Sets the spatial mapping parameters. More...
Functions | |
| void | set (SpatialMappingParameters::MAPPING_RESOLUTION mapping_resolution=SpatialMappingParameters::MAPPING_RESOLUTION::MEDIUM) |
| Sets the resolution corresponding to the given MAPPING_RESOLUTION preset. More... | |
| void | set (SpatialMappingParameters::MAPPING_RANGE mapping_range=SpatialMappingParameters::MAPPING_RANGE::MEDIUM) |
| Sets the maximum value of the depth corresponding to the given MAPPING_RANGE preset. More... | |
Attributes | |
| float | resolution_meter = 0.05f |
| Spatial mapping resolution in meters. Should fit allowed_resolution. More... | |
| float | range_meter = 0.f |
| Depth range in meters. Can be different from the value set by sl::InitParameters::depth_maximum_distance. 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. More... | |
| bool | use_chunk_only = false |
| Set to false if you want to ensure consistency between the mesh and its inner chunk data. More... | |
| int | max_memory_usage = 2048 |
| The maximum CPU memory (in MB) allocated for the meshing process. More... | |
| int | stability_counter = 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 value is 0, this will define the stability counter based on the mesh resolution, the higher the resolution, the higher the stability counter. More... | |
| SpatialMappingParameters::SPATIAL_MAP_TYPE | map_type = SpatialMappingParameters::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... | |
Sets the spatial mapping parameters.
Instantiating with the default constructor will set all parameters to their default values.
You can customize these values to fit your application, and then save them to a preset to be loaded in future executions.
| void set | ( | SpatialMappingParameters::MAPPING_RESOLUTION | mapping_resolution = SpatialMappingParameters::MAPPING_RESOLUTION::MEDIUM | ) |
Sets the resolution corresponding to the given MAPPING_RESOLUTION preset.
| mapping_resolution | The desired MAPPING_RESOLUTION. Default: MAPPING_RESOLUTION::MEDIUM. |
| void set | ( | SpatialMappingParameters::MAPPING_RANGE | mapping_range = SpatialMappingParameters::MAPPING_RANGE::MEDIUM | ) |
Sets the maximum value of the depth corresponding to the given MAPPING_RANGE preset.
| mapping_range | The desired MAPPING_RANGE. Default: MAPPING_RANGE::MEDIUM. |
| float resolution_meter = 0.05f |
Spatial mapping resolution in meters. Should fit allowed_resolution.
| float range_meter = 0.f |
Depth range in meters. Can be different from the value set by sl::InitParameters::depth_maximum_distance.
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.
| bool use_chunk_only = false |
Set to false if you want to ensure consistency between the mesh and its inner chunk data.
| int max_memory_usage = 2048 |
The maximum CPU memory (in MB) allocated for the meshing process.
| int stability_counter = 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 value is 0, this will define the stability counter based on the mesh resolution, the higher the resolution, the higher the stability counter.
| SpatialMappingParameters::SPATIAL_MAP_TYPE map_type = SpatialMappingParameters::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.