Spatial Mapping Module

Classes
class	SpatialMappingParameters
	Structure containing a set of parameters for the spatial mapping module. More...
class	PlaneDetectionParameters
	Structure containing a set of parameters for the plane detection functionality. More...
class	MeshFilterParameters
	Class containing a set of parameters for the mesh filtration functionality. More...
class	Chunk
	Class representing a sub-mesh containing local vertices and triangles. More...
class	Mesh
	Class representing a mesh and containing the geometric (and optionally texture) data of the scene captured by the spatial mapping module. More...
class	Plane
	Class representing a plane defined by a point and a normal, or a plane equation. More...
class	PointCloudChunk
	Class representing a sub-point cloud containing local vertices and colors. More...
class	FusedPointCloud
	Class representing a fused point cloud and containing the geometric and color data of the scene captured by the spatial mapping module. More...

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

Enumeration Type Documentation

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 being 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 disabled. No file can be created.

SPATIAL_MAPPING_STATE

enum SPATIAL_MAPPING_STATE

strong

Lists the different states of spatial mapping.

Enumerator
INITIALIZING	The spatial mapping is initializing.
OK	The depth and tracking data were correctly integrated in the mapping algorithm.
NOT_ENOUGH_MEMORY	The maximum memory dedicated to the scanning has been reached. The mesh will no longer be updated.
NOT_ENABLED	sl::Camera::enableSpatialMapping() wasn't called or the scanning was stopped and not relaunched.
FPS_TOO_LOW	The effective FPS is too low to give proper results for spatial mapping. Consider using performance parameters (sl::DEPTH_MODE::PERFORMANCE, sl::SpatialMappingParameters::MAPPING_RESOLUTION::LOW, low camera resolution (sl::RESOLUTION::VGA/SVGA or sl::RESOLUTION::HD720).

SPATIAL_MAP_TYPE

enum SPATIAL_MAP_TYPE

strong

Lists the types of spatial maps that can be created.

Enumerator
MESH	The geometry is represented by a set of vertices connected by edges and forming faces. No color information is available.
FUSED_POINT_CLOUD	The 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 sl::Camera state and parameters.

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 texture information (if possible).

MESH_TEXTURE_FORMAT

enum MESH_TEXTURE_FORMAT

strong

Lists available mesh texture formats.

Enumerator
RGB	The texture will be on 3 channels.
RGBA	The texture will be on 4 channels.

MESH_FILTER

enum MESH_FILTER

strong

Lists available mesh filtering intensities.

Enumerator
LOW	Clean the mesh by closing small holes and removing isolated faces.
MEDIUM	Soft faces decimation and smoothing.
HIGH	Drastically reduce the number of faces and apply a soft smooth.