth map should be computed.
-	\n If false, only the images are available.
-	\n default : true
+	\brief Defines if the depth map should be computed.
+        
+	Default: true
+	\note If set to false, only the images are available.
 	 */
 	bool enable_depth;
         
-        /**
-        Defines if the depth map should be completed or not, similar to the removed SENSING_MODE::FILL
-        \warning Enabling this will override the confidence values confidence_threshold and texture_confidence_threshold as well as remove_saturated_areas
-         */
+	/**
+	\brief Defines if the depth map should be completed or not.
+
+	Default: false
+	\note It is similar to the removed sl_SENSING_MODE_FILL.
+	\warning Enabling this will override the confidence values \ref confidence_threshold
+	and \ref texture_confidence_threshold as well as \ref remove_saturated_areas.
+	 */
 	bool enable_fill_mode;
         
 	/**
-	Threshold to reject depth values based on their confidence.
-	\n Each depth pixel has a corresponding confidence. (\ref MEASURE "MEASURE_CONFIDENCE"), the confidence range is [1,100].
-	\n By default, the confidence threshold is set at 100, meaning that no depth pixel will be rejected.
+	\brief Threshold to reject depth values based on their confidence.
+
+	Each depth pixel has a corresponding confidence (\ref SL_MEASURE_CONFIDENCE) in the range [1, 100].
 	\n Decreasing this value will remove depth data from both objects edges and low textured areas, to keep only confident depth estimation data.
+	\n Default: 100 (no depth pixel will be rejected)
+	\note Pixels with a value close to 100 are not to be trusted. Accurate depth pixels tends to be closer to lower values.
+	\note It can be seen as a probability of error, scaled to 100.
 	 */
 	int confidence_threshold;
+	
 	/**
-	Threshold to reject depth values based on their texture confidence.
-	\n The texture confidence range is [1,100].
-	\n By default, the texture confidence threshold is set at 100, meaning that no depth pixel will be rejected.
+	\brief Threshold to reject depth values based on their texture confidence.
+
+	The texture confidence range is [1, 100].
 	\n Decreasing this value will remove depth data from image areas which are uniform.
+	\n Default: 100 (no depth pixel will be rejected)
+	\note Pixels with a value close to 100 are not to be trusted. Accurate depth pixels tends to be closer to lower values.
 	 */
 	int texture_confidence_threshold;
+
 	/**
-	 Defines if the saturated area (Luminance>=255) must be removed from depth map estimation
-	 \n True by default
-	 \n It is recommended to keep this parameter at true because saturated area can create false detection.
+	\brief Defines if the saturated area (luminance>=255) must be removed from depth map estimation.
+
+	Default: true
+	\note It is recommended to keep this parameter at true because saturated area can create false detection.
 	 */
 	bool remove_saturated_areas;
 };
 
 /**
-Properties of a camera.
+\brief Structure containing information about the properties of a camera.
+    
+\note A \ref camera_model \ref SL_MODEL_ZED_M with an id '-1' can be due to an inverted USB-C cable.
 */
 struct SL_DeviceProperties {
 	/**
-	the camera state
+	\brief State of the camera.
+
+	Default: \ref SL_CAMERA_STATE_NOT_AVAILABLE
 	 */
 	enum  SL_CAMERA_STATE camera_state;
+
 	/**
-	the camera id
+	\brief Id of the camera.
+
+	Default: -1
 	 */
 	int id;
+
 	/**
-	the camera model
+	\brief Model of the camera.
 	 */
 	enum  SL_MODEL camera_model;
+
 	/**
-	the camera serial number
-	\n Not provided for Windows
+	\brief Serial number of the camera.
+
+	Default: 0
+    \warning Not provided for Windows.
 	 */
+
 	unsigned int sn;
 	/**
-	 camera input type
+	\brief Input type of the camera.
 	 */
 	enum SL_INPUT_TYPE input_type;
 };
 
+/**
+\brief Structure containing the intrinsic parameters of a camera.
+*/
 struct SL_CameraParameters {
-	float fx; /**< Focal length in pixels along x axis. */
-	float fy; /**< Focal length in pixels along y axis. */
-	float cx; /**< Optical center along x axis, defined in pixels (usually close to width/2). */
-	float cy; /**< Optical center along y axis, defined in pixels (usually close to height/2). */
-	double disto[12]; /**< Distortion factor : [ k1, k2, p1, p2, k3 ]. Radial (k1,k2,k3) and Tangential (p1,p2) distortion.*/
-	float v_fov; /**< Vertical field of view, in degrees. */
-	float h_fov; /**< Horizontal field of view, in degrees.*/
-	float d_fov; /**< Diagonal field of view, in degrees.*/
-	struct SL_Resolution image_size; /** size in pixels of the images given by the camera.*/
-	float focal_length_metric; /**< real focal length in millimeters*/
+	/**
+	\brief Focal length in pixels along x axis.
+	 */
+	float fx;
+
+	/**
+	\brief Focal length in pixels along y axis.
+	 */
+	float fy;
+
+	/**
+	\brief Optical center along x axis, defined in pixels (usually close to width / 2).
+	 */
+	float cx;
+
+	/**
+	\brief Optical center along y axis, defined in pixels (usually close to height / 2).
+	 */
+	float cy;
+
+	/**
+	\brief Distortion factor : [k1, k2, p1, p2, k3, k4, k5, k6, s1, s2, s3, s4].
+	
+	Radial (k1, k2, k3, k4, k5, k6), Tangential (p1,p2) and Prism (s1, s2, s3, s4) distortion.
+	 */
+	double disto[12];
+
+	/**
+	\brief Vertical field of view, in degrees.
+	 */
+	float v_fov;
+
+	/**
+	\brief Horizontal field of view, in degrees.
+	 */
+	float h_fov;
+
+	/**
+	\brief Diagonal field of view, in degrees.
+	 */
+	float d_fov;
+
+	/**
+	\brief Size in pixels of the images given by the camera.
+	 */
+	struct SL_Resolution image_size;
+
+	/**
+	\brief Real focal length in millimeters.
+	 */
+	float focal_length_metric;
 };
 
 /**
-Holds calibration information about the current ZED's hardware, including per-sensor calibration and offsets between the two sensors.
-*/
+\brief Structure containing intrinsic and extrinsic parameters of the camera (translation and rotation).
+
+That information about the camera will be returned by sl_get_camera_information().
+
+\note The calibration/rectification process, called during sl_open_camera(), is using the raw parameters defined in the SNXXX.conf file, where XXX is the serial number of the camera.
+\note Those values may be adjusted or not by the self-calibration to get a proper image alignment.
+\note After sl_open_camera() is done (with or without self-calibration activated), most of the stereo parameters (except baseline of course) should be 0 or very close to 0.
+\note It means that images after rectification process (given by sl_retrieve_image()) are aligned as if they were taken by a "perfect" stereo camera, defined by the new \ref SL_CalibrationParameters.
+\warning CalibrationParameters are returned in \ref SL_COORDINATE_SYSTEM_IMAGE, they are not impacted by the SL_InitParameters.coordinate_system.
+ */
 struct SL_CalibrationParameters
 {
 	/**
-	Intrinsic parameters of the left camera
+	\brief Intrinsic \ref SL_CameraParameters of the left camera.
 	*/
 	struct SL_CameraParameters left_cam;
 	/**
-	Intrinsic parameters of the right camera
+	\brief Intrinsic \ref SL_CameraParameters of the right camera.
 	*/
 	struct SL_CameraParameters right_cam;
 	/**
-	Left to Right camera rotation, expressed in user coordinate system and unit (defined by InitParameters).
+	\brief Left to right camera rotation, expressed in user coordinate system and unit (defined by SL_InitParameters.coordinate_system).
 	*/
 	struct SL_Vector4 rotation;
 	/**
-	Left to Right camera translation, expressed in user coordinate system and unit (defined by InitParameters).
+	\brief Left to right camera translation, expressed in user coordinate system and unit (defined by SL_InitParameters.coordinate_system).
 	*/
 	struct SL_Vector3 translation;
 };
 
 /**
-\brief Structure containing information about a single sensor available in the current device
-\note This object is meant to be used as a read - only container, editing any of its fields won't impact the SDK.
+\brief Structure containing information about a single sensor available in the current device.
+
+Information about the camera sensors is available in the \ref SL_CameraInformation struct returned by \ref sl_get_camera_information().
+\note This structure is meant to be used as a read-only container.
+\note Editing any of its fields will not impact the ZED SDK.
 */
 struct SL_SensorParameters {
-	enum  SL_SENSOR_TYPE type; /** The type of the sensor as \ref DEVICE_SENSORS (SL_SENSOR_TYPE)*/
-	float resolution; /** The resolution of the sensor. */
-	float sampling_rate; /** The sampling rate (or ODR) of the sensor. */
-	struct SL_Vector2 range; /** The range values of the sensor. MIN: "range.x", MAX: "range.y" */
-	float noise_density; /** also known as white noise, given as continous (frequency independant). Units will be expressed in sensor_unit/squared_root(Hz). "NAN" if the information is not available */
-	float random_walk; /** derived from the Allan Variance, given as continous (frequency independant). Units will be expressed in sensor_unit/s/squared_root(Hz)."NAN" if the information is not available */
-	enum  SL_SENSORS_UNIT sensor_unit; /** The string relative to the measurement unit of the sensor (SL_SENSORS_UNIT). */
-	bool is_available;
+	enum  SL_SENSOR_TYPE type; /**< \brief Type of the sensor.*/
+	float resolution; /**< \brief Resolution of the sensor. */
+	float sampling_rate; /**< \brief Sampling rate (or ODR) of the sensor. */
+	struct SL_Vector2 range; /**< \brief Range of the sensor (minimum: `range.x`, maximum: `range.y`). */
+	float noise_density; /**< \brief White noise density given as continuous (frequency-independent).\note The units will be expressed in ```sensor_unit / √(Hz)```.\note `NAN` if the information is not available. */
+	float random_walk; /**< \brief Random walk derived from the Allan Variance given as continuous (frequency-independent).\note The units will be expressed in ```sensor_unit / √(Hz)```.\note `NAN` if the information is not available. */
+	enum  SL_SENSORS_UNIT sensor_unit; /**< \brief Unit of the sensor. */
+	bool is_available; /**< \brief Whether the sensor is available in your camera.*/
 };
 
 
 /**
-\brief Structure containing information about the camera sensor
-\note This object is meant to be used as a read-only container, editing any of its field won't impact the SDK.
-\warning CalibrationParameters are returned in SL_COORDINATE_SYSTEM_IMAGE, they are not impacted by the InitParameters::coordinate_system
- */
+\brief Structure containing information about the camera sensor. 
+\note This object is meant to be used as a read-only container, editing any of its field won't impact the ZED SDK.
+\warning \ref SL_CalibrationParameters are returned in \ref SL_COORDINATE_SYSTEM_IMAGE, they are not impacted by the \ref SL_InitParameters.coordinate_system.
+*/
 struct SL_CameraConfiguration {
-	/**< Intrinsic and Extrinsic stereo parameters for rectified/undistorded images (default).  */
+	/**
+	\brief Intrinsics and extrinsic stereo parameters for rectified/undistorted images.
+	*/
 	struct SL_CalibrationParameters calibration_parameters;
-	/**< Intrinsic and Extrinsic stereo parameters for original images (unrectified/distorded). */
+	/**
+	\brief Intrinsics and extrinsic stereo parameters for unrectified/distorted images.
+	*/
 	struct SL_CalibrationParameters calibration_parameters_raw;
-	/**< The internal firmware version of the camera. */
+	/**
+	\brief Internal firmware version of the camera.
+	*/
 	unsigned int firmware_version;
-	/**< The camera capture FPS */
+	/**
+	\brief FPS of the camera.
+	*/
 	float fps;
-	/**< The camera resolution */
+	/**
+	\brief Resolution of the camera.
+	*/
 	struct SL_Resolution resolution;
 };
 
 /**
-Structure containing information about all the sensors available in the current device.
+\brief Structure containing information about all the sensors available in the current device.
+
+Information about the camera sensors is available in the \ref SL_CameraInformation struct returned by \ref sl_get_camera_information().
+\note This structure is meant to be used as a read-only container.
+\note Editing any of its fields will not impact the ZED SDK.
 */
 struct SL_SensorsConfiguration
 {
 	/**
-	The firmware version of the sensor module, 0 if no sensors are available (ZED camera model).
+	\brief Firmware version of the sensor module.
+	\note 0 if no sensors are available (\ref SL_MODEL_ZED).
 	*/
 	unsigned int firmware_version;
 	/**
-	IMU to Left camera rotation (quaternion).
+	\brief IMU to left camera rotation (quaternion).
+	\note It contains the rotation between the IMU frame and camera frame.
 	*/
 	struct SL_Vector4 camera_ium_rotation;
 	/**
-	IMU to Left camera translation (SL_float3).
+	\brief IMU to left camera translation.
+	\note It contains the translation between the IMU frame and camera frame.
 	*/
 	struct SL_Vector3 camera_imu_translation;
 	/**
-	Magnetometer to IMU rotation. That contains rotation between IMU frame and magnetometer frame.
+	\brief Magnetometer to IMU rotation (quaternion).
+	\note It contains rotation between IMU frame and magnetometer frame.
 	*/
 	struct SL_Vector4 ium_magnetometer_rotation;
 	/**
-	Magnetometer to IMU translation. That contains translation between IMU frame and magnetometer frame.
+	\brief Magnetometer to IMU translation (quaternion).
+	\note It contains translation between IMU frame and magnetometer frame.
 	*/
 	struct SL_Vector3 ium_magnetometer_translation;
 	/**
-	Configuration of the accelerometer device
+	\brief Configuration of the accelerometer.
 	*/
 	struct SL_SensorParameters accelerometer_parameters;
 	/**
-	Configuration of the gyroscope device
+	\brief Configuration of the gyroscope.
 	*/
 	struct SL_SensorParameters gyroscope_parameters;
 	/**
-	Configuration of the magnetometer device
+	\brief Configuration of the magnetometer.
 	*/
 	struct SL_SensorParameters magnetometer_parameters;
 	/**
-	Configuration of the barometer device
+	\brief Configuration of the barometer.
 	*/
 	struct SL_SensorParameters barometer_parameters;
 };
@@ -1350,179 +1754,267 @@ That information about the camera will be returned by sl_get_camera_information(
 \note This object is meant to be used as a read-only container, editing any of its field won't impact the SDK.
  */
 struct SL_CameraInformation {
-
-	/**< The serial number of the camera.  */
+	/**
+	\brief Serial number of the camera.
+	*/
 	unsigned int serial_number;
-	/**< The model of the camera (ZED, ZED-M or ZED2). */
+	/**
+	\brief Model of the camera (see \ref SL_MODEL).
+	*/
 	enum SL_MODEL camera_model;
-	/**< Input type used in SDK. */
+	/**
+	\brief Input type used in the ZED SDK.
+	*/
 	enum SL_INPUT_TYPE input_type;
-	/**< Camera configuration as defined in \ref CameraConfiguration. */
+	/**
+	\brief Camera configuration parameters stored in a \ref SL_CameraConfiguration.
+	*/
 	struct SL_CameraConfiguration camera_configuration;
-	/**< Device Sensors configuration as defined in \ref SensorsConfiguration. */
+	/**
+	\brief Sensors configuration parameters stored in a \ref SL_SensorsConfiguration.
+	*/
 	struct SL_SensorsConfiguration sensors_configuration;
 };
 
 
 /**
-Parameters for positional tracking initialization.
+\brief Structure containing a set of parameters for the positional tracking module initialization.
+
+The default constructor sets all parameters to their default settings.
+\note Parameters can be user adjusted.
 */
 struct SL_PositionalTrackingParameters
 {
 	/**
-	Rotation of the camera in the world frame when the camera is started. By default, it should be identity.
+	\brief Rotation of the camera in the world frame when the camera is started.
+
+	Default: Identity quaternion
 	*/
 	struct SL_Quaternion initial_world_rotation;
 	/**
-	Position of the camera in the world frame when the camera is started. By default, it should be identity.
+	\brief Position of the camera in the world frame when the camera is started.
+
+	Default: Null vector
 	*/
 	struct SL_Vector3 initial_world_position;
 	/**
-	This mode enables the camera to remember its surroundings. This helps correct positional tracking drift, and can be helpful for positioning
-	different cameras relative to one other in space.
-	\n default: true
-d	\warning: This mode requires more resources to run, but greatly improves tracking accuracy. We recommend leaving it on by default.
-		*/
+	\brief Whether the camera can remember its surroundings.
+
+	This helps correct positional tracking drift and can be helpful for positioning different cameras relative to one other in space.
+	\n Default: true
+
+	\warning This mode requires more resources to run, but greatly improves tracking accuracy.
+	\warning We recommend leaving it on by default.
+	*/
 	bool enable_area_memory;
 	/**
-	This mode enables smooth pose correction for small drift correction.
-		*/
+	\brief Whether to enable smooth pose correction for small drift correction.
+
+    Default: false
+	*/
 	bool enable_pose_smothing;
 	/**
-	This mode initializes the tracking to be aligned with the floor plane to better position the camera in space.
-	\n default: false
+	\brief Initializes the tracking to be aligned with the floor plane to better position the camera in space.
+
+	Default: false
 	\note This launches floor plane detection in the background until a suitable floor plane is found.
-	The tracking is in POSITIONAL_TRACKING_STATE_SEARCHING state.
+	\note The tracking will start in \ref SL_POSITIONAL_TRACKING_STATE_SEARCHING state.
 
-	\warning This features work best with the ZED-M since it needs an IMU to classify the floor.
-		* The ZED needs to look at the floor during initialization for optimum results.
-		*/
+	\warning This features does not work with \ref SL_MODEL_ZED since it needs an IMU to classify the floor.
+	\warning The camera needs to look at the floor during initialization for optimum results.
+	*/
 	bool set_floor_as_origin;
 	/**
-	This setting allows you define the camera as static. If true, it will not move in the environment. This allows you to set its position using initial_world_transform.
-	\n All SDK functionalities requiring positional tracking will be enabled.
-	\n Camera::getPosition() will return the value set as initial_world_transform for the PATH, and identity as the POSE.
-		*/
+	\brief Whether to define the camera as static.
+	
+	If true, it will not move in the environment. This allows you to set its position using \ref initial_world_position and \ref initial_world_rotation.
+	\n All ZED SDK functionalities requiring positional tracking will be enabled without additional computation.
+	\n \ref sl_get_position() will return the values set as \ref initial_world_position and \ref initial_world_rotation.
+	\n Default: false
+	*/
 	bool set_as_static;
 	/**
-	This setting allows you to enable or disable IMU fusion. When set to false, only the optical odometry will be used.
-	\n default: true
-	\note This setting has no impact on the tracking of a ZED camera; only the ZED Mini uses a built-in IMU.
-		*/
+	\brief Whether to enable the IMU fusion.
+
+	When set to false, only the optical odometry will be used.
+	\n Default: true
+	\note This setting has no impact on the tracking of a camera.
+	\note \ref SL_MODEL_ZED does not have an IMU.
+	*/
 	bool enable_imu_fusion;
 	/**
-	 * This setting allows you to change the minimum depth used by the SDK for Positional Tracking. It may be useful for example
-	 * if any steady objects are in front of the camera and may perturbate the positional tracking algorithm.
-	 * default : -1 which means no minimum depth
+	\brief Whether to enable the IMU fusion.
+
+	When set to false, only the optical odometry will be used.
+	\n Default: true
+	\note This setting has no impact on the tracking of a camera
+	\note \ref SL_MODEL_ZED does not have an IMU.
 	 */
 	float depth_min_range;
 	/**
-	 * \brief This setting allows you to override 2 of the 3 rotations from initial_world_transform using the IMU gravity
+	\brief Whether to override 2 of the 3 components from \ref initial_world_rotation using the IMU gravity.
+
+	Default: true
+	\note This parameter does nothing on sl.ZED.MODEL since it does not have an IMU.
 	 */
 	bool set_gravity_as_origin;
 	/**
-	* \brief Positional tracking mode used. Can be used to improve accuracy in some type of scene at the cost of longer runtime
-	* default : POSITIONAL_TRACKING_MODE::STANDARD
+	\brief Positional tracking mode used.
+	
+	Can be used to improve accuracy in some types of scene at the cost of longer runtime.
+	\n Default: \ref SL_POSITIONAL_TRACKING_MODE_STANDARD
 	*/
 	enum SL_POSITIONAL_TRACKING_MODE mode;
 
 };
 
 /**
-	\class PlaneDetectionParameters
-	\brief Sets the plane detection parameters.
+\brief Structure containing a set of parameters for the region of interest
 
-	The default constructor sets all parameters to their default settings.
- */
+*/
+struct SL_RegionOfInterestParameters
+{
+	/**
+	 \brief Filtering how far object in the ROI should be considered, this is useful for a vehicle for instance
+
+	 Default: 2.5 meters
+	 */
+	float depth_far_threshold_meters;
+
+	/**
+	 \brief By default consider only the lower half of the image, can be useful to filter out the sky
+
+	 Default: 0.5, correspond to the lower half of the image
+	 */
+	float image_height_ratio_cutoff;
+
+	/**
+	 \brief Once computed the ROI computed will be automatically applied
+
+	 Default: Enabled
+	 */
+	bool auto_apply;
+};
+
+/**
+\brief Structure containing a set of parameters for the plane detection functionality.
 
+The default constructor sets all parameters to their default settings.
+\note Parameters can be adjusted by the user.
+*/
 struct SL_PlaneDetectionParameters {
 
 	/**
-	 \brief controls the spread of plane by checking the position difference.
-	 \n default: 0.15 meters
+	 \brief Controls the spread of plane by checking the position difference.
+
+	 Default: 0.15 meters
 	 */
 	float max_distance_threshold;
 
 	/**
-	 \brief controls the spread of plane by checking the angle difference.
-	 \n default: 15 degree
+	 \brief Controls the spread of plane by checking the angle difference.
+
+	 Default: 15 degrees
 	 */
 	float normal_similarity_threshold;
 };
 
 /**
-\brief Recording structure that contains information about SVO.
+\brief Structure containing information about the status of the recording.
  */
 struct SL_RecordingStatus {
-	/**< Recorder status, true if enabled */
+	/**
+     \brief Report if the recording has been enabled.
+	 */
 	bool is_recording;
-	/**< Recorder status, true if the pause is enabled */
+	/**
+     \brief Report if the recording has been paused.
+	 */
 	bool is_paused;
-	/**< Status of current frame. True for success or false if the frame couldn't be written in the SVO file.*/
+	/**
+     \brief Status of current frame.
+	 
+	 True for success or false if the frame could not be written in the SVO file.
+	 */
 	bool status;
-	/**< Compression time for the current frame in ms.*/
+	/**
+     \brief Compression time for the current frame in milliseconds.
+	 */
 	double current_compression_time;
-	/**< Compression ratio (% of raw size) for the current frame.*/
+	/**
+     \brief Compression ratio (% of raw size) for the current frame.
+	 */
 	double current_compression_ratio;
-	/**< Average compression time in ms since beginning of recording.*/
+	/**
+     \brief Average compression time in milliseconds since beginning of recording.
+	 */
 	double average_compression_time;
-	/**< Average compression ratio (% of raw size) since beginning of recording.*/
+	/**
+     \brief Average compression ratio (% of raw size) since beginning of recording.
+	 */
 	double average_compression_ratio;
 };
 
 /**
-\brief Sets the recording parameters.
+\brief Structure containing the options used to record.
  */
 struct SL_RecordingParameters {
 	/**
-	\brief filename of the SVO file.
+	\brief Filename of the file to save the recording into.
 	 */
 	unsigned char video_filename[256];
 
 	/**
-	\brief can be one of the \ref SL_SVO_COMPRESSION_MODE enum
+	\brief Compression mode the recording.
+	
+	Default: \ref SL_SVO_COMPRESSION_MODE_H264
 	 */
 	enum SL_SVO_COMPRESSION_MODE compression_mode;
 
 	/**
-	 \brief overrides default bitrate of the SVO file, in KBits/s. Only works if \ref SVO_COMPRESSION_MODE is H264 or H265.
-	 \n default : 0 means default values (depends on the resolution)
-	 \note Available range : 0 or [1000 - 60000]
+	\brief Overrides the default bitrate of the SVO file, in kbits/s.
+
+	Default: 0 (the default values associated with the resolution)
+	\note Only works if \ref compression_mode is H264 or H265.
+	\note Available range: 0 or [1000 - 60000]
 	 */
 	unsigned int bitrate;
 
 	/**
-	 \brief defines the target framerate for the recording module.
-	 \warning This framerate must be below or equal to the camera framerate and camera framerate must be a multiple of the target framerate. It means that
-	 it must respect camera_framerate%target_framerate==0
-	 Allowed framerates are 15,30, 60 or 100 if possible.
-	 Any other values will be discarded and camera FPS will be taken.
-	 \n default : 0, meaning that the camera framerate will be taken
+	\brief Framerate for the recording file.
+
+	Default: 0 (camera framerate will be taken)
+	\warning This framerate must be below or equal to the camera framerate and camera framerate must be a multiple of the target framerate.
+	\warning It means that it must respect <code camera_framerate%target_framerate == 0</code>.
+	\warning Allowed framerates are 15,30, 60 or 100 if possible.
+	\warning Any other values will be discarded and camera FPS will be taken.
 	 */
 	unsigned int target_framerate;
 
 	/**
-	\brief In case of streaming input, if set to false, it will avoid decoding/re-encoding and convert directly streaming input into a SVO file.
-	This saves a encoding session and can be especially useful on NVIDIA Geforce cards where the number of encoding session is limited.
-	\note compression_mode, target_framerate and bitrate will be ignored in this mode.
+	\brief  Defines whether to decode and re-encode a streaming source.
+
+	Default: false
+	\note If set to false, it will avoid decoding/re-encoding and convert directly streaming input into a SVO file.
+	\note This saves a encoding session and can be especially useful on NVIDIA Geforce cards where the number of encoding session is limited.
+	\note \ref compression_mode, \ref target_framerate and \ref bitrate will be ignored in this mode.
 	 */
 	bool transcode_streaming_input;
 };
 
 /**
-\brief Sets the streaming parameters.
-\note Parameters can be user adjusted.
+\brief Structure containing the options used to stream with the ZED SDK.
+\note Parameters can be adjusted by the user.
  */
 struct SL_StreamingParameters {
 
 	/**
-	\brief Defines the codec used for streaming.
-	\warning If HEVC is used, make sure the receiving host is compatible with H265 decoding (Pascal NVIDIA card or newer). If not, prefer to use H264 since every compatible NVIDIA card supports H264 decoding
+	\brief Encoding used for streaming.
 		*/
 	enum SL_STREAMING_CODEC codec;
 
 	/**
-	\brief Defines the port used for streaming.
+	\brief Port used for streaming.
 	\warning Port must be an even number. Any odd number will be rejected.
 	\warning Port must be opened.
 	 */
@@ -1530,132 +2022,167 @@ struct SL_StreamingParameters {
 
 	/**
 	\brief Defines the streaming bitrate in Kbits/s
-	 *
-	 *
-	 *  | STREAMING_CODEC  | Resolution   | FPS   | bitrate (kbps) |
-	 *  |------------------|--------------|-------|----------------|
-	 *  | H264             |  HD2K        |   15  |     8500       |
-	 *  | H264             |  HD1080      |   30  |    12500       |
-	 *  | H264             |  HD720       |   60  |     7000       |
-	 *  | H265             |  HD2K        |   15  |     7000       |
-	 *  | H265             |  HD1080      |   30  |    11000       |
-	 *  | H265             |  HD720       |   60  |     6000       |
-
-	\note Available range : [1000 - 60000]
+	
+	| \ref SL_STREAMING_CODEC	   | \ref SL_RESOLUTION 	   | FPS   | bitrate (kbps) |
+	|------------------------------|---------------------------|-------|----------------|
+	| \ref SL_STREAMING_CODEC_H264 | \ref SL_RESOLUTION_HD2K   |   15  |     8500       |
+	| \ref SL_STREAMING_CODEC_H264 | \ref SL_RESOLUTION_HD1080 |   30  |    12500       |
+	| \ref SL_STREAMING_CODEC_H264 | \ref SL_RESOLUTION_HD720  |   60  |     7000       |
+	| \ref SL_STREAMING_CODEC_H265 | \ref SL_RESOLUTION_HD2K   |   15  |     7000       |
+	| \ref SL_STREAMING_CODEC_H265 | \ref SL_RESOLUTION_HD1080 |   30  |    11000       |
+	| \ref SL_STREAMING_CODEC_H265 | \ref SL_RESOLUTION_HD720  |   60  |     6000       |
+	Default: 0 (it will be set to the best value depending on your resolution/FPS)
+	\note Available range: [1000 - 60000]
 	 */
 	unsigned int bitrate;
 
 	/**
-	\brief Defines the gop size in number of frames.
-	\note if value is set to -1, the gop size will last at maximum 2 seconds, depending on camera fps.
-	\note The gop size determines the maximum distance between IDR/I-frames. Very high GOP size will result in slightly more efficient compression, especially on static scenes. But latency will increase.
-	\note maximum value: 256
+	\brief GOP size in number of frames.
+
+    Default: -1 (the GOP size will last at maximum 2 seconds, depending on camera FPS)
+    \note The GOP size determines the maximum distance between IDR/I-frames. Very high GOP size will result in slightly more efficient compression, especially on static scenes. But latency will increase.
+    \note Maximum value: 256
 	 */
 	int gop_size;
 
 	/**
-	\brief Enable/Disable adaptive bitrate
-	\note Bitrate will be adjusted depending the number of packet dropped during streaming.
-	\note if activated, bitrate can vary between [bitrate/4, bitrate]
-	\warning Currently, the adaptive bitrate only works when "sending" device is a NVIDIA Jetson (X1,X2,Xavier,Nano)
+	\brief Defines whether the adaptive bitrate is enable.
+
+    Default: false
+    \note Bitrate will be adjusted depending the number of packet dropped during streaming.
+    \note If activated, the bitrate can vary between [bitrate/4, bitrate].
+    \warning Currently, the adaptive bitrate only works when "sending" device is a NVIDIA Jetson (X1, X2, Xavier, Nano).
 	 */
 	bool adaptative_bitrate;
 
 	/**
-	\brief Defines a single chunk size
-	\note Stream buffers are divided in X number of chunk where each chunk is "chunk_size" bytes long.
-	\note Default value is 16084. You can lower this value if network generates a lot of packet lost : this will
+	\brief Size of a single chunk.
+
+	Default: 16084
+	\note Stream buffers are divided into X number of chunks where each chunk is  \ref chunk_size bytes long.
+	\note You can lower \ref chunk_size value if network generates a lot of packet lost: this will
 	generates more chunk for a single image, but each chunk sent will be lighter to avoid inside-chunk corruption.
-	Increasing this value can decrease latency.
-	\note Available range : [4096 - 65000]
+	\note Increasing this value can decrease latency.
+
+	\n \note Available range: [1024 - 65000]
 	 */
 	unsigned short chunk_size;
 
 
 	/**
-	 \brief defines the target framerate for the streaming output.
-	 \warning This framerate must be below or equal to the camera framerate. Allowed framerates are 15,30, 60 or 100 if possible.
-	 Any other values will be discarded and camera FPS will be taken.
-	 \ndefault : 0, meaning that the camera framerate will be taken
+	\brief Framerate for the streaming output.
+
+	Default: 0 (camera framerate will be taken)
+	\warning This framerate must be below or equal to the camera framerate.
+	\warning Allowed framerates are 15, 30, 60 or 100 if possible.
+	\warning Any other values will be discarded and camera FPS will be taken.
 	 */
 	unsigned int target_framerate;
 };
 
 /**
-\struct StreamingProperties
-\brief Properties of a streaming device
-  */
+\brief Structure containing information about the properties of a streaming device. 
+ */
 struct SL_StreamingProperties {
 	/**
-	the streaming IP of the device
+	\brief IP address of the streaming device.
 	 */
 	unsigned char ip[16];
 
 	/**
-	the streaming port
+	\brief Streaming port of the streaming device.
+
+	Default: 0
 	 */
 	unsigned short port;
 
 	/**
-	the serial number of the streaming device
+	\brief Serial number of the streaming camera.
+
+	Default: 0
 	 */
 	unsigned int serial_number;
 
 	/**
-	the current bitrate of encoding of the streaming device
+	\brief Current bitrate of encoding of the streaming device.
+
+	Default: 0
 	 */
 	int current_bitrate;
 
 	/**
-	the current codec used for compression in streaming device
+	\brief Current codec used for compression in streaming device.
+
+	Default: \ref SL_STREAMING_CODEC_H265
 	 */
 	enum SL_STREAMING_CODEC codec;
 };
 
+/**
+\brief Structure containing a set of parameters for the spatial mapping module.
 
