Structure containing a set of parameters for the spatial mapping module. More...

Data Fields
float	resolution_meter
	Spatial mapping resolution in meters. More...

float	range_meter
	Depth range in meters. More...

bool	save_texture
	Whether to save the texture. More...

bool	use_chunk_only
	Whether to only use chunks. More...

int	max_memory_usage
	The maximum CPU memory (in MB) allocated for the meshing process. More...

bool	reverse_vertex_order
	Whether to inverse the order of the vertices of the triangles. More...

enum SL_SPATIAL_MAP_TYPE	map_type
	The type of spatial map to be created. More...

int	stability_counter
	Control the integration rate of the current depth into the mapping process. More...

float	disparity_std
	Control the disparity noise (standard deviation) in px. set a very small value (<0.1) if the depth map of the scene is accurate. set a big value (>0.5) if the depth map is noisy.

float	decay
	Adjust the weighting factor for the current depth during the integration process. By default, the value is set to 1, which results in the complete integration and fusion of the current depth with the previously integrated depth. Setting it to 0 discards all previous data and solely integrates the current depth.

bool	enable_forget_past
	This parameter enables the forgetting of the previous map to limit memory and drift issues. It enables a local spatial mapping that only keeps a mapped scene around the current camera position. The distance threshold is set to be equal to 1.5 x the range of the spatial mapping.

Detailed Description

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.

Field Documentation

◆ resolution_meter

float SL_SpatialMappingParameters::resolution_meter

Spatial mapping resolution in meters.

Default: 0.05f

◆ range_meter

float SL_SpatialMappingParameters::range_meter

Depth range in meters.

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 resolution_meter and from the current internal parameters to fit your application.

◆ save_texture

bool SL_SpatialMappingParameters::save_texture

Whether to save the texture.

If set to true, you will be able to apply the texture to your mesh after it is created.
Default: false

Note: This option will consume more memory.; This option is only available for SL_SPATIAL_MAP_TYPE_MESH.

◆ use_chunk_only

bool SL_SpatialMappingParameters::use_chunk_only

Whether to only use chunks.

If set to false, you will ensure consistency between the mesh and its inner chunk data.
Default: false

Note: Updating the mesh is time-consuming.; Setting this to true results in better performance.

◆ max_memory_usage

int SL_SpatialMappingParameters::max_memory_usage

The maximum CPU memory (in MB) allocated for the meshing process.

Default: 2048

◆ reverse_vertex_order

bool SL_SpatialMappingParameters::reverse_vertex_order

Whether to inverse the order of the vertices of the triangles.

If your display process does not handle front and back face culling, you can use this to correct it.
Default: false

Note: This option is only available for SL_SPATIAL_MAP_TYPE_MESH.

◆ map_type

enum SL_SPATIAL_MAP_TYPE SL_SpatialMappingParameters::map_type

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 SL_SPATIAL_MAP_TYPE.

◆ stability_counter

int SL_SpatialMappingParameters::stability_counter

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: 0 (this will define the stability counter based on the mesh resolution, the higher the resolution, the higher the stability counter)

Data Fields