Spatial Mapping Module

Classes

class  MeshFilterParameters
 Defines the behavior of the sl::Mesh::filter function. More...
 
class  Chunk
 Represents a sub-mesh, it contains local vertices and triangles. More...
 
class  Mesh
 A mesh contains the geometric (and optionally texture) data of the scene captured by spatial mapping. More...
 
class  PointCloudChunk
 Represents a sub fused point cloud, it contains local vertices and colors. More...
 
class  FusedPointCloud
 A fused point cloud contains both geometric and color data of the scene captured by spatial mapping. More...
 
class  SpatialMappingParameters
 Sets the spatial mapping parameters. More...
 

Enumerations

enum  SPATIAL_MAPPING_STATE
 Gives the spatial mapping state. More...
 
enum  MESH_FILE_FORMAT
 Lists available mesh file formats. More...
 
enum  MESH_TEXTURE_FORMAT
 Lists available mesh texture formats. More...
 
enum  SPATIAL_MAP_TYPE
 Lists the types of spatial maps that can be created. More...
 
enum  MAPPING_RESOLUTION
 Lists the spatial mapping resolution presets. More...
 
enum  MAPPING_RANGE
 Lists the spatial mapping depth range presets. More...
 
enum  AREA_EXPORTING_STATE
 Lists the different states of spatial memory area export. More...
 

Enumeration Type Documentation

◆ SPATIAL_MAPPING_STATE

enum SPATIAL_MAPPING_STATE
strong

Gives the spatial mapping state.

Enumerator
INITIALIZING 

The spatial mapping is initializing.

OK 

The depth and tracking data were correctly integrated in the fusion algorithm.

NOT_ENOUGH_MEMORY 

The maximum memory dedicated to the scanning has been reach, the mesh will no longer be updated.

NOT_ENABLED 

Camera::enableSpatialMapping() wasn't called (or the scanning was stopped and not relaunched).

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)

◆ MESH_FILE_FORMAT

enum MESH_FILE_FORMAT
strong

Lists available mesh file formats.

Enumerator
PLY 

Contains only vertices and faces.

PLY_BIN 

Contains only vertices and faces, encoded in binary.

OBJ 

Contains vertices, normals, faces and textures informations if possible.

◆ MESH_TEXTURE_FORMAT

enum MESH_TEXTURE_FORMAT
strong

Lists available mesh texture formats.

Enumerator
RGB 

The texture has 3 channels.

RGBA 

The texture has 4 channels.

◆ SPATIAL_MAP_TYPE

enum SPATIAL_MAP_TYPE
strong

Lists the types of spatial maps that can be created.

Enumerator
MESH 

Represents a surface with faces, 3D points are linked by edges, no color information.

FUSED_POINT_CLOUD 

Geometry is represented by a set of 3D colored points.

◆ MAPPING_RESOLUTION

enum MAPPING_RESOLUTION
strong

Lists the spatial mapping resolution presets.

Enumerator
HIGH 

Creates a detailed geometry, requires lots of memory.

MEDIUM 

Small variations in the geometry will disappear, useful for big objects

LOW 

Keeps only huge variations of the geometry, useful for outdoor purposes.

◆ MAPPING_RANGE

enum MAPPING_RANGE
strong

Lists the spatial mapping depth range presets.

Enumerator
SHORT 

Only depth close to the camera will be used during spatial mapping.

MEDIUM 

Medium depth range.

LONG 

Takes into account objects that are far, useful for outdoor purposes.

AUTO 

Depth range will be computed based on current Camera states and parameters.

◆ AREA_EXPORTING_STATE

enum AREA_EXPORTING_STATE
strong

Lists the different states of spatial memory area export.

Enumerator
SUCCESS 

The spatial memory file has been successfully created.

RUNNING 

The spatial memory is currently written.

NOT_STARTED 

The spatial memory file exportation has not been called.

FILE_EMPTY 

The spatial memory contains no data, the file is empty.

FILE_ERROR 

The spatial memory file has not been written because of a wrong file name.

SPATIAL_MEMORY_DISABLED 

The spatial memory learning is disable, no file can be created.