+The default constructor sets all parameters to their default settings.
+\note Parameters can be adjusted by the user.
+*/
 struct SL_SpatialMappingParameters {
 	/**
-	\brief Spatial mapping resolution in meters. Should fit \ref allowed_resolution (Default is 0.05f).
+	\brief Spatial mapping resolution in meters.
+
+	Default: 0.05f
 	 */
 	float resolution_meter;
 	/**
 	\brief Depth range in meters.
-	Can be different from the value set by \ref setDepthMaxRangeValue.
-	Set to 0 by default. In this case, the range is computed from resolution_meter
+
+	Can be different from the value set by SL_InitParameters.depth_maximum_distance.
+	\note Set to 0 by default. In this case, the range is computed from \ref resolution_meter
 	and from the current internal parameters to fit your application.
 	 */
 	float range_meter;
 	/**
-	\brief Set to true if you want to be able to apply the texture to your mesh after its creation.
+	\brief Whether to save the texture.
 
+	If set to true, you will be able to apply the texture to your mesh after it is created.
+	\n Default: false
 	\note This option will consume more memory.
-	\note This option is only available for \ref SPATIAL_MAP_TYPE_MESH
+	\note This option is only available for \ref SL_SPATIAL_MAP_TYPE_MESH.
 	 */
 	bool save_texture;
 	/**
-	\brief Set to false if you want to ensure consistency between the mesh and its inner chunk data (default is false).
+	\brief Whether to only use chunks.
 
-	\note Updating the mesh is time-consuming. Setting this to true results in better performance.
+	If set to false, you will ensure consistency between the mesh and its inner chunk data.
+	\n Default: false
+	\note Updating the mesh is time-consuming.
+	\note Setting this to true results in better performance.
 	 */
 	bool use_chunk_only;
 	/**
-	\brief The maximum CPU memory (in MB) allocated for the meshing process (default is 2048).
+	\brief The maximum CPU memory (in MB) allocated for the meshing process.
+
+	Default: 2048
 	 */
 	int max_memory_usage;
 	/**
-	\brief Specify if the order of the vertices of the triangles needs to be inverted. If your display process does not handle front and back face culling, you can use this to correct it.
+	\brief Whether to inverse the order of the vertices of the triangles.
 
-	\note This option is only available for \ref SPATIAL_MAP_TYPE_MESH
+	If your display process does not handle front and back face culling, you can use this to correct it.
+	\n Default: false
+	\note This option is only available for \ref SL_SPATIAL_MAP_TYPE_MESH.
 	 */
 	bool reverse_vertex_order;
 	/**
-	\brief The type of spatial map to be created. This dictates the format that will be used for the mapping(e.g. mesh, point cloud). See \ref SPATIAL_MAP_TYPE
+	\brief The type of spatial map to be created.
+
+	This dictates the format that will be used for the mapping (e.g. mesh, point cloud).
+	\n See \ref SL_SPATIAL_MAP_TYPE.
 	 */
 	enum SL_SPATIAL_MAP_TYPE map_type;
 	/**
-		\brief Control the integration rate of the current depth into the mapping process.
-		This parameter controls how many times a stable 3D points should be seen before it is integrated into the spatial mapping.
-		Default value is 0, this will define the stability counter based on the mesh resolution, the higher the resolution, the higher the stability counter.
+	\brief Control the integration rate of the current depth into the mapping process.
+
+	This parameter controls how many times a stable 3D points should be seen before it is integrated into the spatial mapping.
+	\n Default: 0 (this will define the stability counter based on the mesh resolution, the higher the resolution, the higher the stability counter)
 	*/
 	int stability_counter;
 };
@@ -1665,201 +2192,254 @@ struct SL_SpatialMappingParameters {
 #define MAX_NUMBER_OBJECT 75
 #define MAX_TRAJECTORY_SIZE 200
 
-/** Set the batch trajectory parameters*/
+/**
+\brief Structure containing a set of parameters for batch object detection.
+
+The default constructor sets all parameters to their default settings.
+\note Parameters can be user adjusted.
+*/
 struct SL_BatchParameters
 {
 	/**
-	\brief Defines if the Batch option in the object detection module is enabled. Batch queueing system provides:
-	 *  - Deep-Learning based re-identification
-	 *  - Trajectory smoothing and filtering
-	 \note To activate this option, enable must be set to true.
+	\brief Whether to enable the batch option in the object detection module.
+
+	Batch queueing system provides:
+	- deep-learning based re-identification
+	- trajectory smoothing and filtering
+
+	Default: false
+    \note To activate this option, \ref enable must be set to true.
 	 */
 	bool enable;
 	/**
-	\brief Max retention time in seconds of a detected object. After this time, the same object will mostly have a different ID.
+	\brief Max retention time in seconds of a detected object.
+
+	After this time, the same object will mostly have a different id.
 	 */
 	float id_retention_time;
 	/**
 	\brief Trajectories will be output in batch with the desired latency in seconds.
+
 	During this waiting time, re-identification of objects is done in the background.
-	Specifying a short latency will limit the search ( falling in timeout) for previously seen object IDs but will be closer to real time output.
-	Specifying a long latency will reduce the change of timeout in Re-ID but increase difference with live output.
+	\note Specifying a short latency will limit the search (falling in timeout) for previously seen object ids but will be closer to real time output.
+	\note Specifying a long latency will reduce the change of timeout in re-identification but increase difference with live output.
 	 */
 	float latency;
 };
 
 /**
-\brief contains AI model status.
+\brief Structure containing AI model status.
 */
 struct SL_AI_Model_status {
-	bool downloaded; // the model file is currently present on the host
-	bool optimized; // an engine file with the expected architecure is found.
+	bool downloaded; /**< \brief The model file is currently present on the host.*/
+	bool optimized; /**< \brief An engine file with the expected architecture is found.*/
 };
 
 /**
-Sets the object detection parameters.
+\brief Structure containing a set of parameters for the object detection module.
+
+The default constructor sets all parameters to their default settings.
+\note Parameters can be user adjusted.
 */
 struct SL_ObjectDetectionParameters
 {
 	/**
-	\brief Defines a module instance id. This is used to identify which object detection model instance is used.
-	 * If the id is negative it will be auto incremented/generated
+	\brief Id of the module instance.
+
+	This is used to identify which object detection module instance is used.
 	 */
 	unsigned int instance_module_id;
 	/**
-	\brief Defines if the object detection is synchronized to the image or runs in a separate thread.
-	If set to true, the detection is run for every grab, otherwise, the thread runs at its own speed, which can lead to new detection once in a while.
+	\brief Whether the object detection is synchronized to the image or runs in a separate thread.
+
+	If set to true, the detection is run on every \ref sl_grab().
+	\n Otherwise, the thread runs at its own speed, which can lead to new detection once in a while.
+	\n Default: true
 	*/
 	bool image_sync; // data synchronized
 	/**
-	\brief Defines if the object detection will track objects across images flow
+	\brief Whether the object detection system includes object tracking capabilities across a sequence of images.
+
+	Default: true
 	 */
 	bool enable_tracking;
 	/**
-	\brief Defines if the mask object will be computed
+	\brief Whether the object masks will be computed.
+
+	Default: false
 	 */
 	bool enable_segmentation;
 	/**
-	\brief Enable human pose estimation with skeleton keypoints output (SL_DETECTION_MODEL).
+	\brief \ref SL_OBJECT_DETECTION_MODEL to use.
+	
+	Default: \ref SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX_FAST
 	 */
 	enum  SL_OBJECT_DETECTION_MODEL detection_model;
 	/**
-	\brief Defines a upper depth range for detections.
-	  * \n Defined in \ref UNIT set at \ref SL_Camera::open.
-	  * \n Default value is set to \ref SL_Initparameters::depth_maximum_distance (can not be higher).
-	  */
+	\brief Upper depth range for detections.
+	
+	Default: -1.f (value set in SL_InitParameters.depth_maximum_distance)
+	\note The value cannot be greater than SL_InitParameters.depth_maximum_distance and its unit is defined in SL_InitParameters.coordinate_unit.
+	 */
 	float max_range;
 	/**
 	 \brief Batching system parameters.
-	 Batching system (introduced in 3.5) performs short-term re-identification with deep learning and trajectories filtering.
-	 * \n BatchParameters::enable need to be true to use this feature (by default disabled)
+
+	Batching system (introduced in 3.5) performs short-term re-identification with deep-learning and trajectories filtering.
+	\n SL_BatchParameters.enable must to be true to use this feature (by default disabled).
 	 */
 	struct SL_BatchParameters batch_parameters;
 	/**
-	\brief Defines the filtering mode that should be applied to raw detections.
+	\brief Filtering mode that should be applied to raw detections.
+
+	Default: \ref SL_OBJECT_FILTERING_MODE_NMS_3D (same behavior as previous ZED SDK version)
+	\note This parameter is only used in detection model [SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX_XXX](\ref SL_OBJECT_DETECTION_MODEL)
+	and \ref SL_OBJECT_DETECTION_MODEL_CUSTOM_BOX_OBJECTS.
+	\note For custom object, it is recommended to use \ref SL_OBJECT_FILTERING_MODE_NMS_3D_PER_CLASS or \ref SL_OBJECT_FILTERING_MODE_NONE.
+	\note In this case, you might need to add your own NMS filter before ingesting the boxes into the object detection module.
 	*/
 	enum SL_OBJECT_FILTERING_MODE filtering_mode;
 	/**
-	* \brief When an object is not detected anymore, the SDK will predict its positions during a short period of time before switching its state to SEARCHING.
-	* \n It prevents the jittering of the object state when there is a short misdetection. The user can define its own prediction time duration.
-	*
-	* \note During this time, the object will have OK state even if it is not detected.
-	* \note the duration is expressed in seconds
-	* \warning the prediction_timeout_s will be clamped to 1 second as the prediction is getting worst with time.
-	* \warning set this parameter to 0 to disable SDK predictions
-	* defulat : 0.2f
+	\brief Prediction duration of the ZED SDK when an object is not detected anymore before switching its state to \ref SL_OBJECT_TRACKING_STATE_SEARCHING.
+	
+	It prevents the jittering of the object state when there is a short misdetection.
+    \n The user can define their own prediction time duration.
+	\n Default: 0.2f
+    \note During this time, the object will have \ref SL_OBJECT_TRACKING_STATE_OK state even if it is not detected.
+    \note The duration is expressed in seconds.
+    \warning \ref prediction_timeout_s will be clamped to 1 second as the prediction is getting worse with time.
+    \warning Setting this parameter to 0 disables the ZED SDK predictions.
 	*/
 	float prediction_timeout_s;
 	/**
-	\brief Allow inference to run at a lower precision to improve runtime and memory usage,
-	 * it might increase the initial optimization time and could include downloading calibration data or calibration cache and slightly reduce the accuracy
-	 * \note The fp16 is automatically enabled if the GPU is compatible and provides a speed up of almost x2 and reduce memory usage by almost half, no precision loss.
-	 * \note This setting allow int8 precision which can speed up by another x2 factor (compared to fp16, or x4 compared to fp32) and half the fp16 memory usage, however some accuracy can be lost.
-	 * The accuracy loss should not exceed 1-2% on the compatible models.
-	 * The current compatible models are all HUMAN_BODY_XXXX
+	\brief Whether to allow inference to run at a lower precision to improve runtime and memory usage.
+
+	It might increase the initial optimization time and could include downloading calibration data or calibration cache and slightly reduce the accuracy.
+	\note The fp16 is automatically enabled if the GPU is compatible and provides a speed up of almost x2 and reduce memory usage by almost half, no precision loss.
+	\note This setting allow int8 precision which can speed up by another x2 factor (compared to fp16, or x4 compared to fp32) and half the fp16 memory usage, however some accuracy could be lost.
+	\note The accuracy loss should not exceed 1-2% on the compatible models.
+	\note The current compatible models are all [SL_AI_MODELS_HUMAN_BODY_XXXX](\ref SL_AI_MODELS).
 	 */
 	bool allow_reduced_precision_inference;
 };
 
 /**
-\brief Lists available object class
+\brief Lists available object classes.
  */
 enum SL_OBJECT_CLASS
 {
 	SL_OBJECT_CLASS_PERSON,          /**< For people detection */
-	SL_OBJECT_CLASS_VEHICLE,         /**< For vehicle detection. It can be cars, trucks, buses, motorcycles etc */
-	SL_OBJECT_CLASS_BAG,             /**< For bag detection (backpack, handbag, suitcase) */
-	SL_OBJECT_CLASS_ANIMAL,          /**< For animal detection (cow, sheep, horse, dog, cat, bird, etc) */
-	SL_OBJECT_CLASS_ELECTRONICS,     /**< For electronic device detection (cellphone, laptop, etc) */
-	SL_OBJECT_CLASS_FRUIT_VEGETABLE, /**<  For fruit and vegetable detection (banana, apple, orange, carrot, etc) */
-	SL_OBJECT_CLASS_SPORT,			 /**<  For sport related objects (sports ball etc) */
+	SL_OBJECT_CLASS_VEHICLE,         /**< For vehicle detection (cars, trucks, buses, motorcycles, etc.) */
+	SL_OBJECT_CLASS_BAG,             /**< For bag detection (backpack, handbag, suitcase, etc.) */
+	SL_OBJECT_CLASS_ANIMAL,          /**< For animal detection (cow, sheep, horse, dog, cat, bird, etc.) */
+	SL_OBJECT_CLASS_ELECTRONICS,     /**< For electronic device detection (cellphone, laptop, etc.) */
+	SL_OBJECT_CLASS_FRUIT_VEGETABLE, /**< For fruit and vegetable detection (banana, apple, orange, carrot, etc.) */
+	SL_OBJECT_CLASS_SPORT,			 /**< For sport-related object detection (sport ball, etc.) */
 	SL_OBJECT_CLASS_LAST
 };
 
 
 /**
-Sets the object detection runtime parameters.
+\brief Structure containing a set of runtime parameters for the object detection module.
+
+The default constructor sets all parameters to their default settings.
+\note Parameters can be adjusted by the user.
 */
 struct SL_ObjectDetectionRuntimeParameters
 {
 	/**
-	\brief Defines the confidence threshold: interval between 1 and 99. A confidence of 1 meaning a low
-	 *  threshold, more uncertain objects and 99 very few but very precise objects.
-	 * If the scene contains a lot of objects, increasing the confidence can slightly speed up the process, since every object instances are tracked.
-	 *
-	 * Default confidence threshold value, used as a fallback when ObjectDetectionRuntimeParameters::object_class_detection_confidence_threshold is partially set
+	\brief Confidence threshold.
+
+	From 1 to 100, with 1 meaning a low threshold, more uncertain objects and 99 very few but very precise objects.
+	\n Default: 20.f
+	\note If the scene contains a lot of objects, increasing the confidence can slightly speed up the process, since every object instance is tracked.
+	\note \ref detection_confidence_threshold is used as a fallback when SL_ObjectDetectionRuntimeParameters.object_confidence_threshold is partially set
 	 */
 	float detection_confidence_threshold;
 	/**
-	\brief Select which object types to detect and track. By default all classes are tracked.
-	 * Fewer object types can slightly speed up the process, since every objects are tracked.
-	 * Only the selected classes in the vector wilviewl be output.
+	\brief Defines which object types to detect and track.
 
-	 In order to get all the available classes, the filter vector must be empty.
+	\note Fewer object types can slightly speed up the process since every object is tracked.
+	\note Will output only the selected classes.
 	 */
 	int object_class_filter[(int)SL_OBJECT_CLASS_LAST];
 	/**
-	\brief Defines a detection threshold for each classes, can be empty for some classes,
-	 * ObjectDetectionRuntimeParameters::detection_confidence_threshold will be taken as fallback/default value
+	\brief Array of confidence thresholds for each class (can be empty for some classes).
+    \note SL_ObjectDetectionRuntimeParameters.detection_confidence_threshold will be taken as fallback/default value.
 	 */
 	int object_confidence_threshold[(int)SL_OBJECT_CLASS_LAST];
 };
 
 /**
-\brief Sets the object detection parameters.
+\brief Structure containing a set of parameters for the body tracking module.
 
 The default constructor sets all parameters to their default settings.
-
 \note Parameters can be user adjusted.
  */
 struct SL_BodyTrackingParameters {
 	/**
-	\brief Defines a module instance id. This is used to identify which object detection model instance is used.
-	 * If the id is negative it will be auto incremented/generated
+	\brief Id of the module instance.
+
+	This is used to identify which body tracking module instance is used.
 	 */
 	unsigned int instance_module_id;
 
 	/**
-	\brief Defines if the object detection is synchronized to the image or runs in a separate thread.
-	If set to true, the detection is run for every grab, otherwise, the thread runs at its own speed, which can lead to new detection once in a while.
-	 */
+	\brief Whether the body tracking is synchronized to the image or runs in a separate thread.
+
+	If set to true, the detection is run on every \ref sl_grab().
+	\n Otherwise, the thread runs at its own speed, which can lead to new detection once in a while.
+	\n Default: true
+	*/
 	bool image_sync;
 
 	/**
-	\brief Defines if the object detection will track objects across images flow
+	\brief Whether the body tracking system includes body/person tracking capabilities across a sequence of images.
+
+	Default: true
 	 */
 	bool enable_tracking;
 
 	/**
-	\brief Defines if the mask object will be computed
+	\brief Whether the body/person masks will be computed.
+
+	Default: false
 	 */
 	bool enable_segmentation;
 
 	/**
-	\brief Enable human pose estimation with skeleton keypoints output
+	\brief \ref SL_BODY_TRACKING_MODEL to use.
+	
+	Default: \ref SL_BODY_TRACKING_MODEL_HUMAN_BODY_ACCURATE
 	 */
 	enum SL_BODY_TRACKING_MODEL detection_model;
 
 	/**
-	\brief Defines if the body fitting will be applied
+	\brief Whether to apply the body fitting.
+
+	Default: false
 	 */
 	bool enable_body_fitting;
 
 	/**
-	 * \brief Defines the body format output by the sdk when \ref retrieveBodies is called.
-	 *
+	\brief Body format to be outputted by the ZED SDK with \ref sl_retrieve_bodies().
+	
+	Default: \ref SL_BODY_FORMAT_BODY_18
 	 */
 	enum SL_BODY_FORMAT body_format;
 
 	/**
-	 * \brief Defines the body selection output by the sdk when \ref retrieveBodies is called.
+	\brief Selection of keypoints to be outputted by the ZED SDK with \ref sl_retrieve_bodies().
+    
+	Default: \ref SL_BODY_KEYPOINTS_SELECTION_FULL
 	 */
 	enum SL_BODY_KEYPOINTS_SELECTION body_selection;
 
 	/**
-   \brief Defines a upper depth range for detections.
-	 * \n Defined in \ref UNIT set at \ref sl::Camera::open.
-	 * \n Default value is set to \ref sl::Initparameters::depth_maximum_distance (can not be higher).
+	\brief Upper depth range for detections.
+	
+	Default: -1.f (value set in SL_InitParameters.depth_maximum_distance)
+	\note The value cannot be greater than SL_InitParameters.depth_maximum_distance and its unit is defined in SL_InitParameters.coordinate_unit.
 	 */
 	float max_range;
 
@@ -1867,463 +2447,679 @@ struct SL_BodyTrackingParameters {
 	/**
 	 \brief Batching system parameters.
 	 Batching system (introduced in 3.5) performs short-term re-identification with deep learning and trajectories filtering.
-	 * \n BatchParameters::enable need to be true to use this feature (by default disabled)
+	 * \n BatchParameters::enable must to be true to use this feature (by default disabled)
 	 */
 	struct SL_BatchParameters batch_parameters;
 #endif
 	/**
-	 * \brief When an object is not detected anymore, the SDK will predict its positions during a short period of time before its state switched to SEARCHING.
-	 * \n It prevents the jittering of the object state when there is a short misdetection. The user can define its own prediction time duration.
-	 *
-	 * \note During this time, the object will have OK state even if it is not detected.
-	 * \note the duration is expressed in seconds
-	 * \warning the prediction_timeout_s will be clamped to 1 second as the prediction is getting worst with time.
-	 * \warning set this parameter to 0 to disable SDK predictions
-	 */
+	\brief Prediction duration of the ZED SDK when an object is not detected anymore before switching its state to \ref SL_OBJECT_TRACKING_STATE_SEARCHING.
+	
+	It prevents the jittering of the object state when there is a short misdetection.
+    \n The user can define their own prediction time duration.
+	\n Default: 0.2f
+    \note During this time, the object will have \ref SL_OBJECT_TRACKING_STATE_OK state even if it is not detected.
+    \note The duration is expressed in seconds.
+    \warning \ref prediction_timeout_s will be clamped to 1 second as the prediction is getting worse with time.
+    \warning Setting this parameter to 0 disables the ZED SDK predictions.
+	*/
 	float prediction_timeout_s;
-
 	/**
-	\brief Allow inference to run at a lower precision to improve runtime and memory usage,
-	 * it might increase the initial optimization time and could include downloading calibration data or calibration cache and slightly reduce the accuracy
-	 * \note The fp16 is automatically enabled if the GPU is compatible and provides a speed up of almost x2 and reduce memory usage by almost half, no precision loss.
-	 * \note This setting allow int8 precision which can speed up by another x2 factor (compared to fp16, or x4 compared to fp32) and half the fp16 memory usage, however some accuracy can be lost.
-	 * The accuracy loss should not exceed 1-2% on the compatible models.
-	 * The current compatible models are all HUMAN_BODY_XXXX
+	\brief Whether to allow inference to run at a lower precision to improve runtime and memory usage.
+
+	It might increase the initial optimization time and could include downloading calibration data or calibration cache and slightly reduce the accuracy.
+	\note The fp16 is automatically enabled if the GPU is compatible and provides a speed up of almost x2 and reduce memory usage by almost half, no precision loss.
+	\note This setting allow int8 precision which can speed up by another x2 factor (compared to fp16, or x4 compared to fp32) and half the fp16 memory usage, however some accuracy could be lost.
+	\note The accuracy loss should not exceed 1-2% on the compatible models.
+	\note The current compatible models are all [SL_AI_MODELS_HUMAN_BODY_XXXX](\ref SL_AI_MODELS).
 	 */
 	bool allow_reduced_precision_inference;
 };
 
 /**
-\brief Sets the object detection runtime parameters.
+\brief Structure containing a set of runtime parameters for the body tracking module.
 
 The default constructor sets all parameters to their default settings.
-
-\note Parameters can be user adjusted.
+\note Parameters can be adjusted by the user.
  */
 struct SL_BodyTrackingRuntimeParameters {
 	/**
-	\brief Defines the confidence threshold: interval between 1 and 99. A confidence of 1 meaning a low
-	 *  threshold, more uncertain objects and 99 very few but very precise objects.
-	 * If the scene contains a lot of objects, increasing the confidence can slightly speed up the process, since every object instances are tracked.
-	 *
-	 * Default confidence threshold value, used as a fallback when BodyTrackingRuntimeParameters::object_class_detection_confidence_threshold is partially set
+	\brief Confidence threshold.
+
+	From 1 to 100, with 1 meaning a low threshold, more uncertain objects and 99 very few but very precise objects.
+	\n Default: 20.f
+	\note If the scene contains a lot of objects, increasing the confidence can slightly speed up the process, since every object instance is tracked.
 	 */
 	float detection_confidence_threshold;
 
 	/**
-	\brief Defines the minimum keypoints threshold.
-	 * the SDK will outputs skeleton with more keypoints than this threshold.
-	 * it is useful for example to remove unstable fitting results when a skeleton is partially occluded.
+	\brief Minimum threshold for the keypoints.
+
+	The ZED SDK will only output the keypoints of the skeletons with threshold greater than this value.
+	\n Default: 0
+	\note It is useful, for example, to remove unstable fitting results when a skeleton is partially occluded.
 	 */
 	int minimum_keypoints_threshold;
 	/**
-	 * \brief this value controls the smoothing of the fitted fused skeleton.
-	 * it is ranged from 0 (low smoothing) and 1 (high smoothing)
-	 * Default is 0;
+	\brief Control of the smoothing of the fitted fused skeleton.
+
+	It is ranged from 0 (low smoothing) and 1 (high smoothing).
+	Default: 0
 	 */
 	float skeleton_smoothing;
 };
 
 /**
-Contains data of a detected object such as its bounding_box, label, id and its 3D position.
+\brief Structure containing data of a detected object such as its \ref bounding_box, \ref label, \ref id and its 3D \ref position.
 */
 struct SL_ObjectData
 {
 	/**
-		\brief Object identification number, used as a reference when tracking the object through the frames
-		\note Only available if \ref ObjectDetectionParameters::enable_tracking is activated else set to -1.
-		 */
+	\brief Object identification number.
+
+	It is used as a reference when tracking the object through the frames.
+	\note Only available if SL_ObjectDetectionParameters.enable_tracking is activated.
+	\note Otherwise, it will be set to -1.
+	 */
 	int id;
 	/**
-	\brief Unique ID to help identify and track AI detections. Can be either generated externally, or using \ref sl_generate_unique_id() or left empty
+	\brief Unique id to help identify and track AI detections.
+
+    It can be either generated externally, or by using \ref sl_generate_unique_id() or left empty.
 	*/
 	unsigned char unique_object_id[37];
 
 	/**
-	\brief Object label, forwarded from \ref CustomBoxObjects when using \ref SL_DETECTION_MODEL_CUSTOM_BOX_OBJECTS
+	\brief Object raw label.
+
+	It is forwarded from \ref SL_CustomBoxObjectData when using \ref SL_OBJECT_DETECTION_MODEL_CUSTOM_BOX_OBJECTS.
 	*/
 	int raw_label;
 	/**
-	\brief Object category. Identify the object type (sl::OBJECT_CLASS)
+	\brief Object class/category to identify the object type.
 	 */
 	enum  SL_OBJECT_CLASS label;
 	/**
-	\brief Object subclass (sl::OBJECT_SUBCLASS)
+	\brief Object sub-class/sub-category to identify the object type.
 	 */
 	enum  SL_OBJECT_SUBCLASS sublabel;
 	/**
-	\brief Defines the object tracking state (sl::OBJECT_TRACKING_STATE).
+	\brief Object tracking state.
 	 */
 	enum  SL_OBJECT_TRACKING_STATE tracking_state;
 	/**
-	\brief Defines the object action state (sl::OBJECT_ACTION_STATE).
+	\brief Object action state.
 	 */
 	enum  SL_OBJECT_ACTION_STATE action_state;
 	/**
-	\brief Defines the object 3D centroid.
-	 * Defined in \ref sl:InitParameters::UNIT, expressed in \ref RuntimeParameters::measure3D_reference_frame.
+	\brief Object 3D centroid.
+	\note It is defined in SL_InitParameters.coordinate_unit and expressed in SL_RuntimeParameters.reference_frame.
 	 */
 	struct SL_Vector3 position;
 	/**
-	\brief Defines the detection confidence value of the object.
-	 * From 0 to 100, a low value means the object might not be localized perfectly or the label (OBJECT_CLASS) is uncertain.
+	\brief Detection confidence value of the object.
+	
+	From 0 to 100, a low value means the object might not be localized perfectly or the label (\ref SL_OBJECT_CLASS) is uncertain.
 	 */
 	float confidence;
 
-	//Mask
+	/**
+	\brief Mask defining which pixels which belong to the object (in \ref bounding_box_2d and set to 255) and those of the background (set to 0).
+	\warning The mask information is only available for tracked objects (\ref SL_OBJECT_TRACKING_STATE_OK) that have a valid depth.
+	\warning Otherwise, the mask will not be initialized.
+	*/
 	int* mask;
 	//int* mask; //IntPtr to an sl::Mat object.
 
