Spatial Mapping Module

Classes
class	SpatialMappingParameters
	Sets the spatial mapping parameters. More...
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...

Enumerations
enum class	AREA_EXPORTING_STATE
	Lists the different states of spatial memory area export. More...
enum class	SPATIAL_MAPPING_STATE
	Gives the spatial mapping state. 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...

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 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.

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)

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.

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.