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

Functions
	SpatialMappingParameters (float resolutionMeter=0.05f, float rangeMeter=0.0f, bool saveTexture=false, SPATIAL_MAP_TYPE map_type=SPATIAL_MAP_TYPE.MESH, bool useChunkOnly=false, int maxMemoryUsage=2048, bool reverseVertexOrder=false, int stabilityCounter=0)
	Default constructor. More...

void	set (MAPPING_RESOLUTION mappingResolution=MAPPING_RESOLUTION.MEDIUM)
	Sets the resolution to a sl.MAPPING_RESOLUTION preset. More...

void	set (MAPPING_RANGE mappingRange=MAPPING_RANGE.MEDIUM)
	Sets the range to a sl.MAPPING_RANGE preset. More...

Static Functions
static float	get (MAPPING_RESOLUTION mappingResolution=MAPPING_RESOLUTION.MEDIUM)
	Returns the value corresponding to a sl.MAPPING_RESOLUTION preset in meters. More...

static float	get (MAPPING_RANGE mappingRange=MAPPING_RANGE.MEDIUM)
	Returns the value corresponding to a sl.MAPPING_RANGE preset in meters. More...

Attributes
float	resolutionMeter = 0.05f
	Spatial mapping resolution in meters. More...

float	rangeMeter = 0.0f
	Depth range in meters. More...

bool	saveTexture = false
	Whether to save the texture. More...

bool	useChunkOnly = false
	Whether to only use chunks. More...

int	maxMemoryUsage = 2048
	The maximum CPU memory (in MB) allocated for the meshing process. More...

bool	reverseVertexOrder = false
	Whether to inverse the order of the vertices of the triangles. More...

SPATIAL_MAP_TYPE	map_type = SPATIAL_MAP_TYPE.MESH
	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 SPATIAL_MAP_TYPE More...

int	stabilityCounter = 0
	Control the integration rate of the current depth into the mapping process. More...

Detailed Description

Class 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.

Constructor and Destructor

◆ SpatialMappingParameters()

SpatialMappingParameters	(	float	resolutionMeter = `0.05f`,
		float	rangeMeter = `0.0f`,
		bool	saveTexture = `false`,
		SPATIAL_MAP_TYPE	map_type = `SPATIAL_MAP_TYPE.MESH`,
		bool	useChunkOnly = `false`,
		int	maxMemoryUsage = `2048`,
		bool	reverseVertexOrder = `false`,
		int	stabilityCounter = `0`
	)

inline

Default constructor.

Sets all parameters to their default and optimized values.

Functions

◆ get() [1/2]

static float get ( MAPPING_RESOLUTION mappingResolution = MAPPING_RESOLUTION.MEDIUM )

inlinestatic

Returns the value corresponding to a sl.MAPPING_RESOLUTION preset in meters.

Parameters

mappingResolution The desired sl.MAPPING_RESOLUTION. Default: sl.MAPPING_RESOLUTION.MEDIUM

Returns: The value of mappingResolution in meters.

◆ get() [2/2]

static float get ( MAPPING_RANGE mappingRange = MAPPING_RANGE.MEDIUM )

inlinestatic

Returns the value corresponding to a sl.MAPPING_RANGE preset in meters.

Parameters

mappingRange The desired sl.MAPPING_RANGE. Default: sl.MAPPING_RANGE.MEDIUM

Returns: The value of mappingRange in meters.

◆ set() [1/2]

void set ( MAPPING_RESOLUTION mappingResolution = MAPPING_RESOLUTION.MEDIUM )

inline

Sets the resolution to a sl.MAPPING_RESOLUTION preset.

Parameters

mappingResolution The desired sl.MAPPING_RESOLUTION. Default: sl.MAPPING_RESOLUTION.MEDIUM

◆ set() [2/2]

void set ( MAPPING_RANGE mappingRange = MAPPING_RANGE.MEDIUM )

inline

Sets the range to a sl.MAPPING_RANGE preset.

Parameters

mappingRange The desired sl.MAPPING_RANGE. Default: sl.MAPPING_RANGE.MEDIUM

Variables

◆ resolutionMeter

float resolutionMeter = 0.05f

Spatial mapping resolution in meters.

Referenced by Camera.GetSpatialMappingParameters(), SpatialMappingParameters.set(), and SpatialMappingParameters.SpatialMappingParameters().

◆ rangeMeter

float rangeMeter = 0.0f

Depth range in meters.

Can be different from the value set by sl.InitParameters.depthMaximumDistance.

Note: Set to 0 by default. In this case, the range is computed from resolutionMeter and from the current internal parameters to fit your application.

Referenced by SpatialMappingParameters.set(), and SpatialMappingParameters.SpatialMappingParameters().

◆ saveTexture

bool saveTexture = false

Whether to save the texture.

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

Note: This option will consume more memory.; This option is only available for sl.SPATIAL_MAP_TYPE.MESH.

Referenced by SpatialMappingParameters.SpatialMappingParameters().

◆ useChunkOnly

bool useChunkOnly = false

Whether to only use chunks.

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

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

Referenced by SpatialMappingParameters.SpatialMappingParameters().

◆ maxMemoryUsage

int maxMemoryUsage = 2048

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

Referenced by SpatialMappingParameters.SpatialMappingParameters().

◆ reverseVertexOrder

bool reverseVertexOrder = false

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.

Note: This option is only available for sl.SPATIAL_MAP_TYPE.MESH.

Referenced by SpatialMappingParameters.SpatialMappingParameters().

◆ map_type

SPATIAL_MAP_TYPE map_type = SPATIAL_MAP_TYPE.MESH

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 SPATIAL_MAP_TYPE

Referenced by SpatialMappingParameters.SpatialMappingParameters().

◆ stabilityCounter

int stabilityCounter = 0

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)

Referenced by SpatialMappingParameters.SpatialMappingParameters().

Functions

Static Functions

Attributes

Detailed Description

Constructor and Destructor

◆ SpatialMappingParameters()

Functions

◆ get() [1/2]

◆ get() [2/2]

◆ set() [1/2]

◆ set() [2/2]

Variables

◆ resolutionMeter

◆ rangeMeter

◆ saveTexture

◆ useChunkOnly

◆ maxMemoryUsage

◆ reverseVertexOrder

◆ map_type

◆ stabilityCounter