-	//Image
+	/**
+	\brief 2D bounding box of the object represented as four 2D points starting at the top left corner and rotation clockwise.
+	\note Expressed in pixels on the original image resolution, ```[0, 0]``` is the top left corner.
+	\code
+	A ------ B
+	| Object |
+	D ------ C
+	\endcode
+     */
 	struct SL_Vector2 bounding_box_2d[4];
 	/**
-	 * \brief 3D head centroid.
-	 * Defined in \ref sl:InitParameters::UNIT, expressed in \ref RuntimeParameters::measure3D_reference_frame.
-	  \note Not available with DETECTION_MODEL::MULTI_CLASS_BOX.
+	\brief 3D centroid of the head of the object (a person).
+	\note It is defined in SL_InitParameters.coordinate_unit and expressed in SL_RuntimeParameters.reference_frame.
+	\warning Not available with [SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX_XXX](\ref SL_OBJECT_DETECTION_MODEL).
 	 */
 	struct SL_Vector3 head_position;
 	/**
 	\brief Defines the object 3D velocity
-	 * Defined in \ref sl:InitParameters::UNIT / seconds, expressed in \ref RuntimeParameters::measure3D_reference_frame.
+	\note It is defined in ```SL_InitParameters.coordinate_unit / s``` and expressed in SL_RuntimeParameters.reference_frame.
 	 */
 	struct SL_Vector3 velocity;
 	/**
-	 * \brief 3D object dimensions: width, height, length. Defined in SL_InitParameters_UNIT, expressed in SL_RuntimeParameters::measure3D_reference_frame.
+	\brief 3D object dimensions: width, height, length.
+	\note It is defined in SL_InitParameters.coordinate_unit and expressed in SL_RuntimeParameters.reference_frame.
 	 */
 	struct SL_Vector3 dimensions;
 	/**
-	 * \brief 3D bounding box of the person represented as eight 3D points
-	 * Defined in \ref sl:InitParameters::UNIT, expressed in \ref RuntimeParameters::measure3D_reference_frame.
-	 *
-	 * \code
-		   1 ------ 2
-		  /        /|
-		 0 ------ 3 |
-		 | Object | 6
-		 |        |/
-		 4 ------ 7
-	 \endcode
+	\brief 3D bounding box of the object represented as eight 3D points.
+	\note It is defined in SL_InitParameters.coordinate_unit and expressed in SL_RuntimeParameters.reference_frame.
+	\code
+       1 ------ 2
+      /        /|
+     0 ------ 3 |
+     | Object | 6
+     |        |/
+     4 ------ 7
+    \endcode
 	 */
 	struct SL_Vector3 bounding_box[8];
 	/**
-	 * \brief bounds the head with eight 3D points.
-	 * Defined in \ref sl:InitParameters::UNIT, expressed in \ref RuntimeParameters::measure3D_reference_frame.
-	  \note Not available with DETECTION_MODEL::MULTI_CLASS_BOX.
+	\brief 3D bounding box of the head of the object (a person) represented as eight 3D points.
+	\note It is defined in SL_InitParameters.coordinate_unit and expressed in SL_RuntimeParameters.reference_frame.
+	\warning Not available with [SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX_XXX](\ref SL_OBJECT_DETECTION_MODEL).
 	 */
 	struct SL_Vector3 head_bounding_box[8];
 	/**
-	 * \brief bounds the head with four 2D points.
-	 * Expressed in pixels on the original image resolution.
-	  \note Not available with DETECTION_MODEL::MULTI_CLASS_BOX.
+	\brief 2D bounding box of the head of the object (a person) represented as four 2D points starting at the top left corner and rotation clockwise.
+	\note Expressed in pixels on the original image resolution, ```[0, 0]``` is the top left corner.
+	\warning Not available with [SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX_XXX](\ref SL_OBJECT_DETECTION_MODEL).
 	 */
 	struct SL_Vector2 head_bounding_box_2d[4];
 	/**
-	\brief the covariance matrix of the 3d position, represented by its upper triangular matrix value
-	 * \code
-		 = [p0, p1, p2]
-		   [p1, p3, p4]
-		   [p2, p4, p5]
-	  \endcode
-	  where pi is position_covariance[i]
+	\brief Covariance matrix of the 3D position.
+	\note It is represented by its upper triangular matrix value
+	\code
+			= [p0, p1, p2]
+			[p1, p3, p4]
+			[p2, p4, p5]
+	\endcode
+	where pi is ```position_covariance[i]```
 	 */
 	float position_covariance[6];
 };
 
 /**
-\brief Container to store the externally detected objects. The objects can be ingested
- * using \ref sl_ingest_custom_box_objects() functions to extract 3D information and tracking over time
- */
+\brief Structure that store externally detected objects.
 
+The objects can be ingested with sl_ingest_custom_box_objects() to extract 3D and tracking information over time.
+*/
 struct SL_CustomBoxObjectData {
 	/**
-	\brief Unique ID to help identify and track AI detections. Can be either generated externally, or using \ref generate_unique_id() or left empty
+	\brief Unique id to help identify and track AI detections.
+
+    It can be either generated externally, or by using \ref sl_generate_unique_id() or left empty.
 	*/
 	char unique_object_id[37];
 	/**
-	 * \brief 2D bounding box represented as four 2D points starting at the top left corner and rotation clockwise.
-	 * Expressed in pixels on the original image resolution, [0,0] is the top left corner.
-	 * \code
-		A ------ B
-		| Object |
-		D ------ C
+	\brief 2D bounding box of the object represented as four 2D points starting at the top left corner and rotation clockwise.
+	\note Expressed in pixels on the original image resolution, ```[0, 0]``` is the top left corner.
+	\code
+	A ------ B
+	| Object |
+	D ------ C
 	\endcode
 	*/
 	struct SL_Vector2 bounding_box_2d[4];
 
 	/**
-	\brief Object label, this information is passed-through and can be used to improve object tracking
+	\brief Object label.
+
+	This information is passed-through and can be used to improve object tracking.
+	\note It should define an object class. This means that any similar object (in classification) should share the same label number.
 	*/
 	int label;
 
 	/**
-	\brief Detection confidence. Should be [0-1]. It can be used to improve the object tracking
+	\brief Detection confidence value of the object.
+	\note The value should be in ```[0-1]```.
+	\note It can be used to improve the object tracking.
 	*/
 	float probability;
 	/**
-	\brief Provide hypothesis about the object movements(degrees of freedom) to improve the object tracking
-		* true: means 2 DoF projected alongside the floor plane, the default for object standing on the ground such as person, vehicle, etc
-		* false : 6 DoF full 3D movements are allowed
+	\brief Provide hypothesis about the object movements (degrees of freedom or DoF) to improve the object tracking.
+	- true: 2 DoF projected alongside the floor plane. Case for object standing on the ground such as person, vehicle, etc. 
+	\n The projection implies that the objects cannot be superposed on multiple horizontal levels. 
+	- false: 6 DoF (full 3D movements are allowed).
+
+	\note This parameter cannot be changed for a given object tracking id.
+	\note It is advised to set it by labels to avoid issues.
 	*/
 	bool is_grounded;
 };
 
 /**
-Contains the result of the object detection module.
+\brief Structure containing the results of the object detection module.
+
+The detected objects are listed in \ref object_list.
+\note Since the data is transmitted from C++ to C, the size of the structure must be constant.
+\note Therefore, there is a limitation of 75 objects in the image.
 */
 struct SL_Objects
 {
 	/**
-	\brief Number of detected objects. Used to iterate through the object_list array.
+	\brief Number of detected objects.
+	\note You can use it to iterate through the \ref object_list array.
 	 */
 	int nb_objects;
 	/**
-	\brief Defines the timestamp corresponding to the frame acquisition.
-	 * This value is especially useful for the async mode to synchronize the data.
+	\brief Timestamp corresponding to the frame acquisition. 
+
+    This value is especially useful for the async mode to synchronize the data.
 	 */
 	unsigned long long timestamp;
 	/**
-	\brief Defined if the object list has already been retrieved or not.
+	\brief Whether \ref object_list has already been retrieved or not.
 	 */
 	int is_new;
 	/**
-	\brief Defined if both the object tracking and the world orientation has been setup.
+	\brief Whether both the object tracking and the world orientation has been setup.
 	 */
 	int is_tracked;
 	/**
-	\brief Detection model used (SL_DETECTION_MODEL).
+	\brief Current \ref SL_OBJECT_DETECTION_MODEL used.
 	 */
 	enum  SL_OBJECT_DETECTION_MODEL detection_model;
 	/**
-	\brief The list of detected objects
+	\brief Array of detected objects.
+	\note Since the data is transmitted from C++ to C, the size of the structure must be constant.
+	\note Therefore, there is a limitation of 75 objects in the image.
 	 */
 	struct SL_ObjectData object_list[MAX_NUMBER_OBJECT];
 };
 
 /**
-Contains data of a detected object such as its bounding_box, label, id and its 3D position.
+\brief Structure containing data of a detected body/person such as its \ref bounding_box, \ref id and its 3D \ref position.
 */
 struct SL_BodyData
 {
 	/**
-		\brief Object identification number, used as a reference when tracking the object through the frames
-		\note Only available if \ref ObjectDetectionParameters::enable_tracking is activated else set to -1.
-		 */
+	\brief Body/person identification number.
+
+	It is used as a reference when tracking the body through the frames.
+	\note Only available if SL_BodyTrackingParameters.enable_tracking is activated.
+	\note Otherwise, it will be set to -1.
+	 */
 	int id;
 	/**
-	\brief Unique ID to help identify and track AI detections. Can be either generated externally, or using \ref sl_generate_unique_id() or left empty
+	\brief Unique id to help identify and track AI detections.
+
+    It can be either generated externally, or by using \ref sl_generate_unique_id() or left empty.
 	*/
 	unsigned char unique_object_id[37];
 	/**
-	\brief Defines the object tracking state (sl::OBJECT_TRACKING_STATE).
+	\brief Body/person tracking state.
 	 */
 	enum  SL_OBJECT_TRACKING_STATE tracking_state;
 	/**
-	\brief Defines the object action state (sl::OBJECT_ACTION_STATE).
+	\brief Body/person action state.
 	 */
 	enum  SL_OBJECT_ACTION_STATE action_state;
 	/**
-	\brief Defines the object 3D centroid.
-	 * Defined in \ref sl:InitParameters::UNIT, expressed in \ref RuntimeParameters::measure3D_reference_frame.
+	\brief Body/person 3D centroid.
+	\note It is defined in SL_InitParameters.coordinate_unit and expressed in SL_RuntimeParameters.reference_frame.
 	 */
 	struct SL_Vector3 position;
 	/**
-	\brief Defines the object 3D velocity
-	 * Defined in \ref sl:InitParameters::UNIT / seconds, expressed in \ref RuntimeParameters::measure3D_reference_frame.
+	\brief Body/person 3D velocity.
+	\note It is defined in ```SL_InitParameters.coordinate_unit / s``` and expressed in SL_RuntimeParameters.reference_frame.
 	 */
 	struct SL_Vector3 velocity;
 	/**
-	\brief the covariance matrix of the 3d position, represented by its upper triangular matrix value
-	 * \code
-		 = [p0, p1, p2]
-		   [p1, p3, p4]
-		   [p2, p4, p5]
-	  \endcode
-	  where pi is position_covariance[i]
+	\brief Covariance matrix of the 3D position.
+	\note It is represented by its upper triangular matrix value
+	\code
+			= [p0, p1, p2]
+			[p1, p3, p4]
+			[p2, p4, p5]
+	\endcode
+	where pi is ```position_covariance[i]```
 	 */
 	float position_covariance[6];
 	/**
-	\brief Defines the detection confidence value of the object.
-	 * From 0 to 100, a low value means the object might not be localized perfectly or the label (OBJECT_CLASS) is uncertain.
+	\brief Detection confidence value of the body/person.
+
+	From 0 to 100, a low value means the body might not be localized perfectly.
 	 */
 	float confidence;
-	//Mask
+
+	/**
+	\brief Mask defining which pixels which belong to the body/person (in \ref bounding_box_2d and set to 255) and those of the background (set to 0).
+	\warning The mask information is only available for tracked bodies (\ref SL_OBJECT_TRACKING_STATE_OK) that have a valid depth.
+	\warning Otherwise, the mask will not be initialized.
+	*/
 	int* mask;
 	//int* mask; //IntPtr to an sl::Mat object.
 
-	//Image
+	/**
+	\brief 2D bounding box of the body/person represented as four 2D points starting at the top left corner and rotation clockwise.
+	\note Expressed in pixels on the original image resolution, ```[0, 0]``` is the top left corner.
+	\code
+	A ------ B
+	| Object |
+	D ------ C
+	\endcode
+     */
 	struct SL_Vector2 bounding_box_2d[4];
 	/**
-	 * \brief 3D head centroid.
-	 * Defined in \ref sl:InitParameters::UNIT, expressed in \ref RuntimeParameters::measure3D_reference_frame.
+	\brief 3D centroid of the head of the body/person.
+	\note It is defined in SL_InitParameters.coordinate_unit and expressed in SL_RuntimeParameters.reference_frame.
 	 */
 	struct SL_Vector3 head_position;
 
 	/**
-	 * \brief 3D object dimensions: width, height, length. Defined in SL_InitParameters_UNIT, expressed in SL_RuntimeParameters::measure3D_reference_frame.
+	\brief 3D body/person dimensions: width, height, length.
+	\note It is defined in SL_InitParameters.coordinate_unit and expressed in SL_RuntimeParameters.reference_frame.
 	 */
 	struct SL_Vector3 dimensions;
 	/**
-	 * \brief 3D bounding box of the person represented as eight 3D points
-	 * Defined in \ref sl:InitParameters::UNIT, expressed in \ref RuntimeParameters::measure3D_reference_frame.
-	 *
-	 * \code
-		   1 ------ 2
-		  /        /|
-		 0 ------ 3 |
-		 | Object | 6
-		 |        |/
-		 4 ------ 7
-	 \endcode
+	\brief 3D bounding box of the body/person represented as eight 3D points.
+	\note It is defined in SL_InitParameters.coordinate_unit and expressed in SL_RuntimeParameters.reference_frame.
+    \code
+       1 ------ 2
+      /        /|
+     0 ------ 3 |
+     | Object | 6
+     |        |/
+     4 ------ 7
+    \endcode
 	 */
 	struct SL_Vector3 bounding_box[8];
 	/**
-	 * \brief bounds the head with eight 3D points.
-	 * Defined in \ref sl:InitParameters::UNIT, expressed in \ref RuntimeParameters::measure3D_reference_frame.
+	\brief 3D bounding box of the head of the body/person represented as eight 3D points.
+	\note It is defined in SL_InitParameters.coordinate_unit and expressed in SL_RuntimeParameters.reference_frame.
 	 */
 	struct SL_Vector3 head_bounding_box[8];
 	/**
-	 * \brief bounds the head with four 2D points.
-	 * Expressed in pixels on the original image resolution.
+	\brief 2D bounding box of the head of the body/person represented as four 2D points starting at the top left corner and rotation clockwise.
+	\note Expressed in pixels on the original image resolution, ```[0, 0]``` is the top left corner.
 	 */
 	struct SL_Vector2 head_bounding_box_2d[4];
 	/**
-	 * \brief A set of useful points representing the human body, expressed in 2D, respect to the original image resolution.
-	 * We use a classic 18 points representation, the points semantic and order is given by BODY_PARTS.
-	 * Expressed in pixels on the original image resolution, [0,0] is the top left corner.
-	  \warning in some cases, eg. body partially out of the image, some keypoint can not be detected, they will have negatives coordinates.
+	\brief Set of useful points representing the human body in 2D.
+	\note Expressed in pixels on the original image resolution, ```[0, 0]``` is the top left corner.
+	\warning In some cases, eg. body partially out of the image, some keypoints can not be detected. They will have negatives coordinates.
 	 */
 	struct SL_Vector2 keypoint_2d[38];
 	/**
-	 * \brief A set of useful points representing the human body, expressed in 3D.
-	 * We use a classic 18 points representation, the points semantic and order is given by BODY_PARTS.
-	 * Defined in \ref sl:InitParameters::UNIT, expressed in \ref RuntimeParameters::measure3D_reference_frame.
-	  \warning in some cases, eg. body partially out of the image or missing depth data, some keypoint can not be detected, they will have non finite values.
+	\brief Set of useful points representing the human body in 3D.
+	\note They are defined in SL_InitParameters.coordinate_unit and expressed in SL_RuntimeParameters.reference_frame.
+	\warning In some cases, eg. body partially out of the image or missing depth data, some keypoints can not be detected. They will have non finite values.
 	 */
 	struct SL_Vector3 keypoint[38];
 
 	/**
-	 * \brief Per keypoint detection confidence, can not be lower than the \ref ObjectDetectionRuntimeParameters::detection_confidence_threshold.
-	  \warning in some cases, eg. body partially out of the image or missing depth data, some keypoint can not be detected, they will have non finite values.
+	\brief Array of detection confidences for each keypoint.
+	\note They can not be lower than the SL_BodyTrackingRuntimeParameters.detection_confidence_threshold.
+	\warning In some cases, eg. body partially out of the image or missing depth data, some keypoints can not be detected. They will have non finite values.
 	 */
 	float keypoint_confidence[38];
 	/**
-	 * \brief Per keypoint detection 3d covariance
-	  \warning in some cases, eg. body partially out of the image or missing depth data, some keypoint can not be detected, they covariance will be 0.
-	  see \ref position_covariance for the storage format
+	\brief Array of detection covariance for each keypoint.
+	\warning In some cases, eg. body partially out of the image or missing depth data, some keypoints can not be detected. Their covariances will be 0.
 	 */
 	float keypoint_covariances[38][6];
 	/**
-	\brief Per keypoint local position (the position of the child keypoint with respect to its parent expressed in its parent coordinate frame)
-	\note it is expressed in sl::REFERENCE_CAMERA or sl::REFERENCE_WORLD
+	\brief Array of local position (position of the child keypoint with respect to its parent expressed in its parent coordinate frame) for each keypoint.
+	\note They are expressed in \ref SL_REFERENCE_FRAME_CAMERA or \ref SL_REFERENCE_FRAME_WORLD.
+	\warning Not available with \ref SL_BODY_FORMAT_BODY_18.
 	*/
 	struct SL_Vector3 local_position_per_joint[38];
 	/**
-		\brief Per keypoint local orientation
-		\note the orientation is represented by a quaternion which is stored in sl::float4 (sl::float4 q = sl::float4(qx,qy,qz,qw);)
+	\brief Array of local orientation for each keypoint.
+	\note The orientation is represented by a \ref SL_Quaternion (```SL_Quaternion q = SL_Quaternion(qx, qy, qz, qw);```)
+	\warning Not available with \ref SL_BODY_FORMAT_BODY_18.
 	*/
 	struct SL_Quaternion local_orientation_per_joint[38];
 	/**
-		\brief global root orientation of the skeleton. The orientation is also represented by a quaternion with the same format as \ref local_orientation_per_joint
+	\brief Global root orientation of the skeleton.
+
+	The orientation is also represented by a quaternion with the same format as \ref local_orientation_per_joint.
+	\note The global root position is already accessible in \ref keypoint attribute by using the root index of a given \ref SL_BODY_FORMAT.
+	\warning Not available with \ref SL_BODY_FORMAT_BODY_18.
 	*/
 	struct SL_Quaternion global_root_orientation;
 };
 
 /**
-Contains the result of the body detection module.
+\brief Structure containing the results of the body tracking module.
+
+The detected bodies/persons are listed in \ref body_list.
 */
 struct SL_Bodies
 {
 	/**
-	\brief Number of detected bodies. Used to iterate through the object_list array.
+	\brief Number of detected bodies/persons.
+	\note You can use it to iterate through the \ref body_list array.
 	 */
 	int nb_bodies;
 	/**
-	\brief Defines the timestamp corresponding to the frame acquisition.
-	 * This value is especially useful for the async mode to synchronize the data.
+	\brief Timestamp corresponding to the frame acquisition. 
+
+    This value is especially useful for the async mode to synchronize the data.
 	 */
 	unsigned long long timestamp;
 	/**
-	\brief Defined if the object list has already been retrieved or not.
+	\brief Whether \ref body_list has already been retrieved or not.
 	 */
 	int is_new;
 	/**
-	\brief Defined if both the object tracking and the world orientation has been setup.
+	\brief Whether both the body tracking and the world orientation has been setup.
 	 */
 	int is_tracked;
 	/**
-	\brief The list of detected objects
+	\brief Array of bodies/persons.
+	\note Since the data is transmitted from C++ to C, the size of the structure must be constant.
+	\note Therefore, there is a limitation of 75 objects in the image.
 	 */
 	struct SL_BodyData body_list[MAX_NUMBER_OBJECT];
 };
 
 /**
-* \brief Objects batch structure
+\brief Structure containing batched data of a detected objects from the object detection module.
+
+This structure can be used to store trajectories.
 */
 struct SL_ObjectsBatch {
+	/**
+	\brief Number of objects in the \ref SL_ObjectsBatch.
+	
+	Use this to iterate through the top of \ref positions / \ref velocities / \ref bounding_boxes / etc.
+	\note Objects with greater indexes are empty.
+	*/
 	int nb_data;
-	int id;
-	enum SL_OBJECT_CLASS label;
-	enum SL_OBJECT_SUBCLASS sublabel;
-	enum SL_OBJECT_TRACKING_STATE 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];
+	int id; /**< \brief Id of the batch.*/
+	enum SL_OBJECT_CLASS label; /**< \brief Objects class/category to identify the object type.*/
+	enum SL_OBJECT_SUBCLASS sublabel; /**< \brief Objects sub-class/sub-category to identify the object type.*/
+	enum SL_OBJECT_TRACKING_STATE tracking_state; /**< \brief Objects tracking state.*/
+	struct SL_Vector3 positions[MAX_TRAJECTORY_SIZE]; /**< \brief Array of positions for each object.*/
+	float position_covariances[MAX_TRAJECTORY_SIZE][6]; /**< \brief Array of positions' covariances for each object. */
+	struct SL_Vector3 velocities[MAX_TRAJECTORY_SIZE]; /**< \brief Array of 3D velocities for each object.*/
+	unsigned long long timestamps[MAX_TRAJECTORY_SIZE]; /**< \brief Array of timestamps for each object.*/
+	
+	/**
+	\brief Array of 2D bounding boxes for each object.
+	\note Expressed in pixels on the original image resolution, ```[0, 0]``` is the top left corner.
+	\code
+	A ------ B
+	| Object |
+	D ------ C
+	\endcode
+	*/
 	struct SL_Vector2 bounding_boxes_2d[MAX_TRAJECTORY_SIZE][4];
+	/**
+	\brief Array of 3D bounding boxes for each object.
+	\note They are defined in SL_InitParameters.coordinate_unit and expressed in SL_RuntimeParameters.reference_frame.
+	\code
+       1 ------ 2
+      /        /|
+     0 ------ 3 |
+     | Object | 6
+     |        |/
+     4 ------ 7
+	\endcode
+	*/
 	struct SL_Vector3 bounding_boxes[MAX_TRAJECTORY_SIZE][8];
-	float confidences[MAX_TRAJECTORY_SIZE];
-	enum SL_OBJECT_ACTION_STATE action_states[MAX_TRAJECTORY_SIZE];
+
+	float confidences[MAX_TRAJECTORY_SIZE]; /**< \brief Array of confidences for each object.*/
+	enum SL_OBJECT_ACTION_STATE action_states[MAX_TRAJECTORY_SIZE]; /**< \brief Array of action states for each object.*/
+
+	/**
+	\brief Array of 2D bounding box of the head for each object (person).
+	\note Expressed in pixels on the original image resolution, ```[0, 0]``` is the top left corner.
+	\warning Not available with [SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX_XXX](\ref SL_OBJECT_DETECTION_MODEL).
+	 */
 	struct SL_Vector2 head_bounding_boxes_2d[MAX_TRAJECTORY_SIZE][4];
+	/**
+	\brief Array of 3D bounding box of the head for each object (person).
+	\note They are defined in SL_InitParameters.coordinate_unit and expressed in SL_RuntimeParameters.reference_frame.
+	\warning Not available with [SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX_XXX](\ref SL_OBJECT_DETECTION_MODEL).
+	 */
 	struct SL_Vector3 head_bounding_boxes[MAX_TRAJECTORY_SIZE][8];
+	/**        
+	\brief Array of 3D centroid of the head for each object (person).
+	\note They are defined in SL_InitParameters.coordinate_unit and expressed in SL_RuntimeParameters.reference_frame.
+	\warning Not available with [SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX_XXX](\ref SL_OBJECT_DETECTION_MODEL).
+	 */
 	struct SL_Vector3 head_positions[MAX_TRAJECTORY_SIZE];
 };
 
 #if 0
 /**
-* \brief Bodies batch structure
+* \brief Structure containing batched data of a detected bodies/persons from the body tracking module.
 */
 struct SL_BodiesBatch {
+	/**
+	\brief Number of detected bodies/persons.
+	\note You can use it to iterate through the \ref positions / \ref velocities / \ref boundingBoxes / etc. array.
+	*/
 	int nb_data;
-	int id;
-	enum SL_OBJECT_TRACKING_STATE 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];
+	int id; /**< Id of the batch.*/
+	enum SL_OBJECT_TRACKING_STATE tracking_state; /**< Bodies/persons tracking state.*/
+	struct SL_Vector3 positions[MAX_TRAJECTORY_SIZE]; /**< \brief Array of positions for each body/person.*/
+	float position_covariances[MAX_TRAJECTORY_SIZE][6]; /**< \brief Array of positions' covariances for each body/person. */
+	struct SL_Vector3 velocities[MAX_TRAJECTORY_SIZE]; /**< \brief Array of 3D velocities for each body/person.*/
+	unsigned long long timestamps[MAX_TRAJECTORY_SIZE]; /**< \brief Array of timestamps for each body/person.*/
+	
+	/**
+	\brief Array of 2D bounding boxes for each body/person.
+	\note Expressed in pixels on the original image resolution, ```[0, 0]``` is the top left corner.
+	\code
+	A ------ B
+	| Object |
+	D ------ C
+	\endcode
+	*/
 	struct SL_Vector2 bounding_boxes_2d[MAX_TRAJECTORY_SIZE][4];
+	/**
+	\brief Array of 3D bounding boxes for each body/person.
+	\note They are defined in SL_InitParameters.coordinate_unit and expressed in SL_RuntimeParameters.reference_frame.
+	\code
+       1 ------ 2
+      /        /|
+     0 ------ 3 |
+     | Object | 6
+     |        |/
+     4 ------ 7
+	\endcode
+	*/
 	struct SL_Vector3 bounding_boxes[MAX_TRAJECTORY_SIZE][8];
-	float confidences[MAX_TRAJECTORY_SIZE];
-	enum SL_OBJECT_ACTION_STATE action_states[MAX_TRAJECTORY_SIZE];
+
+	float confidences[MAX_TRAJECTORY_SIZE]; /**< \brief Array of confidences for each body/person.*/
+	enum SL_OBJECT_ACTION_STATE action_states[MAX_TRAJECTORY_SIZE]; /**< \brief Array of action states for each body/person.*/
+
+	/**
+	\brief Array of 2D keypoints for each body/person.
+	\warning In some cases, eg. body partially out of the image or missing depth data, some keypoints can not be detected. They will have non finite values.
+	*/
 	struct SL_Vector2 keypoints_2d[MAX_TRAJECTORY_SIZE][70];
+	/**
+	\brief Array of 3D keypoints for each body/person.
+	\warning In some cases, eg. body partially out of the image or missing depth data, some keypoints can not be detected. They will have non finite values.
+	*/
 	struct SL_Vector3 keypoints[MAX_TRAJECTORY_SIZE][70];
+
+	/**
+	\brief Array of 2D bounding box of the head for each body/person.
+	\note Expressed in pixels on the original image resolution, ```[0, 0]``` is the top left corner.
+	 */
 	struct SL_Vector2 head_bounding_boxes_2d[MAX_TRAJECTORY_SIZE][4];
+	/**
+	\brief Array of 3D bounding box of the head for each body/person.
+	\note They are defined in SL_InitParameters.coordinate_unit and expressed in SL_RuntimeParameters.reference_frame.
+	 */
 	struct SL_Vector3 head_bounding_boxes[MAX_TRAJECTORY_SIZE][8];
+	/**        
+	\brief Array of 3D centroid of the head for each body/person.
+	\note They are defined in SL_InitParameters.coordinate_unit and expressed in SL_RuntimeParameters.reference_frame.
+	 */
 	struct SL_Vector3 head_positions[MAX_TRAJECTORY_SIZE];
+
+	/**
+	\brief Array of detection confidences array for each keypoint for each body/person.
+	\note They can not be lower than the SL_BodyTrackingRuntimeParameters.detection_confidence_threshold.
+	\warning In some cases, eg. body partially out of the image or missing depth data, some keypoints can not be detected. They will have non finite values.
+	 */
 	float keypoints_confidences[MAX_TRAJECTORY_SIZE][70];
 };
 
 #endif
 
-/*
-Defines a 2D rectangle with top-left corner coordinates and width/height in pixels.
+/**
+\brief Structure defining a 2D rectangle with top-left corner coordinates and width/height in pixels.
 */
 struct SL_Rect
 {
+	/** 
+	\brief x coordinates of top-left corner.
+	*/
 	int x;
+	/** 
+	\brief y coordinates of top-left corner.
+	*/
 	int y;
+	/** 
+	\brief Width of the rectangle in pixels.
+	*/
 	int width;
+	/** 
+	\brief Height of the rectangle in pixels.
+	*/
 	int height;
 };
 
 #endif
 
+/**
+\brief Structure defining the input type used in the ZED SDK.
+
+It can be used to select a specific camera with an id or serial number, or from a SVO file.
+*/
 struct SL_InputType
 {
+	/**
+	\brief Current input type.
+	*/
 	enum SL_INPUT_TYPE input_type;
+
+	/**
+	\brief Serial number of the camera.
+	*/
 	unsigned int serial_number;
+
+	/**
+	\brief Id of the camera.
+	*/
 	unsigned int id;
+
+	/**
+	\brief Path to the SVO file.
+	*/
 	char svo_input_filename[256];
+
+	/**
+	\brief IP address of the streaming camera.
+	*/
 	char stream_input_ip[128];
+
+	/**
+	\brief Port of the streaming camera.
+	*/
 	unsigned short stream_input_port;
 };
 
@@ -2333,37 +3129,45 @@ struct SL_InputType
 //////////////////////////////////////////////////////////////////////////////////////////////////////////
 
 /**
-\enum FUSION_ERROR_CODE
+\enum SL_FUSION_ERROR_CODE
 \brief Lists the types of error that can be raised by the Fusion.
-	*/
+*/
 enum SL_FUSION_ERROR_CODE {
-	SL_FUSION_ERROR_CODE_WRONG_BODY_FORMAT = -7, /**< The requested body tracking model is not available*/
-	SL_FUSION_ERROR_CODE_NOT_ENABLE = -6, /**< The following module was not enabled*/
-	SL_FUSION_ERROR_CODE_INPUT_FEED_MISMATCH = -5, /**< Some source are provided by SVO and some sources are provided by LIVE stream */
-	SL_FUSION_ERROR_CODE_CONNECTION_TIMED_OUT = -4, /**< Connection timed out ... impossible to reach the sender... this may be due to ZedHub absence*/
-	SL_FUSION_ERROR_CODE_MEMORY_ALREADY_USED = -3, /**< Detect multiple instance of SHARED_MEMORY communicator ... only one is authorised*/
-	SL_FUSION_ERROR_CODE_BAD_IP_ADDRESS = -2, /**< The IP format provided is wrong, please provide IP in this format a.b.c.d where (a, b, c, d) are numbers between 0 and 255.*/
-	SL_FUSION_ERROR_CODE_FAILURE = -1, /**< Standard code for unsuccessful behavior.*/
-	SL_FUSION_ERROR_CODE_SUCCESS = 0,
-	SL_FUSION_ERROR_CODE_FUSION_ERRATIC_FPS = 1, /**< Some big differences has been observed between senders FPS*/
-	SL_FUSION_ERROR_CODE_FUSION_FPS_TOO_LOW = 2, /**< At least one sender has fps lower than 10 FPS*/
-	SL_FUSION_ERROR_CODE_INVALID_TIMESTAMP = 3, /** < Problem was detected with ingested timestamp*/
-	SL_FUSION_ERROR_CODE_INVALID_COVARIANCE = 4, /** < Problem was detected with ingested covariance */
-	SL_FUSION_ERROR_CODE_NO_NEW_DATA_AVAILABLE = 5 /** < All data from all sources were consumed, no new process available.*/
-};
-
+	SL_FUSION_ERROR_CODE_WRONG_BODY_FORMAT = -7, /**< The senders are using different body formats.\n Consider changing them. */
+	SL_FUSION_ERROR_CODE_NOT_ENABLE = -6, /**< The following module was not enabled. */
+	SL_FUSION_ERROR_CODE_INPUT_FEED_MISMATCH = -5, /**< Some sources are provided by SVO and others by LIVE stream. */
+	SL_FUSION_ERROR_CODE_CONNECTION_TIMED_OUT = -4, /**< Connection timed out. Unable to reach the sender.\n Verify the sender's IP/port. */
+	SL_FUSION_ERROR_CODE_MEMORY_ALREADY_USED = -3, /**< Intra-process shared memory allocation issue.\n Multiple connections to the same data. */
+	SL_FUSION_ERROR_CODE_BAD_IP_ADDRESS = -2, /**< The provided IP address format is incorrect.\n Please provide the IP in the format 'a.b.c.d', where (a, b, c, d) are numbers between 0 and 255. */
+	SL_FUSION_ERROR_CODE_FAILURE = -1, /**< Standard code for unsuccessful behavior. */
+	SL_FUSION_ERROR_CODE_SUCCESS = 0, /**< Standard code for successful behavior. */
+	SL_FUSION_ERROR_CODE_FUSION_ERRATIC_FPS = 1, /**< Significant differences observed between sender's FPS. */
+	SL_FUSION_ERROR_CODE_FUSION_FPS_TOO_LOW = 2, /**< At least one sender has an FPS lower than 10 FPS. */
+	SL_FUSION_ERROR_CODE_INVALID_TIMESTAMP = 3, /**< Problem detected with the ingested timestamp.\n Sample data will be ignored. */
+	SL_FUSION_ERROR_CODE_INVALID_COVARIANCE = 4, /**< Problem detected with the ingested covariance.\n Sample data will be ignored. */
+	SL_FUSION_ERROR_CODE_NO_NEW_DATA_AVAILABLE = 5 /**< All data from all sources has been consumed.\n No new data is available for processing. */
+};
+
+/**
+\enum SL_SENDER_ERROR_CODE
+\brief Lists the types of error that can be raised during the Fusion by senders.
+*/
 enum SL_SENDER_ERROR_CODE {
-	SL_SENDER_ERROR_CODE_DISCONNECTED = -1, /**< the sender has been disconnected*/
-	SL_SENDER_ERROR_CODE_SUCCESS = 0,
-	SL_SENDER_ERROR_CODE_GRAB_ERROR = 1, /**< the sender has encountered an grab error*/
-	SL_SENDER_ERROR_CODE_ERRATIC_FPS = 2, /**< the sender does not run with a constant frame rate*/
-	SL_SENDER_ERROR_CODE_FPS_TOO_LOW = 3 /**< fps lower than 10 FPS*/
+	SL_SENDER_ERROR_CODE_DISCONNECTED = -1, /**< The sender has been disconnected.*/
+	SL_SENDER_ERROR_CODE_SUCCESS = 0, /**< Standard code for successful behavior.*/
+	SL_SENDER_ERROR_CODE_GRAB_ERROR = 1, /**< The sender encountered a grab error.*/
+	SL_SENDER_ERROR_CODE_ERRATIC_FPS = 2, /**< The sender does not run with a constant frame rate.*/
+	SL_SENDER_ERROR_CODE_FPS_TOO_LOW = 3 /**< The frame rate of the sender is lower than 10 FPS.*/
 };
 
+/**
+\enum SL_COMM_TYPE
+\brief Lists the different types of communications available for Fusion module.
+*/
 enum SL_COMM_TYPE
 {
-	SL_COMM_TYPE_LOCAL_NETWORK, /* the sender and receiver are on the samed local network and communicate by RTP, communication can be affected by the network load.*/
-	SL_COMM_TYPE_INTRA_PROCESS /* both sender and receiver are declared by the same process, can be in different threads, this communication is optimized.*/
+	SL_COMM_TYPE_LOCAL_NETWORK, /**< The sender and receiver are on the same local network and communicate by RTP.\n The communication can be affected by the local network load.*/
+	SL_COMM_TYPE_INTRA_PROCESS /**< Both sender and receiver are declared by the same process and can be in different threads.\n This type of communication is optimized.*/
 };
 
 struct  SL_CommunicationParameters
@@ -2373,11 +3177,33 @@ struct  SL_CommunicationParameters
 	char ip_add[128];
 };
 
+/**
+\brief Useful struct to store the Fusion configuration, can be read from /write to a JSON file.
+ */
 struct SL_FusionConfiguration {
+	/**
+	The serial number of the used ZED camera.
+	*/
 	int serial_number;
+
+	/**
+	The communication parameters to connect this camera to the Fusion.
+	*/
 	struct SL_CommunicationParameters comm_param;
+
+	/**
+	The WORLD SL_Vector3 of the camera for Fusion.
+	*/
 	struct SL_Vector3 position;
+
+	/**
+	The WORLD SL_Quaternion of the camera for Fusion.
+	*/
 	struct SL_Quaternion rotation;
+
+	/**
+	The input type for the current camera.
+	*/
 	struct SL_InputType input_type;
 };
 
@@ -2388,31 +3214,37 @@ struct SL_FusionConfiguration {
 struct SL_InitFusionParameters
 {
 	/**
-	This parameter allows you to select the unit to be used for all metric values of the SDK. (depth, point cloud, tracking, mesh, and others).
-	\n default : \ref UNIT "UNIT::MILLIMETER"
+	 * \brief This parameter allows you to select the unit to be used for all metric values of the SDK (depth, point cloud, tracking, mesh, and others).
+	 *
+	 *  Default : \ref SL_UNIT "SL_UNIT_MILLIMETER"
 	 */
 	enum SL_UNIT coordinate_units;
 
 	/**
-	Positional tracking, point clouds and many other features require a given \ref COORDINATE_SYSTEM to be used as reference.
-	This parameter allows you to select the \ref COORDINATE_SYSTEM used by the \ref Camera to return its measures.
-	\n This defines the order and the direction of the axis of the coordinate system.
-	\n default : \ref COORDINATE_SYSTEM "COORDINATE_SYSTEM::IMAGE"
+	 * \brief Positional tracking, point clouds and many other features require a given \ref SL_COORDINATE_SYSTEM to be used as reference.
+	 * This parameter allows you to select the \ref COORDINATE_SYSTEM used by the \ref SL_Camera to return its measures.
+	 * 
+	 * This defines the order and the direction of the axis of the coordinate system.
+	 * \n Default : \ref SL_COORDINATE_SYSTEM "SL_COORDINATE_SYSTEM_IMAGE"
 	 */
 	enum SL_COORDINATE_SYSTEM coordinate_system;
 
 	/**
-	 * \brief it allows users to extract some stats of the Fusion API like drop frame of each camera, latency, etc
+	 * \brief It allows users to extract some stats of the Fusion API like drop frame of each camera, latency, etc...
 	 *
 	 */
 	bool output_performance_metrics;
 
+	/**
+	 * \brief Enable the verbosity mode of the SDK.
+	 * 
+	*/
 	bool verbose;
 
 	/**
-	 * \brief If specified change the number of period necessary for a source to go in timeout without data. For example, if you set this to 5
+	 * @brief If specified change the number of period necessary for a source to go in timeout without data. For example, if you set this to 5
 	 * then, if any source do not receive data during 5 period, these sources will go to timeout and will be ignored.
-	 *
+	 * 
 	 */
 	unsigned int timeout_period_number;
 };
@@ -2423,12 +3255,17 @@ struct SL_InitFusionParameters
 struct SL_BodyTrackingFusionParameters
 {
 	/**
-	* \brief Defines if the object detection will track objects across images flow
+	* \brief Defines if the object detection will track objects across images flow.
+	*
+	* Default: true
 	*/
 	bool enable_tracking;
 
 	/**
 	* \brief Defines if the body fitting will be applied
+	*
+	* Default: false
+	* \note If you enable it and the camera provides data as BODY_18 the fused body format will be BODY_34.
 	*/
 	bool enable_body_fitting;
 };
@@ -2439,19 +3276,23 @@ struct SL_BodyTrackingFusionParameters
 struct SL_BodyTrackingFusionRuntimeParameters
 {
 	/**
-	* \brief if the fused skeleton has less than skeleton_minimum_allowed_keypoints keypoints, it will be discarded. Default is -1.
-	 *
+	 * \brief If the fused skeleton has less than skeleton_minimum_allowed_keypoints keypoints, it will be discarded.
+	 * 
+	 * Default: -1.
 	 */
 	int skeleton_minimum_allowed_keypoints;
 	/**
-	 * \brief if a skeleton was detected in less than skeleton_minimum_allowed_camera cameras, it will be discarded
+	 * \brief If a skeleton was detected in less than skeleton_minimum_allowed_camera cameras, it will be discarded.
 	 *
+	 * Default: -1.
 	 */
 	int skeleton_minimum_allowed_camera;
 
 	/**
-	 * \brief this value controls the smoothing of the tracked or fitted fused skeleton.
-	 * it is ranged from 0 (low smoothing) and 1 (high smoothing)
+	 * \brief This value controls the smoothing of the tracked or fitted fused skeleton.
+	 * 
+	 * It is ranged from 0 (low smoothing) and 1 (high smoothing).
+	 * \n Default: 0.
 	 */
 	float skeleton_smoothing;
 };
@@ -2470,22 +3311,40 @@ struct SL_CameraMetrics
 {
 	struct SL_CameraIdentifier uuid;
 
-	// gives the fps of the received datas
+	/**
+	 * \brief FPS of the received data.
+	 * 
+	 */
 	float received_fps;
 
-	// gives the latency (in second) of the received datas
+	/**
+	 * \brief Latency (in seconds) of the received data.
+	 * 
+	 */
 	float received_latency;
 
-	// gives the latency (in second) after Fusion synchronization
+	/**
+	 * \brief Latency (in seconds) after Fusion synchronization.
+	 * 
+	 */
 	float synced_latency;
 
-	// if no data present is set to false
+	/**
+	 * \brief If no data present is set to false.
+	 * 
+	 */
 	bool is_present;
 
-	// percent of detection par image during the last second in %, a low values means few detections occurs lately
+	/**
+	 * \brief Gives the percent of detection par image during the last second in %, a low value means few detections occurs lately.
+	 * 
+	 */
 	float ratio_detection;
 
-	// percent of detection par image during the last second in %, a low values means few detections occurs lately
+	/**
+	 * \brief Average time difference for the current fused data.
+	 * 
+	 */
 	float delta_ts;
 };
 
@@ -2493,13 +3352,22 @@ struct SL_CameraMetrics
 \brief Holds the metrics of the fusion process.
  */
 struct SL_FusionMetrics {
-
-	// mean number of camera that provides data during the past second
+	/**
+	 * \brief Mean number of camera that provides data during the past second.
+	 * 
+	 */
 	float mean_camera_fused;
 
-	// mean number of camera that provides data during the past second
+	/**
+	 * \brief Standard deviation of the data timestamp fused, the lower the better.
+	 * 
+	 */
 	float mean_stdev_between_camera;
 
+	/**
+	 * \brief Sender metrics.
+	 * 
+	 */
 	struct SL_CameraMetrics camera_individual_stats[MAX_FUSED_CAMERAS];
 };
 
@@ -2509,212 +3377,240 @@ struct SL_FusionMetrics {
 ///////////////////////////////////////////////////////////////////////////////////////////////////////////
 
 /**
-\brief Current state of GNSS fusion
+\brief Lists the different states of the GNSS calibration.
 */
 enum SL_GNSS_CALIBRATION_STATE {
-	SL_GNSS_CALIBRATION_STATE_NOT_CALIBRATED = 0, /** < The GNSS/VIO calibration has not been completed yet. Please continue moving the robot while ingesting GNSS data to perform the calibration.*/
-	SL_GNSS_CALIBRATION_STATE_CALIBRATED = 1, /** < The GNSS/VIO calibration is completed.*/
-	SL_GNSS_CALIBRATION_STATE_RE_CALIBRATION_IN_PROGRESS = 2 /** < A GNSS/VIO re-calibration is in progress in the background. Current geo-tracking services may not be entirely accurate.*/
+	SL_GNSS_CALIBRATION_STATE_NOT_CALIBRATED = 0, /**< The GNSS/VIO calibration has not been completed yet.\n Please continue moving the robot while ingesting GNSS data to perform the calibration.*/
+	SL_GNSS_CALIBRATION_STATE_CALIBRATED = 1, /**< The GNSS/VIO calibration is completed.*/
+	SL_GNSS_CALIBRATION_STATE_RE_CALIBRATION_IN_PROGRESS = 2 /**< A GNSS/VIO re-calibration is in progress in the background.\n Current geo-tracking services may not be accurate.*/
 };
 
 
 /**
-\brief Contains all gnss data to be used for positional tracking as prior.
+\brief Structure containing GNSS data to be used for positional tracking as prior.
  */
 struct SL_GNSSData
 {
-	// longitude in radian
+	/**
+	 * \brief Longitude in radian.
+	 * 
+	 */
 	double longitude;
-	// latitude in radian
+	/**
+	 * \brief Latitude in radian.
+	 * 
+	 */
 	double latitude;
-	// altitude in meter
+	/**
+	 * \brief Altitude in meters.
+	 * 
+	 */
 	double altitude;
-	// Timestamp
+	/**
+	 * \brief Timestamp of the GNSS position in nanoseconds (must be aligned with the camera time reference).
+	 * 
+	 */
 	unsigned long long ts;
 	/**
-	 * \brief Position covariance in meter must be expressed in ENU coordinate system.
-	 * For eph, epv GNSS sensors, set it as follow: {eph, 0, 0, 0, eph, 0, 0, 0, epv}
-	 *
+	 * \brief Covariance of the position in meter (must be expressed in the ENU coordinate system).
+	 * 
+	 * For eph, epv GNSS sensors, set it as follow: ```{eph*eph, 0, 0, 0, eph*eph, 0, 0, 0, epv*epv}```.
 	 */
 	double position_covariance[9];
 	/**
-	 * \brief longitude standard deviation
+	 * \brief Longitude standard deviation.
 	 *
 	 */
 	double longitude_std;
 	/**
-	 * \brief latitude standard deviation
+	 * \brief Latitude standard deviation.
 	 *
 	 */
 	double latitude_std;
 	/**
-	 * \brief altitude standard deviation
+	 * \brief Altitude standard deviation.
 	 *
 	 */
 	double altitude_std;
 };
 
 /**
- * \brief Coordinates in LatLng format
+ * \brief Represents a world position in LatLng format.
  *
  */
 struct SL_LatLng
 {
 	/**
-	 * \brief latitude coordinate in radian
+	 * \brief Latitude coordinate in radian.
 	 *
 	 */
 	double latitude;
 	/**
-	 * \brief longitude coordinate in radian
+	 * \brief Longitude coordinate in radian.
 	 *
 	 */
 	double longitude;
 	/**
-	 * \brief altitude coordinate
+	 * \brief Altitude coordinate in meters.
 	 *
 	 */
 	double altitude;
 };
 
 /**
- * \brief Holds Geo data
+ * \brief Holds Geo reference position.
  *
  */
 struct SL_GeoPose
 {
 	/**
-	 * pose in ENU (Translation)
+	 * The translation defining the pose in ENU.
 	 */
 	struct SL_Vector3 translation;
 	/**
-	 * pose in ENU (Rotation)
+	 * The rotation defining the pose in ENU.
 	 */
 	struct SL_Quaternion rotation;
 	/**
-	 * the pose covariance in ENU
+	 * The pose covariance in ENU.
 	 */
 	float pose_covariance[36];
 	/**
-	 * the horizontal accuracy
+	 * The horizontal accuracy.
 	 */
 	double horizontal_accuracy;
 	/**
-	 * the vertical accuracy
+	 * The vertical accuracy.
 	*/
 	double vertical_accuracy;
 	/**
-	 * the latitude, longitude, altitude
+	 * The latitude, longitude, altitude.
 	 */
 	struct SL_LatLng latlng_coordinates;
 	/**
-	 * the heading
+	 * The heading.
 	 */
 	double heading;
 	/**
-	 * \brief timestamp of geopose
+	 * \brief The timestamp of SL_GeoPose.
 	 *
 	 */
 	unsigned long long timestamp;
 };
 
 /**
- * \brief Coordinates in ECEF format
+ * \brief Represents a world position in ECEF format.
  *
  */
 struct SL_ECEF 
 {
 	/**
-	 * \brief x coordinate of ECEF
+	 * \brief x coordinate of SL_ECEF.
 	 *
 	 */
 	double x;
 	/**
-	 * \brief y coordinate of ECEF
+	 * \brief y coordinate of SL_ECEF.
 	 *
 	 */
 	double y;
 	/**
-	 * \brief z coordinate of ECEF
+	 * \brief z coordinate of SL_ECEF.
 	 *
 	 */
 	double z;
 };
 
 /**
- * \brief Coordinate in UTM format
+ * \brief Represents a world position in UTM format.
  *
  */
 struct SL_UTM
 {
 	/**
-	 * \brief Northing coordinate
+	 * \brief Northing coordinate.
 	 *
 	 */
 	double northing;
 	/**
-	 * \brief Easting coordinate
+	 * \brief Easting coordinate.
 	 *
 	 */
 	double easting;
 	/**
-	 * \brief Gamma coordinate
+	 * \brief Gamma coordinate.
 	 *
 	 */
 	double gamma;
 	/**
-	 * \brief UTMZone of the coordinate
+	 * \brief UTMZone of the coordinate.
 	 *
 	 */
 	char UTMZone[256];
 };
 
+/**
+ * \brief Holds the options used for calibrating GNSS / VIO.
+*/
 struct SL_GNSSCalibrationParameters {
 	/**
-	 * \brief This parameter defines the target yaw uncertainty at which the calibration process between GNSS and VIO concludes. The unit of this parameter is in radian. By default, the threshold is set at 0.1 radians.
-	 *
+	 * \brief This parameter defines the target yaw uncertainty at which the calibration process between GNSS and VIO concludes.
+	 * The unit of this parameter is in radian.
+	 * 
+	 * Default: 0.1 radians
 	 */
 	float target_yaw_uncertainty;
 	/**
-	 * \brief When this parameter is enabled (set to true), the calibration process between GNSS and VIO accounts for the uncertainty in the determined translation, thereby facilitating the calibration termination. The maximum allowable uncertainty is controlled by the 'target_translation_uncertainty' parameter.
-	 \n By default, it is set to false.
+	 * @brief When this parameter is enabled (set to true), the calibration process between GNSS and VIO accounts for the uncertainty in the determined translation, thereby facilitating the calibration termination.
+	 * The maximum allowable uncertainty is controlled by the 'target_translation_uncertainty' parameter.
+	 * 
+	 * Default: false
 	 */
 	bool enable_translation_uncertainty_target;
 	/**
-	 * \brief This parameter defines the target translation uncertainty at which the calibration process between GNSS and VIO terminates. By default, the threshold is set at 10 centimeters (10e-2).
-	 *
+	 * \brief This parameter defines the target translation uncertainty at which the calibration process between GNSS and VIO concludes.
+	 * 
+	 * Default: 10e-2 (10 centimeters)
 	 */
 	float target_translation_uncertainty;
 	/**
-	 * \brief This initialization parameter determines whether reinitialization should be performed between GNSS and VIO fusion when a significant disparity is detected between GNSS data and the current fusion data. It becomes particularly crucial during prolonged GNSS signal loss scenarios.
-	 * By default, it is set to true.
+	 * \brief This parameter determines whether reinitialization should be performed between GNSS and VIO fusion when a significant disparity is detected between GNSS data and the current fusion data.
+	 * It becomes particularly crucial during prolonged GNSS signal loss scenarios.
+	 * 
+	 * Default: true
 	 */
 	bool enable_reinitialization;
 	/**
-	 * \brief This parameter determines the threshold for GNSS/VIO reinitialization. If the fused position deviates beyond the region defined by the product of the GNSS covariance and the gnss_vio_reinit_threshold, a reinitialization will be triggered.
-	 * By default, it is set to 5.
+	 * \brief This parameter determines the threshold for GNSS/VIO reinitialization.
+	 * If the fused position deviates beyond out of the region defined by the product of the GNSS covariance and the gnss_vio_reinit_threshold, a reinitialization will be triggered.
+	 * 
+	 * Default: 5
 	 */
 	float gnss_vio_reinit_threshold;
 	/**
-	 * \brief If this parameter is set to true, the fusion algorithm will used a rough VIO / GNSS calibration at first and then refine it. This allow you to quickly get a fused position.
-	 * By default, it is set to true.
+	 * \brief If this parameter is set to true, the fusion algorithm will used a rough VIO / GNSS calibration at first and then refine it.
+	 * This allow you to quickly get a fused position.
+	 * 
+	 * Default: true
 	 */
 	bool enable_rolling_calibration;
 };
 
 /**
- *
+ * \brief Holds the options used for initializing the positional tracking fusion module.
  *
  */
 struct SL_PositionalTrackingFusionParameters {
 	/**
-	 * \brief Is the gnss fusion is enabled
+	 * \brief This attribute is responsible for enabling or not GNSS positional tracking fusion.
 	 *
+	 * Default: false
 	 */
 	bool enable_GNSS_fusion;
 	/**
-	* \brief GNSS calibration parameter. Determine target threshold for GNSS / VIO calibration.
-	*/
+	 * \brief Control the VIO / GNSS calibration process.
+	 * 
+	 */
 	struct SL_GNSSCalibrationParameters gnss_calibration_parameters;
 };
 
diff --git a/Plugins/Stereolabs/Source/ThirdParty/sl_zed_c/include/sl/c_api/zed_interface.h b/Plugins/Stereolabs/Source/ThirdParty/sl_zed_c/include/sl/c_api/zed_interface.h
index 0b80a78..774da99 100644
--- a/Plugins/Stereolabs/Source/ThirdParty/sl_zed_c/include/sl/c_api/zed_interface.h
+++ b/Plugins/Stereolabs/Source/ThirdParty/sl_zed_c/include/sl/c_api/zed_interface.h
@@ -58,220 +58,293 @@ extern "C" {
 
     /**
     \brief Reports if the camera has been successfully opened.
-    \param camera_id : id of the camera.
-    \return true if the ZED is already setup, otherwise false.
+    \param camera_id : Id of the camera.
+    \return true if the ZED camera is already setup, otherwise false.
     */
     INTERFACE_API bool sl_is_opened(int camera_id);
 
     /**
-    \brief Opens the camera depending on the init parameters.
-    \param camera_id : id of the camera.
-    \param init_parameters : structure containing all the initial parameters.
-    \param serial number : serial number of the camera.
-    \param path_svo : filename of the svo (for SVO input).
-    \param ip : ip of the camera to open (for Stream input).
-    \param stream_port : port of the camera to open (for Stream input).
-    \param output_file : sdk verbose log file. Redirect the SDK verbose message to file.
-    \param opt_settings_path : optional settings path. Equivalent to  \ref InitParameters::optional_settings_path.
-    \param opencv_calib_path : optional openCV calibration file. Equivalent to  \ref InitParameters::optional_opencv_calibration_file.
-    \return An error code giving information about the internal process. If SUCCESS (0) is returned, the camera is ready to use. Every other code indicates an error and the program should be stopped.
+    \brief Opens the ZED camera from the provided SL_InitParameters.
+    \param camera_id : Id of the camera to open.
+    \param init_parameters : A structure containing all the initial parameters. Default: a preset of SL_InitParameters.
+    \param serial_number : Serial number of the camera to open.
+    \param path_svo : Filename of the svo to read (for SVO input).
+    \param ip : IP of the camera to open (for Stream input).
+    \param stream_port : Port of the camera to open (for Stream input).
+    \param output_file : ZED SDK verbose log file. Redirect the SDK verbose message to the file.
+    \param opt_settings_path[optional] : Settings path.
+    \param opencv_calib_path[optional] : openCV calibration file.
+    \return An error code giving information about the internal process. If \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" (0) is returned, the camera is ready to use. Every other code indicates an error and the program should be stopped.
     */
     INTERFACE_API int sl_open_camera(int camera_id, struct SL_InitParameters* init_parameters, const unsigned int serial_number,  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 void sl_start_publishing(int camera_id, struct SL_CommunicationParameters* comm_params);
+    /**
+    \brief Set this camera as a data provider for the Fusion module.
+
+    Metadata is exchanged with the Fusion.
+    \param camera_id : Id of the camera instance.
+    \param configuration : A structure containing all the initial parameters. Default: a preset of \ref SL_CommunicationParameters.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if everything went fine, \ref SL_ERROR_CODE "SL_ERROR_CODE_FAILURE" otherwise.
+     */
+    INTERFACE_API enum SL_ERROR_CODE sl_start_publishing(int camera_id, struct SL_CommunicationParameters* comm_params);
+
+    /**
+    \brief Set this camera as normal camera(without data providing).
+    \n Stop to send camera data to fusion.
+    \return \ref SUCCESS if everything went fine, \ref SL_ERROR_CODE_FAILURE otherwise
+    */
+    INTERFACE_API enum SL_ERROR_CODE sl_stop_publishing(int camera_id);
 
     /**
     \brief Gets the Camera-created CUDA context for sharing it with other CUDA-capable libraries.
-    \param camera_id : id of the camera instance.
+
+    This can be useful for sharing GPU memories.
+    \param camera_id : Id of the camera instance.
     */
     INTERFACE_API CUcontext sl_get_cuda_context(int camera_id);
 
     /**
-    \brief Returns the initparameters used to open the ZED camera
-    \param camera_id : id of the camera instance.
+    \brief Returns the SL_InitParameters used.
+
+    It corresponds to the structure given as argument to the sl_open_camera() function.
+    \param camera_id : Id of the camera instance.
+    \return SL_InitParameters containing the parameters used to initialize the camera.
     */
     INTERFACE_API struct SL_InitParameters* sl_get_init_parameters(int camera_id);
 
     /**
-    \brief Returns the Runtimeparameters used to open the ZED camera
+    \brief Returns the SL_RuntimeParameters used.
+
+    It corresponds to the structure given as argument to the sl_grab() function.
     \param camera_id : id of the camera instance.
-    \return a structure containing all the runtime parameters.
+    \return SL_RuntimeParameters containing the parameters that define the behavior of the \ref sl_grab function.
     */
     INTERFACE_API struct SL_RuntimeParameters* sl_get_runtime_parameters(int camera_id);
 
     /**
-    \brief Returns the PositionalTrackingParameters
-    \param camera_id : id of the camera instance.
-    \return a structure containing all the positional tracking parameters
+    \brief Returns the \ref SL_PositionalTrackingParameters used.
+    
+    It corresponds to the structure given as argument to the \ref sl_enable_positional_tracking() method.
+    \param camera_id : Id of the camera instance.
+    \return \ref SL_PositionalTrackingParameters containing the parameters used for positional tracking initialization.
     */
     INTERFACE_API struct SL_PositionalTrackingParameters* sl_get_positional_tracking_parameters(int camera_id);
 
     /**
-    \brief Destroys the camera and disable the textures.
-    \param camera_id of the camera instance.
+    \brief Close an opened camera and disable the textures.
+    \param camera_id : Id of the camera instance.
      */
     INTERFACE_API void sl_close_camera(int camera_id);
 
     /**
     \brief Defines a region of interest to focus on for all the SDK, discarding other parts.
-    \param camera_id of the camera instance.
-    \param roi_mask: the Mat defining the requested region of interest, pixels lower than 127 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/C3/C4.
-    \return An ERROR_CODE if something went wrong.
+    \param camera_id : Id of the camera instance.
+    \param roi_mask : The matrix defining the requested region of interest, pixels lower than 127 will be discarded from all modules: depth, positional tracking, etc. If empty, set all pixels as valid. The mask can be either at lower or higher resolution than the current images.
+    \return An \ref SL_ERROR_CODE if something went wrong.
+    \note The function support \ref SL_MAT_TYPE "SL_MAT_TYPE_U8_C1" / \ref SL_MAT_TYPE "SL_MAT_TYPE_UU8_C3" / \ref SL_MAT_TYPE "SL_MAT_TYPE_UU8_C4" images type.
      */
     INTERFACE_API int sl_set_region_of_interest(int camera_id, void* roi_mask);
+
     /**
-    \brief Grabs the lastest images from the camera.
-    \param camera_id : id of the camera instance.
-    \param runtime : structure containing all the runtime parameters.
-    \return An error code giving information about the internal process."SUCCESS" if the method succeeded.
+    \brief Get the previously set or computed region of interest
+    \param camera_id : Id of the camera instance.
+    \param roi_mask: The \ref Mat returned
+    \param image_size: The optional size of the returned mask
+    \return An \ref SL_ERROR_CODE if something went wrong.
+     */
+    INTERFACE_API int sl_get_region_of_interest(int camera_id, void* roi_mask, int width, int height);
+    /**
+    \brief Start the auto detection of a region of interest to focus on for all the SDK, discarding other parts.
+    This detection is based on the general motion of the camera combined with the motion in the scene.
+    The camera must move for this process, an internal motion detector is used, based on the Positional Tracking module.
+    It requires a few hundreds frames of motion to compute the mask.
+
+    \param roi_param: The \ref SL_RegionOfInterestParameters defining parameters for the detection
+
+    \note This module is expecting a static portion, typically a fairly close vehicle hood at the bottom of the image.
+     This module may not work correctly or detect incorrect background area, especially with slow motion, if there's no static element.
+     This module work asynchronously, the status can be obtained using \ref sl_get_region_of_interest_auto_detection_status(), the result is either auto applied,
+     or can be retrieve using \ref sl_get_region_of_interest function.
+
+    \return An \ref SL_ERROR_CODE if something went wrong.
+     */
+    INTERFACE_API int sl_start_region_of_interest_auto_detection(int camera_id, struct SL_RegionOfInterestParameters* roi_param);
+    /**
+    \brief Return the status of the automatic Region of Interest Detection
+     The automatic Region of Interest Detection is enabled by using \ref sl_start_region_of_interest_auto_detection
+     \param camera_id : Id of the camera instance.
+    \return \ref SL_REGION_OF_INTEREST_AUTO_DETECTION_STATE the status
+     */
+    INTERFACE_API enum SL_REGION_OF_INTEREST_AUTO_DETECTION_STATE sl_get_region_of_interest_auto_detection_status(int camera_id);
+    /**
+    \brief Grabs the latest images from the camera.
+    \param camera_id : Id of the camera instance.
+    \param runtime : A structure containing all the runtime parameters. Default: a preset of SL_RuntimeParameters.
+    \return An error code giving information about the internal process. \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if the method succeeded.
      */
     INTERFACE_API int sl_grab(int camera_id, struct SL_RuntimeParameters* runtime);
 
     /**
     \brief Lists all the connected devices with their associated information.
 
-    This function lists all the cameras available and provides their serial number, models and other information.
-    \param device_list [Out] : the devices properties for each connected camera.
-    \param nb_devices [Out] : the number of cameras connected.
+    This method lists all the cameras available and provides their serial number, models and other information.
+    \param device_list [Out] : The devices properties for each connected camera.
+    \param nb_devices [Out] : The number of cameras connected.
      */
     INTERFACE_API void sl_get_device_list(struct SL_DeviceProperties device_list[MAX_CAMERA_PLUGIN], int* nb_devices);
 
     /**
     \brief List all the streaming devices with their associated information.
-    \param device_list [Out] : the devices properties for each connected camera.
-    \param nb_devices  [Out]: the number of cameras connected.
-    \return The streaming properties for each connected camera
+    \param device_list [Out] : The devices properties for each connected camera.
+    \param nb_devices  [Out]: The number of cameras connected.
+    \return The streaming properties for each connected camera.
      */
     INTERFACE_API void sl_get_streaming_device_list(struct SL_StreamingProperties streaming_device_list[MAX_CAMERA_PLUGIN], int* nb_devices);
 
     /**
-    \brief Performs an hardware reset of the ZED 2 / ZED 2i.
-    \param sn : serial number of the camera to reset, or 0 to reset the first camera detected.
-    \param fullReboot : Perform a full reboot (Sensors and Video modules)
+    \brief Performs a hardware reset of the ZED 2 and the ZED 2i.
+    \param sn : Serial number of the camera to reset, or 0 to reset the first camera detected.
+    \param fullReboot : Perform a full reboot (sensors and video modules) if true, otherwise only the video module will be rebooted.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if everything went fine.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_CAMERA_NOT_DETECTED" if no camera was detected.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_FAILURE" otherwise.
+
+    \note This method only works for ZED 2, ZED 2i, and newer camera models.
      */
     INTERFACE_API int sl_reboot(int sn, bool full_reboot);
 
     /**
-    \brief 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.
-    \param camera_id : id of the camera instance.
-    \param filename : filename of the SVO file.
-    \param compression_mode : compression mode. Can be one for the \ref SL_SVO_COMPRESSION_MODE enum.
-    \param bitrate : overrides default bitrate of the SVO file, in KBits/s. Only works if \ref SVO_COMPRESSION_MODE is H264 or H265.
-    \param target_fps : defines the target framerate for the recording module.
-    \param transcode : in case of streaming input, if set to false, it will avoid decoding/re-encoding and convert directly streaming input to a SVO file.
+    \brief 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.
+    \param camera_id : Id of the camera instance.
+    \param filename : Filename of the SVO file.
+    \param compression_mode : Compression mode. It can be one for the \ref SL_SVO_COMPRESSION_MODE enum.
+    \param bitrate : overrides default bitrate of the SVO file, in KBits/s. Only works if \ref SL_SVO_COMPRESSION_MODE is H264 or H265.
+    \param target_fps : Defines the target framerate for the recording module.
+    \param transcode : In case of streaming input, if set to false, it will avoid decoding/re-encoding and convert directly streaming input to a SVO file.
                This saves a encoding session and can be especially useful on NVIDIA Geforce cards where the number of encoding session is limited.
-    \return An ERROR_CODE that defines if SVO file was successfully created and can be filled with images.
+    \return An \ref SL_ERROR_CODE that defines if SVO file was successfully created and can be filled with images.
      */
     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);
 
     /**
-    \brief Get the recording information
-    \return The recording state structure. For more details, see \ref RecordingStatus.
+    \brief Get the recording information.
+    \return The recording state structure. For more details, see \ref SL_RecordingStatus.
      */
     INTERFACE_API struct SL_RecordingStatus* sl_get_recording_status(int camera_id);
     /**
-    \brief Disables the recording initiated by enableRecording() and closes the generated file.
-    \param camera_id : id of the camera instance.
+    \brief Disables the recording initiated by \ref sl_enable_recording() and closes the generated file.
+    \param camera_id : Id of the camera instance.
      */
     INTERFACE_API void sl_disable_recording(int camera_id);
 
     /**
-    \brief Returns the recording parameters used. Correspond to the structure send when the \ref sl_enable_recording() function was called.
-    \param camera_id : id of the camera instance.
+    \brief Returns the \ref SL_RecordingParameters used.
+    
+    It corresponds to the structure given as argument to the \ref sl_enable_recording() function.
+    \param camera_id : Id of the camera instance.
     \return \ref SL_RecordingParameters containing the parameters used for recording initialization.
      */
     INTERFACE_API struct SL_RecordingParameters* sl_get_recording_parameters(int camera_id);
 
     /**
     \brief Pauses or resumes the recording.
-    \param camera_id : id of the camera instance.
-    \param status : if true, the recording is paused. If false, the recording is resumed.
+    \param camera_id : Id of the camera instance.
+    \param status : If true, the recording is paused. If false, the recording is resumed.
      */
     INTERFACE_API void sl_pause_recording(int camera_id, bool status);
 
     /**
     \brief Initializes and starts the positional tracking processes.
-    This function allows you to enable the position estimation of the SDK. It only has to be called once in the camera's lifetime.
 
-    \param camera_id : id of the camera instance.
-    \param area_file_path : area localization file that describes the surroundings, saved from a previous tracking session.
-    \return \ref SL_ERROR_CODE::SUCCESS if everything went fine, ERROR_CODE::FAILURE otherwise.
+    This function allows you to enable the position estimation of the SDK.
+    It only has to be called once in the camera's lifetime.
+
+    \param camera_id : Id of the camera instance.
+    \param tracking_param : A structure containing all the specific parameters for the positional tracking. Default: a preset of \ref SL_PositionalTrackingParameters.
+    \param area_file_path : .area localization file that describes the surroundings, saved from a previous tracking session.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if everything went fine, \ref SL_ERROR_CODE "SL_ERROR_CODE_FAILURE" otherwise.
      */
     INTERFACE_API int sl_enable_positional_tracking(int camera_id, struct SL_PositionalTrackingParameters* tracking_param, const char* area_file_path);
 
+    // /**
+    // \brief Initializes and starts the positional tracking processes.
+    // This function allows you to enable the position estimation of the SDK. It only has to be called once in the camera's lifetime.
+    // 
+    // \param camera_id : id of the camera instance.
+    // \param initial_world_rotation : rotation of the camera in the world frame when the camera is started. By default, it should be identity.
+    // \param initial_world_position : position of the camera in the world frame when the camera is started. By default, it should be identity.
+    // \param enable_area_memory : this mode enables the camera to remember its surroundings. This helps correct positional tracking drift, and can be helpful for positioning different cameras relative to one other in space.
+    // \param enable_pose_smoothing : this mode enables smooth pose correction for small drift correction.
+    // \param set_floor_as_origin : this mode initializes the tracking to be aligned with the floor plane to better position the camera in space.
+    // \param set_as_static : this mode defines the camera as static. If true, it will not move in the environment. This allows you to set its position using initial_world_transform.
+    // \param enable_imu_fusion : this mode enables or disables IMU fusion. When set to false, only the optical odometry will be used.
+    // \param area_file_path : area localization file that describes the surroundings, saved from a previous tracking session.
+    // \return \ref SL_ERROR_CODE::SUCCESS if everything went fine, ERROR_CODE::FAILURE otherwise.
+    //  */
+    //  /**INTERFACE_API int enable_positional_tracking(int camera_id, struct SL_Quaternion *initial_world_rotation, struct SL_Vector3 *initial_world_position, bool enable_area_memory, bool enable_pose_smoothing, bool set_floor_as_origin, bool set_as_static,
+    //          bool enable_imu_fusion, const char* area_file_path);*/
+    
     /**
-    \brief Initializes and starts the positional tracking processes.
-    This function allows you to enable the position estimation of the SDK. It only has to be called once in the camera's lifetime.
-
-    \param camera_id : id of the camera instance.
-    \param initial_world_rotation : rotation of the camera in the world frame when the camera is started. By default, it should be identity.
-    \param initial_world_position : position of the camera in the world frame when the camera is started. By default, it should be identity.
-    \param enable_area_memory : this mode enables the camera to remember its surroundings. This helps correct positional tracking drift, and can be helpful for positioning different cameras relative to one other in space.
-    \param enable_pose_smoothing : this mode enables smooth pose correction for small drift correction.
-    \param set_floor_as_origin : this mode initializes the tracking to be aligned with the floor plane to better position the camera in space.
-    \param set_as_static : this mode defines the camera as static. If true, it will not move in the environment. This allows you to set its position using initial_world_transform.
-    \param enable_imu_fusion : this mode enables or disables IMU fusion. When set to false, only the optical odometry will be used.
-    \param area_file_path : area localization file that describes the surroundings, saved from a previous tracking session.
-    \return \ref SL_ERROR_CODE::SUCCESS if everything went fine, ERROR_CODE::FAILURE otherwise.
-     */
-     /**INTERFACE_API int enable_positional_tracking(int camera_id, struct SL_Quaternion *initial_world_rotation, struct SL_Vector3 *initial_world_position, bool enable_area_memory, bool enable_pose_smoothing, bool set_floor_as_origin, bool set_as_static,
-             bool enable_imu_fusion, const char* area_file_path);*/
-             /**
-             \brief Disables the positional tracking.
-             \param camera_id : id of the camera instance.
-             \param area_file_path : if set, saves the spatial memory into an '.area' file.
-              */
+    \brief Disables the positional tracking.
+    \param camera_id : Id of the camera instance.
+    \param area_file_path : If set, saves the spatial memory into an '.area' file.
+    */
     INTERFACE_API void sl_disable_positional_tracking(int camera_id, const char* area_file_path);
 
     /**
     \brief Saves the current area learning file. The file will contain spatial memory data generated by the tracking.
-    \param camera_id : id of the camera instance.
-    \param area_file_path : save the spatial memory database in an '.area' file.
-    \return \ref SL_ERROR_CODE::FAILURE if the area_file_path file wasn't found, SUCCESS otherwise.
+    \param camera_id : Id of the camera instance.
+    \param area_file_path : Save the spatial memory database in an '.area' file.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_FAILURE" if the <b>area_file_path</b> file wasn't found, \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" otherwise.
      */
     INTERFACE_API int sl_save_area_map(int camera_id, const char* area_file_path);
 
     /**
     \brief Returns the state of the spatial memory export process.
-    \param camera_id : id of the camera instance.
-    \return The current state (SL_AREA_EXPORTING_STATE) of the spatial memory export process
+
+    As \ref sl_save_area_map only starts the exportation, this method allows you to know when the exportation finished or if it failed.
+    \param camera_id : Id of the camera instance.
+    \return The current \ref SL_AREA_EXPORTING_STATE "state" of the spatial memory export process
      */
     INTERFACE_API int sl_get_area_export_state(int camera_id);
 
     /**
-    \brief  Sets the playback cursor to the desired frame number in the SVO file.
-    This function allows you to move around within a played-back SVO file. After calling, the next call to grab() will read the provided frame number.
+    \brief Sets the playback cursor to the desired frame number in the SVO file.
 
-    \param camera_id : id of the camera instance.
-    \param frame_number : the number of the desired frame to be decoded.
+    This function allows you to move around within a played-back SVO file. After calling, the next call to sl_grab() will read the provided frame number.
+
+    \param camera_id : Id of the camera instance.
+    \param frame_number : The number of the desired frame to be decoded.
      */
     INTERFACE_API void sl_set_svo_position(int camera_id, int frame_number);
 
     /**
     \brief Returns the camera FPS.
-    \param camera_id : id of the camera instance.
+    \param camera_id : Id of the camera instance.
     \return The current frame rate.
      */
     INTERFACE_API float sl_get_camera_fps(int camera_id);
 
     /**
     \brief Returns the current FPS.
-    \param camera_id : id of the camera instance.
+    \param camera_id : Id of the camera instance.
     \return The current frame rate.
         */
     INTERFACE_API float sl_get_current_fps(int camera_id);
 
     /**
     \brief Returns the width of the current image.
-    \param camera_id : id of the camera instance.
+    \param camera_id : Id of the camera instance.
     \return Width of the image.
      */
     int INTERFACE_API sl_get_width(int camera_id);
 
     /**
     \brief Returns the height of the current image.
-    \param camera_id : id of the camera instance.
+    \param camera_id : Id of the camera instance.
     \return Height of the image.
      */
     int INTERFACE_API sl_get_height(int camera_id);
@@ -284,8 +357,10 @@ extern "C" {
     INTERFACE_API int sl_get_confidence_threshold(int camera_id);
 
     /**
-    \brief Returns the calibration parameters, serial number and other information about the camera being used.
-    \param camera_id : id of the camera instance.
+    \brief Returns the SL_CameraInformation associated the camera.
+
+    To ensure accurate calibration, it is possible to specify a custom resolution as a parameter when obtaining scaled information, as calibration parameters are resolution-dependent.
+    \param camera_id : Id of the camera instance.
     \param res_width : You can specify a size different from default image size to get the scaled camera information.
     \param res_height : You can specify a size different from default image size to get the scaled camera information.
     \return SL_CameraInformation containing the calibration parameters of the ZED, as well as serial number and firmware version.
@@ -294,15 +369,16 @@ extern "C" {
 
     /**
     \brief Performs 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.
-    \param camera_id : id of the camera instance.
+    \param camera_id : Id of the camera instance.
      */
     INTERFACE_API void sl_update_self_calibration(int camera_id);
 
     /**
     \brief Gets the Calibration Parameters.
     \param camera_id : id of the camera instance.
-    \param raw_params : if true, returns Intrinsic and Extrinsic stereo parameters for original images (unrectified/distorded), else returns parameters for rectified/undistorded images.
+    \param r_params : if true, returns Intrinsic and Extrinsic stereo parameters for original images (unrectified/distorded), else returns parameters for rectified/undistorded images.
     \return Structure containing Intrinsic and Extrinsic stereo parameters
      */
     INTERFACE_API struct SL_CalibrationParameters* sl_get_calibration_parameters(int camera_id, bool raw_params);
@@ -315,10 +391,15 @@ extern "C" {
     INTERFACE_API struct SL_SensorsConfiguration* sl_get_sensors_configuration(int camera_id);
 
     /**
-    \brief Gets the IMU to Left camera transform matrix.
-    \param camera_id : id of the camera instance.
-    \param translation : translation between IMU frame and camera frame.
-    \param rotation : rotation between IMU frame and camera frame.
+    \brief Gets the IMU to the left camera transform matrix.
+    \note This function is only effective if the camera has a model other than a \ref SL_MODEL "SL_MODEL_ZED", which does not contains internal sensors.
+    \param camera_id : Id of the camera instance.
+    \param translation : Translation between IMU frame and camera frame.
+    \param rotation : Rotation between IMU frame and camera frame.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if sensors data have been extracted.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SENSORS_NOT_AVAILABLE" if the camera model is a \ref SL_MODEL "SL_MODEL_ZED".
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_MOTION_SENSORS_REQUIRED" if the camera model is correct but the sensors module is not opened.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_INVALID_FUNCTION_PARAMETERS" if the <b>reference_time</b> is not valid.
      */
     INTERFACE_API void sl_get_camera_imu_transform(int camera_id, struct SL_Vector3* translation, struct SL_Quaternion* rotation);
 
@@ -337,15 +418,15 @@ extern "C" {
     INTERFACE_API int sl_get_zed_serial(int camera_id);
 
     /**
-    \brief Gets the ZED camera Current Firmware version.
-    \param camera_id : id of the camera instance.
+    \brief Gets the ZED camera current firmware version.
+    \param camera_id : Id of the camera instance.
     \return The firmware of the camera.
      */
     INTERFACE_API int sl_get_camera_firmware(int camera_id);
 
     /**
-    \brief Gets the ZED mcu Current Firmware version.
-    \param camera_id : id of the camera instance.
+    \brief Gets the sensor module current firmware version.
+    \param camera_id : Id of the camera instance.
     \return The firmware version of the sensor module, 0 if no sensors are available.
      */
     INTERFACE_API int sl_get_sensors_firmware(int camera_id);
@@ -358,59 +439,105 @@ extern "C" {
     INTERFACE_API int sl_get_camera_model(int camera_id);
 
     /**
-    \brief Get the Timestamp at the time the frame has been extracted from USB stream. (should be called after a grab).
-    \param camera_id : id of the camera instance.
-    \return The Camera timestamp.
+    \brief Get the timestamp at the time the frame has been extracted from USB stream.
+    
+    \note It should be called after a sl_grab().
+    \param camera_id : Id of the camera instance.
+    \return The camera timestamp.
      */
     INTERFACE_API unsigned long long sl_get_image_timestamp(int camera_id);
 
     /**
-    \brief Get the current Timestamp at the time the function is called. Can be compared to the camera Timestamp for synchronization.
-    \param camera_id : id of the camera instance.
+    \brief Get the current timestamp at the time the function is called.
+    
+    Can be compared to the camera timestamp for synchronization.
+    \param camera_id : Id of the camera instance.
     \return The current timestamp.
      */
     INTERFACE_API unsigned long long sl_get_current_timestamp(int camera_id);
 
     /**
-    \brief Gets the total number of frames in the loaded SVO file.
-    \param camera_id : id of the camera instance.
-    \return The total number of frames in the SVO file (-1 if the SDK is not reading a SVO).
+    \brief Returns the number of frames in the SVO file.
+    \param camera_id : Id of the camera instance.
+    \return The total number of frames in the SVO file. -1 if the SDK is not reading a SVO.
      */
     INTERFACE_API int sl_get_svo_number_of_frames(int camera_id);
 
     /**
-    \brief Sets a value in the ZED's camera settings.
-    \param camera_id : id of the camera instance.
-    \param mode : Setting to be changed
-    \param value : new value
+    \brief Test if the video setting is supported by the camera
+    \param camera_id : Id of the camera instance.
+    \param setting : The video setting to test
+    \return true if the \ref SL_VIDEO_SETTINGS is supported by the camera, false otherwise
+     */
+    INTERFACE_API bool sl_is_camera_setting_supported(int camera_id, enum SL_VIDEO_SETTINGS setting);
+
+    /**
+    \brief Sets the value of the requested \ref SL_VIDEO_SETTINGS "camera setting" (gain, brightness, hue, exposure, etc.).
+    \param camera_id : Id of the camera instance.
+    \param mode : The setting to be set.
+    \param value : The value to set.
+    \return \ref SL_ERROR_CODE to indicate if the function was successful.
+    \note The function works only if the camera is open in LIVE or STREAM mode.
      */
     INTERFACE_API enum SL_ERROR_CODE sl_set_camera_settings(int camera_id, enum SL_VIDEO_SETTINGS mode, int value);
 
+    /**
+    \brief Sets the range values of the requested \ref SL_VIDEO_SETTINGS "camera setting" (gain, brightness, hue, exposure, etc.).
+    Works for the following settings: 
+    \ref SL_VIDEO_SETTINGS SL_VIDEO_SETTINGS_AUTO_EXPOSURE_TIME_RANGE
+    \ref SL_VIDEO_SETTINGS SL_VIDEO_SETTINGS_AUTO_ANALOG_GAIN_RANGE
+    \ref SL_VIDEO_SETTINGS SL_VIDEO_SETTINGS_AUTO_DIGITAL_GAIN_RANGE
+    
+    \param camera_id : Id of the camera instance.
+    \param mode : The setting to be set.
+    \param min : The min value to set.
+    \param max : The max value to set.
+    \return \ref SL_ERROR_CODE to indicate if the function was successful.
+    \note The function works only if the camera is open in LIVE or STREAM mode.
+     */
+    INTERFACE_API enum SL_ERROR_CODE sl_set_camera_settings_min_max(int camera_id, enum SL_VIDEO_SETTINGS mode, int min, int max);
+
     /**
     \brief Sets the region of interest for automatic exposure/gain computation
-    \param camera_id : id of the camera instance.
-    \param side : defines left,right,both to distinguish between left and right or both sides (see \ref SL_SIDE).
-    \param roi : Region of interest.
-    \param reset : reset aestruct C_agc if true.
-    \return SL_ERROR_CODE::SUCCESS if ROI has been applied. Other ERROR_CODE otherwise.
+    \param camera_id : Id of the camera instance.
+    \param side : \ref SL_SIDE on which to be applied for AEC/AGC computation.
+    \param roi : \ref SL_Rect that defines the target to be applied for AEC/AGC computation. Must be given according to camera resolution.
+    \param reset : Cancel the manual ROI and reset it to the full image.
+    \return \ref SL_ERROR_CODE to indicate if the function was successful.
+    \note The function works only if the camera is open in LIVE or STREAM mode.
      */
     INTERFACE_API enum SL_ERROR_CODE sl_set_roi_for_aec_agc(int camera_id, enum SL_SIDE side, struct SL_Rect* roi, bool reset);
 
     /**
-    \brief Gets the value of a given setting from the ZED camera.
-    \param camera_id : id of the camera instance.
+    \brief Returns the current value of the requested \ref SL_VIDEO_SETTINGS "camera setting" (gain, brightness, hue, exposure, etc.).
+    \param camera_id : Id of the camera instance.
     \param mode : Setting to be retrieved (see \ref SL_VIDEO_SETTINGS).
-    \param value : the requested setting value.
-    \return ERROR_CODE to indicate if the function was successfull.If successfull, setting will be filled with the corresponding value.
+    \param value : The requested setting value.
+    \return \ref SL_ERROR_CODE to indicate if the function was successful. If successful, setting will be filled with the corresponding value.
+    \note The function works only if the camera is open in LIVE or STREAM mode.
+    \note Settings are not exported in the SVO file format.
      */
     INTERFACE_API enum SL_ERROR_CODE sl_get_camera_settings(int c_id, enum SL_VIDEO_SETTINGS mode, int* value);
 
     /**
-    \brief Gets the region of interest for automatic exposure/gain computation
-    \param camera_id : id of the camera instance.
-    \param side : defines left,right,both to distinguish between left and right or both sides (see \ref SL_SIDE).
+    \brief Returns the current range of the requested \ref SL_VIDEO_SETTINGS "camera setting" (setting with range value).
+    \param camera_id : Id of the camera instance.
+    \param mode : Setting to be retrieved (see \ref SL_VIDEO_SETTINGS).
+    \param value : The requested setting value.
+    \return \ref SL_ERROR_CODE to indicate if the function was successful. If successful, setting will be filled with the corresponding value.
+    \note The function works only if the camera is open in LIVE or STREAM mode.
+    \note Settings are not exported in the SVO file format.
+     */
+    INTERFACE_API enum SL_ERROR_CODE sl_get_camera_settings_min_max(int c_id, enum SL_VIDEO_SETTINGS mode, int* minvalue, int* maxvalue);
+
+    /**
+    \brief Gets the region of interest for automatic exposure/gain computation.
+    \param camera_id : Id of the camera instance.
+    \param side : \ref SL_SIDE on which to get the ROI from.
     \param roi [Out] : Region of interest.
-    \return SL_ERROR_CODE::SUCCESS if ROI has been applied. Other ERROR_CODE otherwise.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if ROI has been applied. Other \ref SL_ERROR_CODE otherwise.
+    \note The function works only if the camera is open in LIVE or STREAM mode.
+    \note Settings are not exported in the SVO file format.
      */
     INTERFACE_API enum SL_ERROR_CODE sl_get_roi_for_aec_agc(int id, enum SL_SIDE side, struct SL_Rect* roi);
 
@@ -430,10 +557,10 @@ extern "C" {
 
     /**
     \brief Gets the current range of perceived depth.
-    \param camera_id : id of the camera instance.
-    \param min : \b [out] Minimum depth detected (in selected sl::UNIT)
-    \param max : \b [out] Maximum depth detected (in selected sl::UNIT)
-    \return SL_ERROR_CODE::SUCCESS if values have been extracted. Other ERROR_CODE otherwise.
+    \param camera_id : Id of the camera instance.
+    \param min : [Out] Minimum depth detected (in selected \ref SL_UNIT)
+    \param max : [Out] Maximum depth detected (in selected \ref SL_UNIT).
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if values have been extracted. Other \ref SL_ERROR_CODE otherwise.
      */
     INTERFACE_API int sl_get_current_min_max_depth(int camera_id, float* min, float* max);
 
@@ -458,25 +585,34 @@ extern "C" {
      */
     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);
 
-    /**
-    \brief Returns the version of the currently installed ZED SDK.
-    \param major : major int of the version filled
-    \param minor : minor int of the version filled
-    \param patch : patch int of the version filled
-     */
-     //INTERFACE_API void sl_get_sdk_version(int *major, int *minor, int *patch);
+    // /**
+    // \brief Returns the version of the currently installed ZED SDK.
+    // \param major : major int of the version filled
+    // \param minor : minor int of the version filled
+    // \param patch : patch int of the version filled
+    //  */
+    // INTERFACE_API void sl_get_sdk_version(int *major, int *minor, int *patch);
 
      /**
-     \brief Gets the current position of the SVO being recorded to.
-     \param camera_id : id of the camera instance.
-     \return The current SVO position;
+     \brief Returns the current playback position in the SVO file.
+     \param camera_id : Id of the camera instance.
+     \return The current frame position in the SVO file. Returns -1 if the SDK is not reading an SVO.
       */
     INTERFACE_API int sl_get_svo_position(int camera_id);
 
     /**
-    \brief Gets the number of frames dropped since Grab() was called for the first time. Based on camera timestamps and an FPS comparison.
-    \param camera_id : id of the camera instance.
-    \return The number of frames dropped since the first Grab() call.
+    * \brief Retrieves the frame index within the SVO file corresponding to the provided timestamp.
+    *  \param camera_id : Id of the camera instance.
+    * \param timestamp The target timestamp for which the frame index is to be determined.
+    * \return The frame index within the SVO file that aligns with the given timestamp.
+    *         Returns -1 if the timestamp falls outside the bounds of the SVO file.
+    */
+    INTERFACE_API int sl_get_svo_position_at_timestamp(int camera_id, unsigned long long timestamp);
+
+    /**
+    \brief Gets the number of frames dropped since sl_grab() was called for the first time. Based on camera timestamps and an FPS comparison.
+    \param camera_id : Id of the camera instance.
+    \return The number of frames dropped since the first sl_grab() call.
      */
     INTERFACE_API unsigned int sl_get_frame_dropped_count(int camera_id);
 
@@ -486,15 +622,14 @@ extern "C" {
     //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
     /**
-    \brief Gets the current position of the camera and state of the tracking, with an optional offset to the tracking frame.
-    \param camera_id : id of the camera instance.
-    \return true if the tracking module is enabled
+    \brief Tells if the tracking module is enabled.
+    \param camera_id : Id of the camera instance.
     */
     INTERFACE_API bool sl_is_positional_tracking_enabled(int camera_id);
 
     /**
     \brief Gets the current position of the camera and state of the tracking, with an optional offset to the tracking frame.
-    \param camera_id : id of the camera instance.
+    \param camera_id : Id of the camera instance.
     \param rotation : Quaternion filled with the current rotation of the camera depending on its reference frame.
     \param position : Vector filled with the current position of the camera depending on its reference frame.
     \param target_quaternion : Rotational offset applied to the tracking frame.
@@ -504,8 +639,8 @@ extern "C" {
      */
     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);
     /**
-    \brief Gets the current position of the camera and state of the tracking, filling a PoseData struck useful for AR pass-though.
-    \param camera_id : id of the camera instance.
+    \brief Gets the current position of the camera and state of the tracking, filling a \ref SL_PoseData struck useful for AR pass-though.
+    \param camera_id : Id of the camera instance.
     \param poseData : Current Pose.
     \param reference_frame : Reference frame sor setting the rotation/position.
     \return The current state of the tracking process (see \ref SL_POSITIONAL_TRACKING_STATE).
@@ -513,7 +648,7 @@ extern "C" {
     INTERFACE_API int sl_get_position_data(int camera_id, struct SL_PoseData* poseData, enum SL_REFERENCE_FRAME reference_frame);
     /**
     \brief Retrieves the estimated position and orientation of the camera in the specified \ref REFERENCE_FRAME "reference frame".
-    \param camera_id : id of the camera instance.
+    \param camera_id : Id of the camera instance.
     \param rotation : Quaternion filled with the current rotation of the camera depending on its reference frame.
     \param position : Vector filled with the current position of the camera depending on its reference frame.
     \param reference_frame : Reference frame for setting the rotation/position.
@@ -530,45 +665,58 @@ extern "C" {
     INTERFACE_API int sl_get_position_array(int camera_id, float* pose, enum SL_REFERENCE_FRAME reference_frame);
 
     /**
-    \brief Resets the tracking, and re-initializes the position with the given pose
-    \param camera_id : id of the camera instance.
-    \param rotation : rotation of the camera in the world frame when the function is called.
-    \param translation : position of the camera in the world frame when the function is called.
-    \return SL_ERROR_CODE::SUCCESS if the tracking has been reset, ERROR_CODE::FAILURE otherwise.
+    \brief Resets the tracking, and re-initializes the position with the given pose.
+    \param camera_id : Id of the camera instance.
+    \param rotation : Rotation of the camera in the world frame when the function is called.
+    \param translation : Position of the camera in the world frame when the function is called.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if the tracking has been reset, \ref SL_ERROR_CODE "SL_ERROR_CODE_FAILURE" otherwise.
      */
     INTERFACE_API int sl_reset_positional_tracking(int camera_id, struct SL_Quaternion rotation, struct SL_Vector3 translation);
     /**
     \brief Resets the tracking with an offset.
-    \param camera_id : id of the camera instance.
-    \param rotation : rotation of the camera in the world frame when the function is called.
-    \param translation : position of the camera in the world frame when the function is called.
-    \param target_quaternion : rotation offset to apply.
-    \param target_translation : translation offset to apply.
-    \return SL_ERROR_CODE::SUCCESS if the tracking has been reset, ERROR_CODE::FAILURE otherwise.
+    \param camera_id : Id of the camera instance.
+    \param rotation : Rotation of the camera in the world frame when the function is called.
+    \param translation : Position of the camera in the world frame when the function is called.
+    \param target_quaternion : Rotation offset to apply.
+    \param target_translation : Translation offset to apply.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if the tracking has been reset, \ref SL_ERROR_CODE "SL_ERROR_CODE_FAILURE" otherwise.
      */
     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);
     /**
-    \brief Sets a prior to the IMU orientation (using a ZED-mini, ZED2 or ZED2i).
-     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.
-     \param rotation : Prior rotation.
-     \SUCCESS if the transform has been passed, ERROR_CODE::INVALID_FUNCTION_CALL otherwise
+    \brief Set an optional IMU orientation hint that will be used to assist the tracking during the next \ref sl_grab().
+    
+    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.
+    \note This function is only effective if the camera has a model other than a \ref SL_MODEL "SL_MODEL_ZED", which does not contains internal sensors.
+    
+    \param rotation : Prior rotation.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if sensors data have been extracted.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SENSORS_NOT_AVAILABLE" if the camera model is a \ref SL_MODEL "SL_MODEL_ZED".
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_MOTION_SENSORS_REQUIRED" if the camera model is correct but the sensors module is not opened.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_INVALID_FUNCTION_PARAMETERS" if the <b>reference_time</b> is not valid.
      */
     INTERFACE_API int sl_set_imu_prior_orientation(int camera_id, struct SL_Quaternion rotation);
     /**
-    \brief Gets the rotation given by the ZED-M/ZED2 IMU. Returns an error if using ZED (v1) which does not contains internal sensors.
+    \brief Gets the rotation given by the IMU.
+    \note This function is only effective if the camera has a model other than a \ref SL_MODEL "SL_MODEL_ZED", which does not contains internal sensors.
     \param camera_id : id of the camera instance.
-    \param quat [Out]: Rotation from the IMU.
+    \param quat : [Out] Rotation from the IMU.
     \param time_reference : time reference.
-    \return ERROR_CODE::SUCCESS if sensors data have been extracted.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if sensors data have been extracted.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SENSORS_NOT_AVAILABLE" if the camera model is a \ref SL_MODEL "SL_MODEL_ZED".
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_MOTION_SENSORS_REQUIRED" if the camera model is correct but the sensors module is not opened.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_INVALID_FUNCTION_PARAMETERS" if the <b>reference_time</b> is not valid.
      */
     INTERFACE_API int sl_get_imu_orientation(int camera_id, struct SL_Quaternion* quat, enum SL_TIME_REFERENCE time_reference);
     /**
-    \brief Gets the full Sensor data from the ZED-M/ZED2/ZED2i. Returns an error is using ZED (v1) which does not contains internal sensors.
-    \param camera_id : id of the camera instance.
-    \param data : sensor data.
-    \param time_reference : time reference.
-    \return ERROR_CODE::SUCCESS if sensors data have been extracted.
+    \brief Gets \ref SL_SensorsData (IMU, magnetometer, barometer) at a specific time reference.
+    \note This function is only effective if the camera has a model other than a \ref SL_MODEL "SL_MODEL_ZED", which does not contains internal sensors.
+    \param camera_id : Id of the camera instance.
+    \param data : The \ref SL_SensorsData variable to store the data.
+    \param time_reference : Defines the reference from which you want the data to be expressed.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if sensors data have been extracted.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SENSORS_NOT_AVAILABLE" if the camera model is a \ref SL_MODEL "SL_MODEL_ZED".
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_MOTION_SENSORS_REQUIRED" if the camera model is correct but the sensors module is not opened.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_INVALID_FUNCTION_PARAMETERS" if the <b>reference_time</b> is not valid.
      */
     INTERFACE_API int sl_get_sensors_data(int camera_id, struct SL_SensorsData* data, enum SL_TIME_REFERENCE time_reference);
 
@@ -582,200 +730,211 @@ extern "C" {
     into several large meshes (which are more convenient to work with).
     \param camera_id : id of the camera instance.
     \param nb_faces : define the new number of faces per chunk (useful for Unity that doesn't handle chunks over 65K vertices).
-    \param nb_vertices : Array of the number of vertices in each submesh.
-    \param nb_triangles : Array of the number of triangles in each submesh.
-    \param nb_updated_submeshes : Number of submeshes.
-    \param updates_indices : List of all submeshes updated since the last update.
-    \param nb_vertices_tot : Total number of updated vertices in all submeshes.
-    \param nb_triangles_tot : Total number of updated triangles in all submeshes.
-    \param max_sub_mesh : Maximum number of submeshes.
+    \param nb_vertices : Array of the number of vertices in each sub-mesh.
+    \param nb_triangles : Array of the number of triangles in each sub-mesh.
+    \param nb_updated_submeshes : Number of sub-meshes.
+    \param updates_indices : List of all sub-meshes updated since the last update.
+    \param nb_vertices_tot : Total number of updated vertices in all sub-meshes.
+    \param nb_triangles_tot : Total number of updated triangles in all sub-meshes.
+    \param max_sub_mesh : Maximum number of sub-meshes.
      */
     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);
 
     /**
-    \brief Initializes and begins the spatial mapping processes.
-    \param camera_id : id of the camera instance.
+    \brief Initializes and starts the spatial mapping processes.
+    \param camera_id : Id of the camera instance.
     \param type : Spatial mapping type (see \ref SL_SPATIAL_MAP_TYPE).
     \param resolution_meter : Spatial mapping resolution in meters.
     \param max_range_meter : Maximum scanning range in meters.
     \param save_texture : True to scan surface textures in addition to geometry.
     \param max_memory_usage : The maximum CPU memory (in megabytes) allocated for the meshing process.
-    \return SUCCESS if everything went fine, ERROR_CODE::FAILURE otherwise.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if everything went fine, \ref SL_ERROR_CODE "SL_ERROR_CODE_FAILURE" otherwise.
      */
     INTERFACE_API int sl_enable_spatial_mapping(int camera_id, struct SL_SpatialMappingParameters* mapping_param);
     /**
-    \brief Disables the Spatial Mapping process.
-    \param camera_id : id of the camera instance.
+    \brief Disables the spatial mapping process.
+    \param camera_id : Id of the camera instance.
      */
     INTERFACE_API void sl_disable_spatial_mapping(int camera_id);
 
     /**
-    \brief Returns the spatial mapping parameters used. Correspond to the structure send when the \ref enableSpatialMapping() function was called.
-    \param camera_id : id of the camera instance.
-    \return \ref SpatialMappingParameters containing the parameters used for spatial mapping intialization.
+    \brief Returns the SL_SpatialMappingParameters used.
+
+    It corresponds to the structure given as argument to the \ref sl_enable_spatial_mapping() method.
+    \param camera_id : Id of the camera instance.
+    \return \ref SL_SpatialMappingParameters containing the parameters used for spatial mapping initialization.
      */
     INTERFACE_API struct SL_SpatialMappingParameters* sl_get_spatial_mapping_parameters(int camera_id);
     /**
-     Sets the pause state of the data integration mechanism for the ZED's spatial mapping.
-     \param camera_id : id of the camera instance.
+     Pauses or resumes the spatial mapping processes.
+     \param camera_id : Id of the camera instance.
      \param status : If true, the integration is paused. If false, the spatial mapping is resumed.
      */
     INTERFACE_API void sl_pause_spatial_mapping(int camera_id, bool status);
     /**
-    \brief Starts the mesh generation process in a thread that doesn't block the spatial mapping process.
-    \param camera_id : id of the camera instance.
+    \brief Starts the spatial map generation process in a non-blocking thread from the spatial mapping process.
+    \param camera_id : Id of the camera instance.
      */
     INTERFACE_API void sl_request_mesh_async(int camera_id);
     /**
-    \brief Returns the mesh generation status. Useful for knowing when to update and retrieve the mesh.
-    \param camera_id : id of the camera instance.
-    \return SUCCESS if the mesh is ready and not yet retrieved, otherwise ERROR_CODE::FAILURE.
+    \brief Returns the spatial map generation status.
+    
+    Useful for knowing when to update and retrieve the mesh or the point cloud.
+    \param camera_id : Id of the camera instance.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if the mesh or the point cloud is ready and not yet retrieved, otherwise \ref SL_ERROR_CODE "SL_ERROR_CODE_FAILURE".
      */
     INTERFACE_API int sl_get_mesh_request_status_async(int camera_id);
     /**
-    \brief Gets the current state of spatial mapping.
-    \param camera_id : id of the camera instance.
-    \return The current state ( \ref SL_SPATIAL_MAPPING_STATE) of the spatial mapping process (
+    \brief Returns the current spatial mapping state.
+
+    As the spatial mapping runs asynchronously, this function allows you to get reported errors or status info.
+    \param camera_id : Id of the camera instance.
+    \return The current \ref SL_SPATIAL_MAPPING_STATE "state" of the spatial mapping process.
      */
     INTERFACE_API enum SL_SPATIAL_MAPPING_STATE sl_get_spatial_mapping_state(int camera_id);
     /**
     \brief Updates the internal version of the mesh and returns the sizes of the meshes.
-    \param camera_id : id of the camera instance.
-    \param nb_vertices : Array of the number of vertices in each submesh.
-    \param nb_triangles : Array of the number of triangles in each submesh.
-    \param nb_submeshes : Number of submeshes.
-    \param updates_indices : List of all submeshes updated since the last update.
-    \param num_vertices_tot : Total number of updated vertices in all submeshes.
-    \param num_triangles_tot : Total number of updated triangles in all submeshes.
-    \param max_sub_mesh : Maximum number of submeshes.
-    \return SUCCESS if the mesh is updated.
+    \param camera_id : Id of the camera instance.
+    \param nb_vertices : Array of the number of vertices in each sub-mesh.
+    \param nb_triangles : Array of the number of triangles in each sub-mesh.
+    \param nb_submeshes : Number of sub-meshes.
+    \param updates_indices : List of all sub-meshes updated since the last update.
+    \param num_vertices_tot : Total number of updated vertices in all sub-meshes.
+    \param num_triangles_tot : Total number of updated triangles in all sub-meshes.
+    \param max_sub_mesh : Maximum number of sub-meshes.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if the mesh is updated.
      */
     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);
     /**
-    \brief Retrieves all chunks of the current mesh. Call update_mesh before calling this.
-    Vertex and triangles arrays must be at least of the sizes returned by update_mesh (nb_vertices and nb_triangles).
-    \param camera_id : id of the camera instance.
+    \brief Retrieves all chunks of the current mesh.
+    \note Call \ref sl_update_mesh before calling this.
+    
+    Vertex and triangles arrays must be at least of the sizes returned by \ref sl_update_mesh (nb_vertices and nb_triangles).
+    \param camera_id : Id of the camera instance.
     \param vertices : Vertices of the mesh
     \param triangles : Triangles of the mesh.
-    \param colors :  (b,g,r) colors of each vertex.
-    \param max_submeshes : Maximum number of submesh that can be handled.
-    \param uvs : uvs of the texture.
+    \param colors : BGR colors of each vertex.
+    \param max_submeshes : Maximum number of sub-mesh that can be handled.
+    \param uvs : UVs of the texture.
     \param texture_ptr : Texture of the mesh (if enabled).
-    \return SUCCESS if the mesh is retrieved.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if the mesh is retrieved.
      */
     INTERFACE_API int sl_retrieve_mesh(int camera_id, float* vertices, int* triangles, unsigned char* colors, float* uvs, unsigned char* texture_ptr, const int max_submeshes);
     /**
-    \brief Updates the internal version of the mesh and returns the sizes of the meshes.
-    \param camera_id : id of the camera instance.
-    \param nb_vertices : Array of the number of vertices in each submesh.
-    \param nb_triangles : Array of the number of triangles in each submesh.
-    \param nb_submeshes : Number of submeshes.
-    \param updates_indices : List of all submeshes updated since the last update.
-    \param num_vertices_tot : Total number of updated vertices in all submeshes.
-    \param num_triangles_tot : Total number of updated triangles in all submeshes.
-    \param max_sub_mesh : Maximum number of submeshes.
-    \return SUCCESS if the chunks are updated.
+    \brief Updates the Internal version of the mesh and returns the sizes of the meshes.
+    \param camera_id : Id of the camera instance.
+    \param nb_vertices : Array of the number of vertices in each sub-mesh.
+    \param nb_triangles : Array of the number of triangles in each sub-mesh.
+    \param nb_submeshes : Number of sub-meshes.
+    \param updates_indices : List of all sub-meshes updated since the last update.
+    \param num_vertices_tot : Total number of updated vertices in all sub-meshes.
+    \param num_triangles_tot : Total number of updated triangles in all sub-meshes.
+    \param max_sub_mesh : Maximum number of sub-meshes.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if the chunks are updated.
      */
     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);
     /**
-    \brief Retrieves all chunks of the full mesh. Call update_mesh before calling this.
-    Vertex and triangles arrays must be at least of the sizes returned by update_mesh (nbVertices and nbTriangles).
-    \param camera_id : id of the camera instance.
-    \param max_submesh : Maximum number of submesh that can be handled.
-    \param vertices : Vertices of the chunk
+    \brief Retrieves all chunks of the full mesh.
+    \note Call \ref sl_update_mesh before calling this.
+    
+    Vertex and triangles arrays must be at least of the sizes returned by \ref sl_update_mesh (nbVertices and nbTriangles).
+    \param camera_id : Id of the camera instance.
+    \param max_submesh : Maximum number of sub-mesh that can be handled.
+    \param vertices : Vertices of the chunk.
     \param triangles : Triangles of the chunk.
-    \param colors : b,g,r colors of the chunk
-    \param uvs : uvs of the texture.
+    \param colors : BGR colors of the chunk.
+    \param uvs : UVs of the texture.
     \param texture_ptr : Texture of the mesh (if enabled).
-    \return SUCCESS if the chunk is retrieved.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if the chunk is retrieved.
      */
     INTERFACE_API int sl_retrieve_chunks(int camera_id, float* vertices, int* triangles, unsigned char* colors, float* uvs, unsigned char* texture_ptr, const int max_submesh);
 
     /**
-    \brief Updates the fused point cloud (if spatial map type was FUSED_POINT_CLOUD).
-    \param camera_id : id of the camera instance.
-    \param num_vertices_tot : returns the total number of vertices.
-    \return SUCCESS if the fused point cloud is updated.
+    \brief Updates the fused point cloud (if spatial map type was \ref SL_SPATIAL_MAP_TYPE "SL_SPATIAL_MAP_TYPE_FUSED_POINT_CLOUD").
+    \param camera_id : Id of the camera instance.
+    \param num_vertices_tot : The total number of vertices.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if the fused point cloud is updated.
      */
     INTERFACE_API int sl_update_fused_point_cloud(int camera_id, int* nb_vertices_tot);
     /**
-    \brief Retrieves all points of the fused point cloud. Call update_fused_point_cloud before calling this.
-    \param camera_id : id of the camera instance.
+    \brief Retrieves all points of the fused point cloud.
+    \note Call \ref sl_update_fused_point_cloud before calling this.
+    \param camera_id : Id of the camera instance.
     \param vertices : Points of the fused point cloud.
-    \return SUCCESS if the fused point cloud is retrieved.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if the fused point cloud is retrieved.
      */
     INTERFACE_API int sl_retrieve_fused_point_cloud(int camera_id, float* vertices);
     /**
     \brief Extracts the current spatial map from the spatial mapping process.
-    \param camera_id : id of the camera instance.
-    SUCCESS if the mesh is filled and available, otherwise FAILURE.
+    \param camera_id : Id of the camera instance.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if the mesh is filled and available, otherwise \ref SL_ERROR_CODE "SL_ERROR_CODE_FAILURE".
      */
     INTERFACE_API int sl_extract_whole_spatial_map(int camera_id);
     /**
     \brief Saves the scanned mesh in a specific file format.
-    \param camera_id : id of the camera instance.
+    \param camera_id : Id of the camera instance.
     \param filename : Path and filename of the mesh.
     \param format : File format (extension). Can be .obj, .ply or .bin.
-    \return True if the file was successfully saved, false otherwise.
+    \return Has the mesh been save successfully.
      */
     INTERFACE_API bool sl_save_mesh(int camera_id, const char* filename, enum SL_MESH_FILE_FORMAT format);
     /**
     \brief Saves the scanned point cloud in a specific file format.
-    \param camera_id : id of the camera instance.
+    \param camera_id : Id of the camera instance.
     \param filename : Path and filename of the point cloud.
     \param format : File format (extension). Can be .obj, .ply or .bin.
-    \return True if the file was successfully saved, false otherwise.
+    \return Has the point cloud been save successfully.
      */
     INTERFACE_API bool sl_save_point_cloud(int c_id, const char* filename, enum SL_MESH_FILE_FORMAT format);
     /**
     \brief Loads a saved mesh file.
-    \param camera_id : id of the camera instance.
-    \param filename : Path and filename of the mesh. Should incluse the extension (.obj, .ply or .bin).
-    \param nb_ertices : Array of the number of vertices in each submesh.
-    \param nb_triangles : Array of the number of triangles in each submesh.
-    \param nb_sub_meshes : Number of submeshes.
-    \param updated_indices : List of all submeshes updated since the last update.
-    \param nb_vertices_tot :  Total number of updated vertices in all submeshes.
-    \param nb_triangles_tot : Array of the number of triangles in each submesh.
-    \param max_submesh : Maximum number of submeshes taht can be handled.
-    \param texture_size : Array containing the sizes of all the textures (width ,height) if applicable.
-    \return True if the file was successfully loaded, false otherwise.
+    \param camera_id : Id of the camera instance.
+    \param filename : Path and filename of the mesh. Should include the extension (.obj, .ply or .bin).
+    \param nb_ertices : Array of the number of vertices in each sub-mesh.
+    \param nb_triangles : Array of the number of triangles in each sub-mesh.
+    \param nb_sub_meshes : Number of sub-meshes.
+    \param updated_indices : List of all sub-meshes updated since the last update.
+    \param nb_vertices_tot :  Total number of updated vertices in all sub-meshes.
+    \param nb_triangles_tot : Array of the number of triangles in each sub-mesh.
+    \param max_submesh : Maximum number of sub-meshes that can be handled.
+    \param texture_size : Array containing the sizes of all the textures (width, height) if applicable.
+    \return Has the mesh been loaded successfully.
      */
     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);
     /**
     \brief Applies the scanned texture onto the internal scanned mesh.
-    \param camera_id : id of the camera instance.
-    \param nb_vertices : Array of the number of vertices in each submesh.
-    \param nb_triangles : Array of the number of triangles in each submesh.
-    \param nb_sub_meshes : Number of submeshes.
-    \param updated_indices : List of all submeshes updated since the last update.
-    \param nb_vertices_tot :  Total number of updated vertices in all submeshes.
-    \param nb_triangles_tot : Array of the number of triangles in each submesh.
-    \param max_submesh : Maximum number of submeshes taht can be handled.
-    \param texture_size : Array containing the sizes of all the textures (width ,height) if applicable.
-    \return True if the texturing was successful, false otherwise.
+    \param camera_id : Id of the camera instance.
+    \param nb_vertices : Array of the number of vertices in each sub-mesh.
+    \param nb_triangles : Array of the number of triangles in each sub-mesh.
+    \param nb_sub_meshes : Number of sub-meshes.
+    \param updated_indices : List of all sub-meshes updated since the last update.
+    \param nb_vertices_tot : Total number of updated vertices in all sub-meshes.
+    \param nb_triangles_tot : Array of the number of triangles in each sub-mesh.
+    \param max_submesh : Maximum number of sub-meshes that can be handled.
+    \param texture_size : Array containing the sizes of all the textures (width, height) if applicable.
+    \return Has the texture been applied successfully.
      */
     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);
     /**
     \brief Filters a mesh to removes triangles while still preserving its overall shaper (though less accurate).
-    \param camera_id : id of the camera instance.
-    \param filter_params : Filter level. Higher settings remore more triangles (SL_MeshFilterParameters::MESH_FILTER).
-    \param nb_vertices : Array of the number of vertices in each submesh.
-    \param nb_triangles : Array of the number of triangles in each submesh.
-    \param nb_sub_meshes : Number of submeshes.
-    \param updated_indices : List of all submeshes updated since the last update.
-    \param nb_vertices_tot :  Total number of updated vertices in all submeshes.
-    \param nb_triangles_tot : Array of the number of triangles in each submesh.
-    \param max_submesh : Maximum number of submeshes that can be handled.
-    \return True if the filtering was successful, false otherwise.
+    \param camera_id : Id of the camera instance.
+    \param filter_params : Filter level. Higher settings remove more triangles (\ref SL_MESH_FILTER).
+    \param nb_vertices : Array of the number of vertices in each sub-mesh.
+    \param nb_triangles : Array of the number of triangles in each sub-mesh.
+    \param nb_sub_meshes : Number of sub-meshes.
+    \param updated_indices : List of all sub-meshes updated since the last update.
+    \param nb_vertices_tot : Total number of updated vertices in all sub-meshes.
+    \param nb_triangles_tot : Array of the number of triangles in each sub-mesh.
+    \param max_submesh : Maximum number of sub-meshes that can be handled.
+    \return Has the mesh been filtered successfully.
      */
     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);
     /**
     \brief Gets a vector pointing toward the direction of gravity. This is estimated from a 3D scan of the environment,
     and such, a scan must be started and finished for this value to be calculated.
-    If using the ZED_M  /ZED2, this isn't required thanks to its IMU.
-    \param camera_id : id of the camera instance.
-    \param gravity [Out] : vector of gravity.
+    \n If using a model other than \ref SL_MODEL "SL_MODEL_ZED", this isn't required thanks to its IMU.
+    \param camera_id : Id of the camera instance.
+    \param gravity : [Out] The vector of gravity.
      */
     INTERFACE_API void sl_spatial_mapping_get_gravity_estimation(int camera_id, struct SL_Vector3* gravity);
 
@@ -785,8 +944,8 @@ extern "C" {
      /**
     \brief Updates the internal version of the whole mesh and returns the size of its data.
     \param camera_id : id of the camera instance.
-    \param nb_vertices : Total number of updated vertices in all submeshes.
-    \param nb_triangles : Total number of updated triangles in all submeshes.
+    \param nb_vertices : Total number of updated vertices in all sub-meshes.
+    \param nb_triangles : Total number of updated triangles in all sub-meshes.
     \return SUCCESS if the chunks are updated.
      */
     INTERFACE_API int sl_update_whole_mesh(int camera_id, int* nb_vertices, int* nb_triangles);
@@ -805,29 +964,29 @@ extern "C" {
     /**
     \brief Loads a saved mesh file.
     \param camera_id : id of the camera instance.
-    \param filename : Path and filename of the mesh. Should incluse the extension (.obj, .ply or .bin).
-    \param nb_vertices :  Total number of updated vertices in all submeshes.
-    \param nb_triangles : Array of the number of triangles in each submesh.
-    \param max_submesh : Maximum number of submeshes taht can be handled.
+    \param filename : Path and filename of the mesh. Should include the extension (.obj, .ply or .bin).
+    \param nb_vertices :  Total number of updated vertices in all sub-meshes.
+    \param nb_triangles : Array of the number of triangles in each sub-mesh.
+    \param max_submesh : Maximum number of sub-meshes that can be handled.
     \param texture_size : Array containing the sizes of all the textures (width ,height) if applicable.
-    \return True if the file was successfully loaded, false otherwise.
+    \return Has the mesh been loaded successfully.
      */
     INTERFACE_API bool sl_load_whole_mesh(int camera_id, const char* filename, int* nb_vertices, int* nb_triangles, int* texture_size);
     /**
     \brief Applies the scanned texture onto the internal scanned mesh.
     \param camera_id : id of the camera instance.
-    \param nb_vertices :  Total number of updated vertices in all submeshes.
-    \param nb_triangles : Array of the number of triangles in each submesh.
+    \param nb_vertices :  Total number of updated vertices in all sub-meshes.
+    \param nb_triangles : Array of the number of triangles in each sub-mesh.
     \param texture_size : Array containing the sizes of all the textures (width ,height) if applicable.
-    \return True if the texturing was successful, false otherwise.
+    \return Has the texture been applied successfully.
      */
     INTERFACE_API bool sl_apply_whole_texture(int camera_id, int* nb_vertices, int* nb_triangles, int* texture_size);
     /**
     \brief Filters a mesh to removes triangles while still preserving its overall shaper (though less accurate).
     \param camera_id : id of the camera instance.
-    \param nb_vertices :  Total number of updated vertices in all submeshes.
-    \param nb_triangles : Array of the number of triangles in each submesh.
-    \return True if the filtering was successful, false otherwise.
+    \param nb_vertices :  Total number of updated vertices in all sub-meshes.
+    \param nb_triangles : Array of the number of triangles in each sub-mesh.
+    \return Has the mesh been filtered successfully.
      */
     INTERFACE_API bool sl_filter_whole_mesh(int camera_id, enum SL_MESH_FILTER filter_params, int* nb_vertices, int* nb_triangles);
 
@@ -837,8 +996,8 @@ extern "C" {
     //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
     /**
-    \brief Looks for a plane in the visible area that is likely to represent the floor.
-    \param camera_id : id of the camera instance.
+    \brief Detect the floor plane of the scene.
+    \param camera_id : Id of the camera instance.
     \param reset_quaternion : The rotation to align the axis with the gravity.
     \param reset_translation : The translation to align the tracking with the floor plane. The initial position will then be at ground height.
     \param prior_rotation : Prior rotation.
@@ -847,9 +1006,10 @@ extern "C" {
      */
     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);
     /**
-    \brief Check for a plane in hte real world at given screen-space coordinates.
-    \param camera_id : id of the camera instance.
-    \param pixel : Point on the ZED image to check for a plane.
+    \brief Checks the plane at the given left image coordinates.
+    \param camera_id : Id of the camera instance.
+    \param pixel : The image coordinate. The coordinate must be taken from the full-size image.
+    \param params : A structure containing all the specific parameters for the plane detection. Default: a preset of \ref SL_PlaneDetectionParameters.
     \param thres : Check if area is enough for Unity. If true, removes smaller planes.
     \return Data of the detected plane.
      */
@@ -881,29 +1041,34 @@ extern "C" {
     //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
     /**
-    \brief Retrieves a measure texture from the ZED SDK. Use this to get an individual texture from the last grabbed frame with measurements in every pixel -
-    such as depth map, confidence map etc.
-    Measure textures are not human-viewable but don't lose accuracy, unlike image textures.
-    \param camera_id : id of the camera instance.
-    \param measure_ptr : pointer to the measure texture.
+    \brief Retrieves a measure texture from the ZED SDK.
+    
+    Use this to get an individual texture from the last grabbed frame with measurements in every pixel - such as depth map, confidence map etc.
+    \n Measure textures are not human-viewable but don't lose accuracy, unlike image textures.
+    \param camera_id : Id of the camera instance.
+    \param measure_ptr : Pointer to the measure texture.
     \param type : Measure type (depth, confidence, xyz, etc). See \ref SL_MEASURE.
-    \param  mem : Whether the measure should be on CPU or GPU memory. See \ref SL_MEM.
-    \param width : width of the texture in pixel.
-    \param height : height of the texture in pixel.
-    \return "SUCCESS" if the retrieve succeeded.
+    \param mem : Whether the measure should be on CPU or GPU memory. See \ref SL_MEM.
+    \param width : Width of the texture in pixel.
+    \param height : Height of the texture in pixel.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if the retrieve succeeded.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_INVALID_FUNCTION_PARAMETERS" if the view mode requires a module not enabled (VIEW::DEPTH with DEPTH_MODE::NONE for example).
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_INVALID_RESOLUTION" if the resolution is higher than one provided by getCameraInformation().camera_configuration.resolution.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_FAILURE" if another error occurred.
      */
     INTERFACE_API int sl_retrieve_measure(int camera_id, void* measure_ptr, enum SL_MEASURE type, enum SL_MEM mem, int width, int height);
     /**
-    \brief Retrieves an image texture from the ZED SDK 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.
-    \param camera_id : id of the camera instance.
-    \param image_ptr : pointer to the image texture.
+    \brief Retrieves an image texture from the ZED SDK 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.
+    \param camera_id : Id of the camera instance.
+    \param image_ptr : Pointer to the image texture.
     \param type : Image type (left RGB, right depth map, etc). See \ref SL_VIEW.
-    \param  mem : Whether the image should be on CPU or GPU memory (SL_MEM).
-    \param width : width of the texture in pixel.
-    \param height : height of the texture in pixel.
-    \return "SUCCESS" if the retrieve succeeded.
+    \param  mem : Whether the image should be on CPU or GPU memory (\ref SL_MEM).
+    \param width : Width of the texture in pixel.
+    \param height : Height of the texture in pixel.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if the retrieve succeeded.
      */
     INTERFACE_API int sl_retrieve_image(int camera_id, void* image_ptr, enum SL_VIEW type, enum SL_MEM mem, int width, int height);
 
@@ -922,42 +1087,43 @@ extern "C" {
 
     /**
     \brief Creates a streaming pipeline.
-    \param camera_id : id of the camera instance.
-    \param codec : defines the codec used for streaming (see \ref SL_STREAMING_CODE).
+    \param camera_id : Id of the camera instance.
+    \param codec : defines the codec used for streaming (see \ref SL_STREAMING_CODEC).
     \param bitrate : defines the streaming bitrate in Kbits/s.
-            | STREAMING_CODEC  | Resolution   | FPS   | bitrate (kbps) |
-            |------------------|--------------|-------|----------------|
-            | H264             |  HD2K        |   15  |     8500       |
-            | H264             |  HD1080      |   30  |    12500       |
-            | H264             |  HD720       |   60  |     7000       |
-            | H265             |  HD2K        |   15  |     7000       |
-            | H265             |  HD1080      |   30  |    11000       |
-            | H265             |  HD720       |   60  |     6000       |
-
-    \note Available range : [1000 - 60000]
-    \param port : defines the port used for streaming.
-    \param gop_size : defines the gop size in number of frames.
-    \param adaptative_bitrate : enable/disable adaptive bitrate.
-    \param chunk_size : defines a single chunk size.
-    \param target_framrate : defines the target framerate for the streaming output.
-    \return An ERROR_CODE that defines if the stream was started.
+    \param port : Defines the port used for streaming.
+    \param gop_size : Defines the gop size in number of frames.
+    \param adaptative_bitrate : Enable/disable adaptive bitrate.
+    \param chunk_size : Defines a single chunk size.
+    \param target_framrate : Defines the target framerate for the streaming output.
+    \return An \ref SL_ERROR_CODE that defines if the stream was started.
+    \note Available range for <b>bitrate</b>: [1000 - 60000]
+    | STREAMING_CODEC  | Resolution   | FPS   | bitrate (kbps) |
+    |------------------|--------------|-------|----------------|
+    | H264             |  HD2K        |   15  |     8500       |
+    | H264             |  HD1080      |   30  |    12500       |
+    | H264             |  HD720       |   60  |     7000       |
+    | H265             |  HD2K        |   15  |     7000       |
+    | H265             |  HD1080      |   30  |    11000       |
+    | H265             |  HD720       |   60  |     6000       |
      */
     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);
 
     /**
-    \brief Disables the streaming initiated by enable_streaming().
-    \param camera_id : id of the camera instance.
+    \brief Disables the streaming initiated by \ref sl_enable_streaming().
+    \param camera_id : Id of the camera instance.
      */
     INTERFACE_API void sl_disable_streaming(int camera_id);
     /**
-    \brief Tells if the streaming is running (true) or still initializing (false).
-    \param camera_id : id of the camera instance.
-    \return True is the streaming is running, False if still initializing.
+    \brief Tells if the streaming is running.
+    \param camera_id : Id of the camera instance.
+    \return Is the streaming running successfully.
      */
     INTERFACE_API int sl_is_streaming_enabled(int camera_id);
 
     /**
-    \brief Returns the streaming parameters used. Correspond to the structure send when the \ref sl_enable_streaming() function was called.
+    \brief Returns the \ref SL_StreamingParameters used.
+    
+    It corresponds to the structure given as argument to the \ref sl_enable_streaming() function.
     \return \ref SL_StreamingParameters containing the parameters used for streaming initialization.
      */
     INTERFACE_API struct SL_StreamingParameters* sl_get_streaming_parameters(int camera_id);
@@ -1016,151 +1182,170 @@ extern "C" {
     INTERFACE_API int sl_optimize_AI_model(enum SL_AI_MODELS model, int gpu_id);
 
     /**
-    \brief Initializes and starts the Deep Learning detection module.
-    \n The object detection module currently supports two types of detection :
-    - Multiple class of objects with the \ref DETECTION_MODEL::MULTI_CLASS_BOX, \ref DETECTION_MODEL::MULTI_CLASS_BOX_MEDIUM or \ref DETECTION_MODEL::MULTI_CLASS_BOX_ACCURATE.
-    The full list of detectable objects is available through \ref OBJECT_CLASS and \ref OBJECT_SUBCLASS.
-    - Human skeleton detection with the \ref DETECTION_MODEL::HUMAN_BODY_FAST,\ref DETECTION_MODEL::HUMAN_BODY_MEDIUM or \ref DETECTION_MODEL::HUMAN_BODY_ACCURATE.
-    This model only detects humans but also provides a full skeleton map for each person.
+    \brief Initializes and starts object detection module.
+    
+    The object detection module currently supports multiple class of objects with the \ref SL_OBJECT_DETECTION_MODEL "SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX"
+    or \ref SL_OBJECT_DETECTION_MODEL "SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX_ACCURATE".
+    \n The full list of detectable objects is available through \ref SL_OBJECT_CLASS and \ref SL_OBJECT_SUBCLASS.
 
-    Detected objects can be retrieved using the \ref retrieve_objects() function.
-    \param camera_id : id of the camera instance.
-    \param object_detection_parameters : structure containing all specific parameters for object detection (see \ref SL_ObjectDetectionParameters).
-    \return
-             - \ref ERROR_CODE::SUCCESS : if everything went fine.\n
-             - \ref ERROR_CODE::CORRUPTED_SDK_INSTALLATION : if the AI model is missing or corrupted. In this case, the SDK needs to be reinstalled.\n
-             - \ref ERROR_CODE::MODULE_NOT_COMPATIBLE_WITH_CAMERA : if the camera used does not have a IMU (ZED Camera). the IMU gives the gravity vector that helps in the 3D box localization.\n
-             - \ref ERROR_CODE::MOTION_SENSORS_REQUIRED : if the camera model is correct (ZED2/ZED2i) but the IMU is missing. It probably happens because InitParameters::disable_sensors was set to true.\n
-             - \ref ERROR_CODE::INVALID_FUNCTION_CALL : if one of the ObjectDetection parameter is not compatible with other modules parameters (For example, depth mode has been set to NONE).\n
-             - \ref ERROR_CODE::FAILURE : otherwise.\n
+    \note - <b>This Deep Learning detection module is not available for \ref MODEL "MODEL::ZED" cameras (ZED first generation).</b>.
+    \note - This feature uses AI to locate objects and requires a powerful GPU. A GPU with at least 3GB of memory is recommended.
+
+    Detected objects can be retrieved using the \ref sl_retrieve_objects() function.
+    \param camera_id : Id of the camera instance.
+    \param object_detection_parameters : A structure containing all the specific parameters for the object detection. Default: a preset of \ref SL_ObjectDetectionParameters.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if everything went fine.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_CORRUPTED_SDK_INSTALLATION" if the AI model is missing or corrupted. In this case, the SDK needs to be reinstalled.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_MODULE_NOT_COMPATIBLE_WITH_CAMERA" if the camera used does not have a IMU (\ref SL_MODEL "SL_MODEL_ZED").
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_MOTION_SENSORS_REQUIRED" if the camera model is correct (not \ref SL_MODEL "SL_MODEL_ZED") but the IMU is missing. It probably happens because \ref SL_InitParameters.sensors_required was set to false and that IMU has not been found.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_INVALID_FUNCTION_CALL" if one of the <b>object_detection_parameters</b> parameter is not compatible with other modules parameters (for example, <b>depth_mode</b> has been set to \ref SL_DEPTH_MODE "SL_DEPTH_MODE_NONE").
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_FAILURE" otherwise.
+
+    \note The IMU gives the gravity vector that helps in the 3D box localization.
      */
     INTERFACE_API int sl_enable_object_detection(int camera_id, struct SL_ObjectDetectionParameters* object_detection_parameters);
 
     /**
-    \brief Returns the object detection parameters used. Correspond to the structure send when the \ref enableObjectDetection() function was called.
-    \param camera_id : id of the camera instance.
-    \return \ref ObjectDetectionParameters containing the parameters used for object detection initialization.
+    \brief Returns the \ref SL_ObjectDetectionParameters used.
+    
+    It corresponds to the structure given as argument to the \ref sl_enable_object_detection() function.
+    \param camera_id : Id of the camera instance.
+    \return \ref SL_ObjectDetectionParameters containing the parameters used for object detection initialization.
      */
     INTERFACE_API struct SL_ObjectDetectionParameters* sl_get_object_detection_parameters(int camera_id);
 
     /**
     \brief Pauses or resumes the object detection processes.
 
-    If the object detection has been enabled with  \ref ObjectDetectionParameters::image_sync set to false (running asynchronously), this function will pause processing.
+    If the object detection has been enabled with  \ref SL_ObjectDetectionParameters::image_sync set to false (running asynchronously), this function will pause processing.
 
     While in pause, calling this function with <i>status = false</i> will resume the object detection.
     The \ref retrieveObjects function will keep on returning the last objects detected while in pause.
 
+    \param camera_id : Id of the camera instance.
     \param status : If true, object detection is paused. If false, object detection is resumed.
-    \params instance_id . Id of the Object detection instance. Used when multiple instances of the OD module are enabled at the same time.
+    \param instance_id : Id of the instance to pause/resume. Used when multiple instances of the object detection module are enabled at the same time.
      */
     INTERFACE_API void sl_pause_object_detection(int camera_id, bool status, unsigned int instance_id);
     /**
     \brief Disables the Object Detection process.
 
     The object detection module immediately stops and frees its memory allocations.
-    \param camera_id : id of the camera instance.
-    \params instance_id : Id of the Object detection instance. Used when multiple instances of the OD module are enabled at the same time.
-    \params force_disable_all_instances : Disable all the instances of the OD module currently enabled.
+    \param camera_id : Id of the camera instance.
+    \param instance_id : Id of the object detection instance. Used when multiple instances of the object detection module are enabled at the same time.
+    \param force_disable_all_instances : Should disable all instances of the object detection module or just <b>instance_id</b>.
      */
     INTERFACE_API void sl_disable_object_detection(int camera_id, unsigned int instance_id, bool force_disable_all_instances);
 
     /**
-    \brief Initializes and starts the Deep Learning detection module.
-    - Human skeleton detection with the \ref DETECTION_MODEL::HUMAN_BODY_FAST,\ref DETECTION_MODEL::HUMAN_BODY_MEDIUM or \ref DETECTION_MODEL::HUMAN_BODY_ACCURATE.
-    This model only detects humans but also provides a full skeleton map for each person.
+    \brief Initializes and starts the Deep Learning Body Tracking module.
+    
+    The body tracking module currently supports multiple classes of human skeleton detection with the \ref SL_BODY_TRACKING_MODEL "SL_BODY_TRACKING_MODEL_HUMAN_BODY_FAST",
+    \ref SL_BODY_TRACKING_MODEL "SL_BODY_TRACKING_MODEL_HUMAN_BODY_MEDIUM" or \ref SL_BODY_TRACKING_MODEL "SL_BODY_TRACKING_MODEL_HUMAN_BODY_ACCURATE".
+    \n This model only detects humans but provides a full skeleton map for each person.
 
-    Detected objects can be retrieved using the \ref retrieve_bodies() function.
-    \param camera_id : id of the camera instance.
-    \param object_detection_parameters : structure containing all specific parameters for object detection (see \ref SL_BodyTrackingParameters).
-    \return
-             - \ref ERROR_CODE::SUCCESS : if everything went fine.\n
-             - \ref ERROR_CODE::CORRUPTED_SDK_INSTALLATION : if the AI model is missing or corrupted. In this case, the SDK needs to be reinstalled.\n
-             - \ref ERROR_CODE::MODULE_NOT_COMPATIBLE_WITH_CAMERA : if the camera used does not have a IMU (ZED Camera). the IMU gives the gravity vector that helps in the 3D box localization.\n
-             - \ref ERROR_CODE::MOTION_SENSORS_REQUIRED : if the camera model is correct (ZED2/ZED2i) but the IMU is missing. It probably happens because InitParameters::disable_sensors was set to true.\n
-             - \ref ERROR_CODE::INVALID_FUNCTION_CALL : if one of the ObjectDetection parameter is not compatible with other modules parameters (For example, depth mode has been set to NONE).\n
-             - \ref ERROR_CODE::FAILURE : otherwise.\n
+    \note - <b>This Deep Learning detection module is not available for \ref MODEL "MODEL::ZED" cameras (ZED first generation).</b>.
+    \note - This feature uses AI to locate objects and requires a powerful GPU. A GPU with at least 3GB of memory is recommended.
+
+    Detected objects can be retrieved using the \ref sl_retrieve_bodies() function.
+    \param camera_id : Id of the camera instance.
+    \param body_tracking_parameters : A structure containing all the specific parameters for the body tracking. Default: a preset of \ref SL_BodyTrackingParameters.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if everything went fine.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_CORRUPTED_SDK_INSTALLATION" if the AI model is missing or corrupted. In this case, the SDK needs to be reinstalled.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_MODULE_NOT_COMPATIBLE_WITH_CAMERA" if the camera used does not have a IMU (\ref SL_MODEL "SL_MODEL_ZED").
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_MOTION_SENSORS_REQUIRED" if the camera model is correct (not \ref SL_MODEL "SL_MODEL_ZED") but the IMU is missing. It probably happens because \ref SL_InitParameters.sensors_required was set to false and that IMU has not been found.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_INVALID_FUNCTION_CALL" if one of the <b>object_detection_parameters</b> parameter is not compatible with other modules parameters (for example, <b>depth_mode</b> has been set to \ref SL_DEPTH_MODE "SL_DEPTH_MODE_NONE").
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_FAILURE" otherwise.
+
+    \note The IMU gives the gravity vector that helps in the 3D box localization.
      */
     INTERFACE_API int sl_enable_body_tracking(int camera_id, struct SL_BodyTrackingParameters* body_tracking_parameters);
 
     /**
-    \brief Returns the object detection parameters used. Correspond to the structure send when the \ref sl_enable_body_tracking() function was called.
+    \brief Returns the \ref SL_BodyTrackingParameters used.
 
-    \return \ref BodyTrackingParameters containing the parameters used for object detection initialization.
+    It corresponds to the structure given as argument to the \ref sl_enable_body_tracking() function.
+    \param camera_id : Id of the camera instance.
+    \return \ref SL_BodyTrackingParameters containing the parameters used for body tracking initialization.
      */
     INTERFACE_API struct SL_BodyTrackingParameters* sl_get_body_tracking_parameters(int camera_id);
 
     /**
     \brief Pauses or resumes the body tracking processes.
 
-    If the body tracking has been enabled with  \ref BodyTrackingParameters::image_sync set to false (running asynchronously), this function will pause processing.
+    If the body tracking has been enabled with  \ref SL_BodyTrackingParameters::image_sync set to false (running asynchronously), this function will pause processing.
 
     While in pause, calling this function with <i>status = false</i> will resume the body tracking.
-    The \ref retrieveBodies function will keep on returning the last objects detected while in pause.
+    \note The \ref sl_retrieve_bodies function will keep on returning the last bodies detected while in pause.
 
-    \param status : If true, body tracking is paused. If false, object detection is resumed.
-    \params instance_id . Id of the body tracking instance. Used when multiple instances of the BT module are enabled at the same time.
+    \param camera_id : Id of the camera instance.
+    \param status : If true, body tracking is paused. If false, body tracking is resumed.
+    \param instance_id : Id of the instance to pause/resume. Used when multiple instances of the body tracking module are enabled at the same time.
      */
     INTERFACE_API void sl_pause_body_tracking(int camera_id, bool status, unsigned int instance_id);
     /**
     \brief Disables the body tracking process.
 
     The body tracking module immediately stops and frees its memory allocations.
-    \param camera_id : id of the camera instance.
-    \params instance_id : Id of the Object detection instance. Used when multiple instances of the BT module are enabled at the same time.
-    \params force_disable_all_instances : Disable all the instances of the BT module currently enabled.
+    \param camera_id : Id of the camera instance.
+    \param instance_id : Id of the body tracking instance. Used when multiple instances of the body tracking module are enabled at the same time.
+    \param force_disable_all_instances : Should disable all instances of the tracking module module or just <b>instance_id</b>.
      */
     INTERFACE_API void sl_disable_body_tracking(int camera_id, unsigned int instance_id, bool force_disable_all_instances);
 
     /**
-    \brief Generate a UUID like unique ID to help identify and track AI detections
+    \brief Generate a UUID like unique id to help identify and track AI detections.
     \param uuid : Unique ID generated.
-    \return : Size of the unique ID generated.
+    \return Size of the unique ID generated.
      */
     INTERFACE_API int sl_generate_unique_id(char* uuid);
 
     /**
     \brief Feed the 3D Object tracking function with your own 2D bounding boxes from your own detection algorithm.
-    \param camera_id : id of the camera instance.
+    \param camera_id : Id of the camera instance.
     \param objects_in : 2D detections from custom detection algorithm.
-    \param nb_objects : number of custom objects (size of the object_in array).
+    \param nb_objects : Number of custom objects (size of the object_in array).
     \note The detection should be done on the current grabbed left image as the internal process will use all current available data to extract 3D informations and perform object tracking.
-    \return \ref SUCCESS if everything went fine, \ref ERROR_CODE::FAILURE otherwise
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if everything went fine, \ref SL_ERROR_CODE "SL_ERROR_CODE_FAILURE" otherwise.
    */
     INTERFACE_API int sl_ingest_custom_box_objects(int camera_id, int nb_objects, struct SL_CustomBoxObjectData* objects_in);
 
     /**
     \brief Retrieve objects detected by the object detection module.
-    \param camera_id : id of the camera instance.
+    \param camera_id : Id of the camera instance.
     \param objects : The detected objects will be saved into this object. If the object already contains data from a previous detection, it will be updated, keeping a unique ID for the same person.
     \param object_detection_runtime_parameters : Object detection runtime settings, can be changed at each detection. In async mode, the parameters update is applied on the next iteration.
-    \return \ref SUCCESS if everything went fine, \ref ERROR_CODE::FAILURE otherwise
+    \param instance_id : Id of the object detection instance. Used when multiple instances of the object detection module are enabled at the same time.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if everything went fine, \ref SL_ERROR_CODE "SL_ERROR_CODE_FAILURE" otherwise.
      */
     INTERFACE_API int sl_retrieve_objects(int camera_id, struct SL_ObjectDetectionRuntimeParameters* object_detection_runtime_parameters, struct SL_Objects* objects, unsigned int instance_id);
 
     /**
-    \brief Retrieve objects detected by the object detection module.
+    \brief Retrieve bodies detected by the body tracking module.
     \param camera_id : id of the camera instance.
     \param bodies : The detected bodies will be saved into this object. If the object already contains data from a previous detection, it will be updated, keeping a unique ID for the same person.
     \param body_tracking_runtime_parameters : Body Tracking runtime settings, can be changed at each detection. In async mode, the parameters update is applied on the next iteration.
-    \return \ref SUCCESS if everything went fine, \ref ERROR_CODE::FAILURE otherwise
+    \param instance_id : Id of the object detection instance. Used when multiple instances of the object detection module are enabled at the same time.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if everything went fine, \ref SL_ERROR_CODE "SL_ERROR_CODE_FAILURE" otherwise.
      */
     INTERFACE_API int sl_retrieve_bodies(int camera_id, struct SL_BodyTrackingRuntimeParameters* body_tracking_runtime_parameters, struct SL_Bodies* bodies, unsigned int instance_id);
 
 
     /**
     \brief Updates the internal batch of detected objects.
-    \param camera_id : id of the camera instance.
-    \param [Out] : number of batches.
-    \return \ref SUCCESS if everything went fine, \ref ERROR_CODE::FAILURE otherwise
+    \param camera_id : Id of the camera instance.
+    \param nb_batches : [Out] Number of batches.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if everything went fine, \ref SL_ERROR_CODE "SL_ERROR_CODE_FAILURE" otherwise.
      */
     INTERFACE_API int sl_update_objects_batch(int camera_id, int* nb_batches);
 
     /**
-    \brief Gets a batch of detected objects. Need to be called after update_objects_batch().
-    \param camera_id : id of the camera instance.
+    \brief Gets a batch of detected objects.
+    \note Need to be called after \ref sl_update_objects_batch().
+    \param camera_id : Id of the camera instance.
     \param objs_batch : Structure containing  all the specific data of the object batch module
-    \return \ref SUCCESS if everything went fine, \ref ERROR_CODE::FAILURE otherwise
+    \param index : Desired index in the trajectories vector.
+    \return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if everything went fine, \ref SL_ERROR_CODE "SL_ERROR_CODE_FAILURE" otherwise.
      */
     INTERFACE_API int sl_get_objects_batch(int camera_id, int index, struct SL_ObjectsBatch* objs_batch);
 
@@ -1225,6 +1410,35 @@ extern "C" {
     * */
     INTERFACE_API enum SL_FUSION_ERROR_CODE sl_fusion_subscribe(struct SL_CameraIdentifier* uuid, struct SL_CommunicationParameters* params, struct SL_Vector3* pose_translation, struct SL_Quaternion* pose_rotation);
 
+    /**
+     * \brief Returns the current sl_VIEW_LEFT of the specified camera, the data is synchronized.
+     * \param mat: the CPU BGRA image of the requested camera.
+     * \param uuid: the requested camera identifier.
+     * \param width: the requested width of the output image, can be lower or equal (default) to the original image width. 
+     * \param height: the requested height of the output image, can be lower or equal (default) to the original image height.
+     * \return \ref FUSION_ERROR_CODE "SUCCESS" if it goes as it should, otherwise it returns an FUSION_ERROR_CODE.
+     * \note Only the Left BGRA image is available.
+     */
+    INTERFACE_API enum SL_FUSION_ERROR_CODE sl_fusion_retrieve_image(void* mat, struct SL_CameraIdentifier* uuid, int width, int height);
+
+    /**
+     * \brief Returns the current measure of the specified camera, the data is synchronized.
+     * \param mat: the CPU data of the requested camera.
+     * \param uuid: the requested camera identifier.
+     * \param measure: the requested measure type, by default DEPTH (F32_C1)
+     * \param width: the requested width of the output image, can be lower or equal (default) to the original image width.
+     * \param height: the requested height of the output image, can be lower or equal (default) to the original image height.
+     * \return \ref FUSION_ERROR_CODE "SUCCESS" if it goes as it should, otherwise it returns an FUSION_ERROR_CODE.
+     * \note Only MEASURE: DEPTH, XYZ, XYZRGBA, XYZBGRA, XYZARGB, XYZABGR, DEPTH_U16_MM are available.
+     */
+    INTERFACE_API enum SL_FUSION_ERROR_CODE sl_fusion_retrieve_measure(void* mat, struct SL_CameraIdentifier* uuid, enum SL_MEASURE measure, int width, int height);
+
+    /**
+     * \brief Remove the specified camera from data provider.
+     * \param uuid: The requested camera identifier.
+     * \return \ref SL_FUSION_ERROR_CODE "SUCCESS" if it goes as it should, otherwise it returns an SL_FUSION_ERROR_CODE.
+     */
+    INTERFACE_API enum SL_FUSION_ERROR_CODE sl_fusion_unsubscribe(struct SL_CameraIdentifier* uuid);
 
     /*
     * \brief update the pose of the camera in the fusion coordinate space
@@ -1398,408 +1612,411 @@ extern "C" {
    ////////////////////////////////////////////////////////////////// Mat ///////////////////////////////////////////////////////////////////////////////////
    //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
-   /**
-   \brief Creates a Mat with the given resolution.
-   \param width : width of the new mat.
-   \param height : height of the new mat.
-   \param type : Data type and number of channels the Mat will hold (see \ref SL_MAT_TYPE).
-   \param mem : Whether Mat should exist on CPU or GPU memory (SL_MEM).
-   \return Ptr of the Mat.
+    /**
+    \brief Creates a matrix with the given resolution.
+    \param width : Width of the new matrix.
+    \param height : Height of the new matrix.
+    \param type : Data type and number of channels the matrix will hold (see \ref SL_MAT_TYPE).
+    \param mem : Whether the matrix should be stored on CPU or GPU memory (\ref SL_MEM).
+    \return Pointer of the matrix.
     */
     INTERFACE_API void* sl_mat_create_new(int width, int height, enum SL_MAT_TYPE type, enum SL_MEM mem);
     /**
-    \brief Creates an empty Mat with the given resolution.
-    \return Ptr of the Mat.
+    \brief Creates an empty matrix.
+    \return Pointer of the empty matrix.
      */
     INTERFACE_API void* sl_mat_create_new_empty();
     /**
-    \brief Tells if the Mat has been initialized.
-    \param ptr : Ptr to the Mat.
-    \return True if the Mat has been initialized.
+    \brief Returns whether the matrix is initialized or not.
+    \param ptr : Pointer of the matrix.
+    \return True if the matrix has been initialized.
      */
     INTERFACE_API bool sl_mat_is_init(void* ptr);
     /**
-    \brief Frees the memory of the Mat.
-    \param ptr : Ptr to the Mat.
-    \param mem : Whether Mat should exist on CPU or GPU memory (SL_MEM).
-    \return True if the Mat has been initialized.
+    \brief Frees the memory of the matrix.
+    \param ptr : Pointer of the matrix to free.
+    \param mem : Specifies which memory you wish to free. Default: \ref SL_MEM_CPU
      */
     INTERFACE_API void sl_mat_free(void* ptr, enum SL_MEM mem);
     /**
-    \brief Returns information about the Mat.
-    \param ptr : Ptr to the Mat.
-    \param buffer : buffer providing Mat information.
+    \brief Returns the information about the matrix into a string.
+    \param ptr : Pointer of the matrix to get information from.
+    \param buffer : Buffer providing matrix information.
      */
     INTERFACE_API void sl_mat_get_infos(void* ptr, char* buffer);
 
     // GET values
     /**
-    \brief Returns the value of a specific point in the matrix.
-    \param ptr : Ptr to the Mat.
-    \param col : specifies the column.
-    \param row : specifices the row.
-    \param value [Out] : the value to get.
-    \param mem : Whether Mat should exist on CPU or GPU memory (SL_MEM).
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \brief Returns the value of a specific point in the matrix of type \ref SL_MAT_TYPE_U8_C1.
+    \param ptr : Pointer of the matrix.
+    \param col : Column of the point to get the value from.
+    \param row : Row of the point to get the value from.
+    \param value[Out] : Variable to store the value to get.
+    \param mem : Which memory should be read.
+    \return \ref SL_ERROR_CODE (as an integer) indicating if the get was successful, or why it wasn't.
      */
     INTERFACE_API int sl_mat_get_value_uchar(void* ptr, int col, int row, unsigned char* value, enum SL_MEM mem);
     /**
-    \brief Returns the value of a specific point in the matrix.
-    \param ptr : Ptr to the Mat.
-    \param col : specifies the column.
-    \param row : specifices the row.
-    \param value [Out] : the value to get.
-    \param mem : Whether Mat should exist on CPU or GPU memory (SL_MEM).
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \brief Returns the value of a specific point in the matrix of type \ref SL_MAT_TYPE_U8_C2.
+    \param ptr : Pointer of the matrix.
+    \param col : Column of the point to get the value from.
+    \param row : Row of the point to get the value from.
+    \param value[Out] : Variable to store the value to get.
+    \param mem : Which memory should be read.
+    \return \ref SL_ERROR_CODE (as an integer) indicating if the get was successful, or why it wasn't.
      */
     INTERFACE_API int sl_mat_get_value_uchar2(void* ptr, int col, int row, struct SL_Uchar2* value, enum SL_MEM mem);
     /**
-    \brief Returns the value of a specific point in the matrix.
-    \param ptr : Ptr to the Mat.
-    \param col : specifies the column.
-    \param row : specifices the row.
-    \param value [Out] : the value to get.
-    \param mem : Whether Mat should exist on CPU or GPU memory (SL_MEM).
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \brief Returns the value of a specific point in the matrix of type \ref SL_MAT_TYPE_U8_C3.
+    \param ptr : Pointer of the matrix.
+    \param col : Column of the point to get the value from.
+    \param row : Row of the point to get the value from.
+    \param value[Out] : Variable to store the value to get.
+    \param mem : Which memory should be read.
+    \return \ref SL_ERROR_CODE (as an integer) indicating if the get was successful, or why it wasn't.
      */
     INTERFACE_API int sl_mat_get_value_uchar3(void* ptr, int col, int row, struct SL_Uchar3* value, enum SL_MEM mem);
     /**
-    \brief Returns the value of a specific point in the matrix.
-    \param ptr : Ptr to the Mat.
-    \param col : specifies the column.
-    \param row : specifices the row.
-    \param value [Out] : the value to get.
-    \param mem : Whether Mat should exist on CPU or GPU memory (SL_MEM).
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \brief Returns the value of a specific point in the matrix of type \ref SL_MAT_TYPE_U8_C4.
+    \param ptr : Pointer of the matrix.
+    \param col : Column of the point to get the value from.
+    \param row : Row of the point to get the value from.
+    \param value[Out] : Variable to store the value to get.
+    \param mem : Which memory should be read.
+    \return \ref SL_ERROR_CODE (as an integer) indicating if the get was successful, or why it wasn't.
      */
     INTERFACE_API int sl_mat_get_value_uchar4(void* ptr, int col, int row, struct SL_Uchar4* value, enum SL_MEM mem);
 
     /**
-    \brief Returns the value of a specific point in the matrix.
-    \param ptr : Ptr to the Mat.
-    \param col : specifies the column.
-    \param row : specifices the row.
-    \param value [Out] : the value to get.
-    \param mem : Whether Mat should exist on CPU or GPU memory (SL_MEM).
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \brief Returns the value of a specific point in the matrix of type \ref SL_MAT_TYPE_F32_C1.
+    \param ptr : Pointer of the matrix.
+    \param col : Column of the point to get the value from.
+    \param row : Row of the point to get the value from.
+    \param value[Out] : Variable to store the value to get.
+    \param mem : Which memory should be read.
+    \return \ref SL_ERROR_CODE (as an integer) indicating if the get was successful, or why it wasn't.
      */
     INTERFACE_API int sl_mat_get_value_float(void* ptr, int col, int row, float* value, enum SL_MEM mem);
     /**
-    \brief Returns the value of a specific point in the matrix.
-    \param ptr : Ptr to the Mat.
-    \param col : specifies the column.
-    \param row : specifices the row.
-    \param value [Out] : the value to get.
-    \param mem : Whether Mat should exist on CPU or GPU memory (SL_MEM).
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \brief Returns the value of a specific point in the matrix of type \ref SL_MAT_TYPE_F32_C2.
+    \param ptr : Pointer of the matrix.
+    \param col : Column of the point to get the value from.
+    \param row : Row of the point to get the value from.
+    \param value[Out] : Variable to store the value to get.
+    \param mem : Which memory should be read.
+    \return \ref SL_ERROR_CODE (as an integer) indicating if the get was successful, or why it wasn't.
      */
     INTERFACE_API int sl_mat_get_value_float2(void* ptr, int col, int row, struct SL_Vector2* value, enum SL_MEM mem);
     /**
-    \brief Returns the value of a specific point in the matrix.
-    \param ptr : Ptr to the Mat.
-    \param col : specifies the column.
-    \param row : specifices the row.
-    \param value [Out] : the value to get.
-    \param mem : Whether Mat should exist on CPU or GPU memory (SL_MEM).
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \brief Returns the value of a specific point in the matrix of type \ref SL_MAT_TYPE_F32_C3.
+    \param ptr : Pointer of the matrix.
+    \param col : Column of the point to get the value from.
+    \param row : Row of the point to get the value from.
+    \param value[Out] : Variable to store the value to get.
+    \param mem : Which memory should be read.
+    \return \ref SL_ERROR_CODE (as an integer) indicating if the get was successful, or why it wasn't.
      */
     INTERFACE_API int sl_mat_get_value_float3(void* ptr, int col, int row, struct SL_Vector3* value, enum SL_MEM mem);
     /**
-    \brief Returns the value of a specific point in the matrix.
-    \param ptr : Ptr to the Mat.
-    \param col : specifies the column.
-    \param row : specifices the row.
-    \param value [Out] : the value to get.
-    \param mem : Whether Mat should exist on CPU or GPU memory (SL_MEM).
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \brief Returns the value of a specific point in the matrix of type \ref SL_MAT_TYPE_F32_C4.
+    \param ptr : Pointer of the matrix.
+    \param col : Column of the point to get the value from.
+    \param row : Row of the point to get the value from.
+    \param value[Out] : Variable to store the value to get.
+    \param mem : Which memory should be read.
+    \return \ref SL_ERROR_CODE (as an integer) indicating if the get was successful, or why it wasn't.
      */
     INTERFACE_API int sl_mat_get_value_float4(void* ptr, int col, int row, struct SL_Vector4* value, enum SL_MEM mem);
 
     // SET VALUE
     /**
-    \brief Sets a value to a specific point in the matrix.
-    \param ptr : Ptr to the Mat.
-    \param col : specifies the column.
-    \param row : specifices the row.
-    \param value : the value to be set.
-    \param mem : Whether Mat should exist on CPU or GPU memory (SL_MEM).
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \brief Sets a value to a specific point in the matrix of type \ref SL_MAT_TYPE_U8_C1.
+    \param ptr : Pointer of the matrix.
+    \param col : Column of the point to set the value.
+    \param row : Row of the point to set the value.
+    \param value : Value to be set.
+    \param mem : Which memory will be updated.
+    \return \ref SL_ERROR_CODE (as an integer) indicating if the get was successful, or why it wasn't.
      */
     INTERFACE_API int sl_mat_set_value_uchar(void* ptr, int col, int row, unsigned char value, enum SL_MEM mem);
     /**
-    \brief Sets a value to a specific point in the matrix.
-    \param ptr : Ptr to the Mat.
-    \param col : specifies the column.
-    \param row : specifices the row.
-    \param value [Out] : the value to get.
-    \param mem : Whether Mat should exist on CPU or GPU memory (SL_MEM).
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \brief Sets a value to a specific point in the matrix of type \ref SL_MAT_TYPE_U8_C2.
+    \param ptr : Pointer of the matrix.
+    \param col : Column of the point to set the value.
+    \param row : Row of the point to set the value.
+    \param value : Value to be set.
+    \param mem : Which memory will be updated.
+    \return \ref SL_ERROR_CODE (as an integer) indicating if the get was successful, or why it wasn't.
      */
     INTERFACE_API int sl_mat_set_value_uchar2(void* ptr, int col, int row, struct SL_Uchar2 value, enum SL_MEM mem);
     /**
-    \brief Sets a value to a specific point in the matrix.
-    \param ptr : Ptr to the Mat.
-    \param col : specifies the column.
-    \param row : specifices the row.
-    \param value [Out] : the value to get.
-    \param mem : Whether Mat should exist on CPU or GPU memory (SL_MEM).
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \brief Sets a value to a specific point in the matrix of type \ref SL_MAT_TYPE_U8_C3.
+    \param ptr : Pointer of the matrix.
+    \param col : Column of the point to set the value.
+    \param row : Row of the point to set the value.
+    \param value : Value to be set.
+    \param mem : Which memory will be updated.
+    \return \ref SL_ERROR_CODE (as an integer) indicating if the get was successful, or why it wasn't.
      */
     INTERFACE_API int sl_mat_set_value_uchar3(void* ptr, int col, int row, struct SL_Uchar3 value, enum SL_MEM mem);
     /**
-    \brief Sets a value to a specific point in the matrix.
-    \param ptr : Ptr to the Mat.
-    \param col : specifies the column.
-    \param row : specifices the row.
-    \param value : the value to be set.
-    \param mem : Whether Mat should exist on CPU or GPU memory (SL_MEM).
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \brief Sets a value to a specific point in the matrix of type \ref SL_MAT_TYPE_U8_C4.
+    \param ptr : Pointer of the matrix.
+    \param col : Column of the point to set the value.
+    \param row : Row of the point to set the value.
+    \param value : Value to be set.
+    \param mem : Which memory will be updated.
+    \return \ref SL_ERROR_CODE (as an integer) indicating if the get was successful, or why it wasn't.
      */
     INTERFACE_API int sl_mat_set_value_uchar4(void* ptr, int col, int row, struct SL_Uchar4 value, enum SL_MEM mem);
     /**
-    \brief Sets a value to a specific point in the matrix.
-    \param ptr : Ptr to the Mat.
-    \param col : specifies the column.
-    \param row : specifices the row.
-    \param value : the value to be set.
-    \param mem : Whether Mat should exist on CPU or GPU memory (SL_MEM).
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \brief Sets a value to a specific point in the matrix of type \ref SL_MAT_TYPE_F32_C1.
+    \param ptr : Pointer of the matrix.
+    \param col : Column of the point to set the value.
+    \param row : Row of the point to set the value.
+    \param value : Value to be set.
+    \param mem : Which memory will be updated.
+    \return \ref SL_ERROR_CODE (as an integer) indicating if the get was successful, or why it wasn't.
      */
     INTERFACE_API int sl_mat_set_value_float(void* ptr, int col, int row, float value, enum SL_MEM mem);
     /**
-    \brief Sets a value to a specific point in the matrix.
-    \param ptr : Ptr to the Mat.
-    \param col : specifies the column.
-    \param row : specifices the row.
-    \param value : the value to be set.
-    \param mem : Whether Mat should exist on CPU or GPU memory (SL_MEM).
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \brief Sets a value to a specific point in the matrix of type \ref SL_MAT_TYPE_F32_C2.
+    \param ptr : Pointer of the matrix.
+    \param col : Column of the point to set the value.
+    \param row : Row of the point to set the value.
+    \param value : Value to be set.
+    \param mem : Which memory will be updated.
+    \return \ref SL_ERROR_CODE (as an integer) indicating if the get was successful, or why it wasn't.
      */
     INTERFACE_API int sl_mat_set_value_float2(void* ptr, int col, int row, struct SL_Vector2 value, enum SL_MEM mem);
     /**
-    \brief Sets a value to a specific point in the matrix.
-    \param ptr : Ptr to the Mat.
-    \param col : specifies the column.
-    \param row : specifices the row.
-    \param value : the value to be set.
-    \param mem : Whether Mat should exist on CPU or GPU memory (SL_MEM).
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \brief Sets a value to a specific point in the matrix of type \ref SL_MAT_TYPE_F32_C3.
+    \param ptr : Pointer of the matrix.
+    \param col : Column of the point to set the value.
+    \param row : Row of the point to set the value.
+    \param value : Value to be set.
+    \param mem : Which memory will be updated.
+    \return \ref SL_ERROR_CODE (as an integer) indicating if the get was successful, or why it wasn't.
      */
     INTERFACE_API int sl_mat_set_value_float3(void* ptr, int col, int row, struct SL_Vector3 value, enum SL_MEM mem);
     /**
-    \brief Sets a value to a specific point in the matrix.
-    \param ptr : Ptr to the Mat.
-    \param col : specifies the column.
-    \param row : specifices the row.
-    \param value : the value to be set.
-    \param mem : Whether Mat should exist on CPU or GPU memory (SL_MEM).
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \brief Sets a value to a specific point in the matrix of type \ref SL_MAT_TYPE_F32_C4.
+    \param ptr : Pointer of the matrix.
+    \param col : Column of the point to set the value.
+    \param row : Row of the point to set the value.
+    \param value : Value to be set.
+    \param mem : Which memory will be updated.
+    \return \ref SL_ERROR_CODE (as an integer) indicating if the get was successful, or why it wasn't.
      */
     INTERFACE_API int sl_mat_set_value_float4(void* ptr, int col, int row, struct SL_Vector4 value, enum SL_MEM mem);
 
     //SET TO
     /**
-    \brief Fills the entire Mat with the given value.
-    \param ptr : Ptr to the Mat.
-    \param value : the value with which to fill the Mat.
-    \param mem : Whether Mat should exist on CPU or GPU memory (SL_MEM).
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \brief Fills the matrix of type \ref SL_MAT_TYPE_U8_C1 with the given value.
+    \param ptr : Pointer of the matrix.
+    \param value : Value with which to fill the matrix.
+    \param mem : Which buffer to fill.
+    \return \ref SL_ERROR_CODE (as an integer) indicating if the get was successful, or why it wasn't.
      */
     INTERFACE_API int sl_mat_set_to_uchar(void* ptr, unsigned char value, enum SL_MEM mem);
     /**
-    \brief Fills the entire Mat with the given value.
-    \param ptr : Ptr to the Mat.
-    \param value : the value with which to fill the Mat.
-    \param mem : Whether Mat should exist on CPU or GPU memory (SL_MEM).
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \brief Fills the matrix of type \ref SL_MAT_TYPE_U8_C2 with the given value.
+    \param ptr : Pointer of the matrix.
+    \param value : Value with which to fill the matrix.
+    \param mem : Which buffer to fill.
+    \return \ref SL_ERROR_CODE (as an integer) indicating if the get was successful, or why it wasn't.
      */
     INTERFACE_API int sl_mat_set_to_uchar2(void* ptr, struct SL_Uchar2 value, enum SL_MEM mem);
     /**
-    \brief Fills the entire Mat with the given value.
-    \param ptr : Ptr to the Mat.
-    \param value : the value with which to fill the Mat.
-    \param mem : Whether Mat should exist on CPU or GPU memory (SL_MEM).
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \brief Fills the matrix of type \ref SL_MAT_TYPE_U8_C3 with the given value.
+    \param ptr : Pointer of the matrix.
+    \param value : Value with which to fill the matrix.
+    \param mem : Which buffer to fill.
+    \return \ref SL_ERROR_CODE (as an integer) indicating if the get was successful, or why it wasn't.
      */
     INTERFACE_API int sl_mat_set_to_uchar3(void* ptr, struct SL_Uchar3 value, enum SL_MEM mem);
     /**
-    \brief Fills the entire Mat with the given value.
-    \param ptr : Ptr to the Mat.
-    \param value : the value with which to fill the Mat.
-    \param mem : Whether Mat should exist on CPU or GPU memory (SL_MEM).
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \brief Fills the matrix of type \ref SL_MAT_TYPE_U8_C4 with the given value.
+    \param ptr : Pointer of the matrix.
+    \param value : Value with which to fill the matrix.
+    \param mem : Which buffer to fill.
+    \return \ref SL_ERROR_CODE (as an integer) indicating if the get was successful, or why it wasn't.
      */
     INTERFACE_API int sl_mat_set_to_uchar4(void* ptr, struct SL_Uchar4 value, enum SL_MEM mem);
     /**
-    \brief Fills the entire Mat with the given value.
-    \param ptr : Ptr to the Mat.
-    \param value : the value with which to fill the Mat.
-    \param mem : Whether Mat should exist on CPU or GPU memory (SL_MEM).
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \brief Fills the matrix of type \ref SL_MAT_TYPE_F32_C1 with the given value.
+    \param ptr : Pointer of the matrix.
+    \param value : Value with which to fill the matrix.
+    \param mem : Which buffer to fill.
+    \return \ref SL_ERROR_CODE (as an integer) indicating if the get was successful, or why it wasn't.
      */
     INTERFACE_API int sl_mat_set_to_float(void* ptr, float value, enum SL_MEM mem);
     /**
-    \brief Fills the entire Mat with the given value.
-    \param ptr : Ptr to the Mat.
-    \param value : the value with which to fill the Mat.
-    \param mem : Whether Mat should exist on CPU or GPU memory (SL_MEM).
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \brief Fills the matrix of type \ref SL_MAT_TYPE_F32_C2 with the given value.
+    \param ptr : Pointer of the matrix.
+    \param value : Value with which to fill the matrix.
+    \param mem : Which buffer to fill.
+    \return \ref SL_ERROR_CODE (as an integer) indicating if the get was successful, or why it wasn't.
      */
     INTERFACE_API int sl_mat_set_to_float2(void* ptr, struct SL_Vector2 value, enum SL_MEM mem);
     /**
-    \brief Fills the entire Mat with the given value.
-    \param ptr : Ptr to the Mat.
-    \param value : the value with which to fill the Mat.
-    \param mem : Whether Mat should exist on CPU or GPU memory (SL_MEM).
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \brief Fills the matrix of type \ref SL_MAT_TYPE_F32_C3 with the given value.
+    \param ptr : Pointer of the matrix.
+    \param value : Value with which to fill the matrix.
+    \param mem : Which buffer to fill.
+    \return \ref SL_ERROR_CODE (as an integer) indicating if the get was successful, or why it wasn't.
      */
     INTERFACE_API int sl_mat_set_to_float3(void* ptr, struct SL_Vector3 value, enum SL_MEM mem);
     /**
-    \brief Fills the entire Mat with the given value.
-    \param ptr : Ptr to the Mat.
-    \param value : the value with which to fill the Mat.
-    \param mem : Whether Mat should exist on CPU or GPU memory (SL_MEM).
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \brief Fills the matrix of type \ref SL_MAT_TYPE_F32_C4 with the given value.
+    \param ptr : Pointer of the matrix.
+    \param value : Value with which to fill the matrix.
+    \param mem : Which buffer to fill.
+    \return \ref SL_ERROR_CODE (as an integer) indicating if the get was successful, or why it wasn't.
      */
     INTERFACE_API int sl_mat_set_to_float4(void* ptr, struct SL_Vector4 value, enum SL_MEM mem);
 
     /**
     \brief Copies data from the GPU to the CPU, if possible.
-    \param ptr : Ptr to the Mat.
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \param ptr : Pointer of the matrix.
+    \return \ref SL_ERROR_CODE_SUCCESS if everything went well, \ref SL_ERROR_CODE_FAILURE otherwise.
      */
     INTERFACE_API int sl_mat_update_cpu_from_gpu(void* ptr);
     /**
     \brief Copies data from the CPU to the GPU, if possible.
-    \param ptr : Ptr to the Mat.
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \param ptr : Pointer of the matrix.
+    \return \ref SL_ERROR_CODE_SUCCESS if everything went well, \ref SL_ERROR_CODE_FAILURE otherwise.
      */
     INTERFACE_API int sl_mat_update_gpu_from_cpu(void* ptr);
     /**
-    \brief Copies data from this Mat to another Mat (deep copy).
-    \param ptr : Ptr to the Source Mat.
-    \param ptr_dest : Ptr to the Destination Mat.
-    \param cpy_type : The To and From memory types (see \ref SL_COPY_TYPE).
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \brief Copies data from this matrix to another matrix (deep copy).
+    \param ptr : Pointer of the source matrix.
+    \param ptr_dest : Pointer of the destination matrix.
+    \param cpy_type : Specifies the memory that will be used for the copy (see \ref SL_COPY_TYPE).
+    \return \ref SL_ERROR_CODE_SUCCESS if everything went well, \ref SL_ERROR_CODE_FAILURE otherwise.
      */
     INTERFACE_API int sl_mat_copy_to(void* ptr, void* ptr_dest, enum SL_COPY_TYPE cpy_type);
 
     /**
-    \brief Reads an image from a file. Supports .png and .jpeg. Only works if Mat has access to MEM_CPU.
-    \param ptr : Ptr to the Mat.
-    \param file_path : File path, including file name and extension.
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \brief Reads an image from a file.
+    
+    Supports .png and .jpeg. Only works if matrix has access to \ref SL_MEM_CPU.
+    \param ptr : Pointer of the matrix.
+    \param file_path : Path of the file to read from (including the name and extension).
+    \return \ref SL_ERROR_CODE_SUCCESS if everything went well, \ref SL_ERROR_CODE_FAILURE otherwise.
      */
     INTERFACE_API int sl_mat_read(void* ptr, const char* file_path);
     /**
     \brief Writes the Mat into a file as an image. Only works if Mat has access to MEM_CPU.
-    \param ptr : Ptr to the Mat.
-    \param file_path : File path, including file name and extension.
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \param ptr : Pointer of the matrix.
+    \param file_path : Path of the file to write (including the name and extension).
+    \return \ref SL_ERROR_CODE_SUCCESS if everything went well, \ref SL_ERROR_CODE_FAILURE otherwise.
      */
     INTERFACE_API int sl_mat_write(void* ptr, const char* file_path);
     /**
-    \brief Gets the Width of the matrix.
-    \param ptr : Ptr to the Mat.
-    \return The width of the matrix.
+    \brief Returns the width of the matrix.
+    \param ptr : Pointer of the matrix.
+    \return Width of the matrix in pixels.
      */
     INTERFACE_API int sl_mat_get_width(void* ptr);
     /**
-    \brief Gets the Height of the matrix.
-    \param ptr : Ptr to the Mat.
-    \return The height of the matrix.
+    \brief Returns the height of the matrix.
+    \param ptr : Pointer of the matrix.
+    \return Height of the matrix in pixels.
      */
     INTERFACE_API int sl_mat_get_height(void* ptr);
     /**
-    \brief Gets the number of channels stored in each pixel.
-    \param ptr : Ptr to the Mat.
-    \return Number of values/channels.
+    \brief Returns the number of values stored in one pixel.
+    \param ptr : Pointer of the matrix.
+    \return Number of values in a pixel.
      */
     INTERFACE_API int sl_mat_get_channels(void* ptr);
     /**
     \brief Gets the type of memory (CPU and/or GPU).
-    \param ptr : Ptr to the Mat.
-    \return The memory type (SL_MEM).
+    \param ptr : Pointer of the matrix.
+    \return Type of allocated memory (\ref SL_MEM).
      */
     INTERFACE_API int sl_mat_get_memory_type(void* ptr);
 
     /**
-    \brief Gets the type of data (Mat_Type).
-    \param ptr : Ptr to the Mat.
-    \return The memory type (SL_MAT_TYPE).
+    \brief Returns the format of the matrix.
+    \param ptr : Pointer of the matrix.
+    \return The memory type (\ref SL_MAT_TYPE).
      */
     INTERFACE_API int sl_mat_get_data_type(void* ptr);
     /**
-    \brief Gets the size in bytes of one pixel.
-    \param ptr : Ptr to the Mat.
-    \return The size in bytes of one pixel.
+    \brief Returns the size of one pixel in bytes.
+    \param ptr : Pointer of the matrix.
+    \return Size of a pixel in bytes.
      */
     INTERFACE_API int sl_mat_get_pixel_bytes(void* ptr);
     /**
-    \brief Gets the memory 'step' in number/length of elements - how many values make up each row of pixels.
-    \param ptr : Ptr to the Mat.
-    \return The Step length.
+    \brief Returns the memory step in number of elements (size in one pixel row).
+    \param ptr : Pointer of the matrix.
+    \param mem : Specifies whether you want \ref SL_MEM_CPU or \ref SL_MEM_GPU step.
+    \return The step in number of elements.
      */
     INTERFACE_API int sl_mat_get_step(void* ptr, enum SL_MEM mem);
     /**
-    \brief Gets the memory 'step' in bytes - how many bytes make up each row of pixels.
-    \param ptr : Ptr to the Mat.
-    \return The Step length in bytes.
+    \brief Returns the memory step in bytes (size of one pixel row).
+    \param ptr : Pointer of the matrix.
+    \param mem : Specifies whether you want \ref SL_MEM_CPU or \ref SL_MEM_GPU step.
+    \return The step in bytes of the specified memory.
      */
     INTERFACE_API int sl_mat_get_step_bytes(void* ptr, enum SL_MEM mem);
     /**
-    \brief Gets the size of each row in bytes.
-    \param ptr : Ptr to the Mat.
-    \return The size of each row in bytes.
+    \brief Returns the size of a row in bytes.
+    \param ptr : Pointer of the matrix.
+    \return Size of a row in bytes.
      */
     INTERFACE_API int sl_mat_get_width_bytes(void* ptr);
     /**
-    \brief Returns whether the Mat is the owner of the memory it's accessing.
-    \return True if the Mat is the owner of the memory it's accessing.
+    \brief Returns whether the matrix is the owner of the memory it accesses.
+    \return true if the matrix is owning its memory, else false.
      */
     INTERFACE_API bool sl_mat_is_memory_owner(void* ptr);
     /**
-    \brief Returns the resolution of the image that this Mat holds.
-    \param ptr : Ptr to the Mat.
-    \return The resolution of the mat.
+    \brief Returns the resolution (width and height) of the matrix.
+    \param ptr : Pointer of the matrix.
+    \return \ref SL_Resolution of the matrix in pixels.
      */
     INTERFACE_API struct SL_Resolution sl_mat_get_resolution(void* ptr);
     /**
-    \brief Allocates memory for the Mat.
-    \param ptr : Ptr to the Mat.
-    \param width : Width of the image/matrix in pixels.
-    \param height : Height of the image/matrix in pixels.
-    \param type : Data type and number of channels the Mat will hold (see \ref SL_MAT_TYPE).
-    \param mem : Whether Mat should exist on CPU or GPU memory ( \ref SL_MEM).
+    \brief Allocates memory for the matrix.
+    \param ptr : Pointer of the matrix.
+    \param width : Width of the matrix in pixels.
+    \param height : Height of the matrix in pixels.
+    \param type : Type of the matrix (\ref SL_MAT_TYPE_F32_C1, \ref SL_MAT_TYPE_U8_C4, etc.).
+    \param mem : Where the buffer will be stored.
      */
     INTERFACE_API void sl_mat_alloc(void* ptr, int width, int height, enum SL_MAT_TYPE type, enum SL_MEM mem);
     /**
-    \brief Copies data from another Mat into this one(deep copy).
-    \param ptr : Ptr to the Mat.
-    \param ptr_srouce : Source Mat from which to copy.
-    \param copy_type : The To and From memory types (SL_COPY_TYPE).
-    \param mem : Whether Mat should exist on CPU or GPU memory (SL_MEM).
-    \return ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.
+    \brief Copies data from another matrix into this one (deep copy).
+    \param ptr : Pointer of the matrix.
+    \param ptr_source : Source matrix from which to copy.
+    \param copy_type : Specifies the memory that will be used for the copy (see \ref SL_COPY_TYPE).
+    \param mem : Where the buffer will be stored.
+    \return \ref SL_ERROR_CODE_SUCCESS if everything went well, \ref SL_ERROR_CODE_FAILURE otherwise.
      */
     INTERFACE_API int sl_mat_set_from(void* ptr, void* ptr_source, enum SL_COPY_TYPE copy_type);
     /**
-    \brief Gets a pointer to the Mat.
-    \param ptr : Ptr to the Mat.
-    \param mem : Whether Mat should exist on CPU or GPU memory ( \ref SL_MEM).
-    \return A pointer to the Mat.
+    \brief Gets a pointer to the matrix.
+    \param ptr : Pointer of the matrix.
+    \param mem : Whether the matrix should exist on CPU or GPU memory (\ref SL_MEM).
+    \return A pointer to the matrix.
      */
     INTERFACE_API int* sl_mat_get_ptr(void* ptr, enum SL_MEM mem);
     /**
-    \brief Duplicates a Mat by copying all its data into a new one (deep copy).
-    \param ptr : Ptr to the Mat.
-    \param ptr_srouce : Source Mat from which to copy.
+    \brief Duplicates a matrix by copying all its data into a new one (deep copy).
+    \param ptr : Pointer of the matrix.
+    \param ptr_source : Source matrix from which to copy.
      */
     INTERFACE_API int sl_mat_clone(void* ptr, void* ptr_source);
 
     /**
-    \brief Swaps the content of the provided Mat (only swaps the pointers, no data copy).
-    \param ptr1 : Ptr to the first Mat.
-    \param ptr2 : Ptr to the second Mat.
+    \brief Swaps the content of the provided matrix (only swaps the pointers, no data copy).
+    \param ptr1 : Pointer of the first matrix to swap.
+    \param ptr2 : Pointer of the second matrix to swap.
     */
     INTERFACE_API void sl_mat_swap(void* ptr_1, void* ptr_2);
 
diff --git a/Plugins/Stereolabs/Source/ThirdParty/sl_zed_c/lib/sl_zed_c.lib b/Plugins/Stereolabs/Source/ThirdParty/sl_zed_c/lib/sl_zed_c.lib
index 6cc2302900b0e9eb43080b80684efd9ceb0d61fd..f6ef34dfd5590b1af61389a900c0a18a3db96d28 100644
GIT binary patch
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