Sets the spatial mapping parameters. More...

Types
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...

typedef std::pair< float, float >	interval

Functions
	SpatialMappingParameters (MAPPING_RESOLUTION resolution=MAPPING_RESOLUTION::MEDIUM, MAPPING_RANGE range=MAPPING_RANGE::AUTO, int max_memory_usage_=2048, bool save_texture_=false, bool use_chunk_only_=false, bool reverse_vertex_order_=false, SPATIAL_MAP_TYPE map_type=SPATIAL_MAP_TYPE::MESH)
	Default constructor. Sets all parameters to their default and optimized values. More...

void	set (MAPPING_RESOLUTION mapping_resolution=MAPPING_RESOLUTION::MEDIUM)
	Sets the resolution corresponding to the given MAPPING_RESOLUTION preset. More...

void	set (MAPPING_RANGE mapping_range=MAPPING_RANGE::MEDIUM)
	Sets the maximum value of the depth corresponding to the given MAPPING_RANGE preset. More...

bool	save (String filename)
	Saves the current set of parameters into a file. More...

bool	load (String filename)
	Loads the values of the parameters contained in a file. More...

bool	operator== (const SpatialMappingParameters &param1) const

bool	operator!= (const SpatialMappingParameters &param1) const

Static Functions
static float	get (MAPPING_RESOLUTION mapping_resolution=MAPPING_RESOLUTION::MEDIUM)
	Returns the resolution corresponding to the given MAPPING_RESOLUTION preset. More...

static float	get (MAPPING_RANGE mapping_range=MAPPING_RANGE::MEDIUM)
	Returns the maximum value of depth corresponding to the given MAPPING_RANGE presets. More...

static float	getRecommendedRange (MAPPING_RESOLUTION mapping_resolution, Camera &camera)
	Returns the recommended maximum depth value for the given MAPPING_RESOLUTION preset. More...

static float	getRecommendedRange (float resolution_meters, Camera &camera)
	Returns the recommended maximum depth value for the given resolution in meters. 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	save_texture = false
	Set to true if you want to be able to apply the texture to your mesh after its creation. 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...

bool	reverse_vertex_order = false
	Specify if the order of the vertices of the triangles needs to be inverted. If your display process does not handle front and back face culling, you can use this to correct it. 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...

Static Attributes
static const interval	allowed_resolution
	The resolution allowed by the spatial mapping. allowed_resolution.first is the minimum value allowed. allowed_resolution.second is the maximum value allowed. More...

static const interval	allowed_range
	Range of the maximum depth value allowed by spatial mapping. allowed_range.first is the minimum value allowed. allowed_range.second is the maximum value allowed. More...

Detailed Description

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.

Note: Users can adjust these parameters as they see fit.

Member Typedef Documentation

◆ interval

typedef std::pair<float, float> interval

Constructor and Destructor

◆ SpatialMappingParameters()

SpatialMappingParameters	(	MAPPING_RESOLUTION	resolution = `MAPPING_RESOLUTION::MEDIUM`,
		MAPPING_RANGE	range = `MAPPING_RANGE::AUTO`,
		int	max_memory_usage_ = `2048`,
		bool	save_texture_ = `false`,
		bool	use_chunk_only_ = `false`,
		bool	reverse_vertex_order_ = `false`,
		SPATIAL_MAP_TYPE	map_type = `SPATIAL_MAP_TYPE::MESH`
	)

Default constructor. Sets all parameters to their default and optimized values.

Functions

◆ get() [1/2]

static float get ( MAPPING_RESOLUTION mapping_resolution = MAPPING_RESOLUTION::MEDIUM )

static

Returns the resolution corresponding to the given MAPPING_RESOLUTION preset.

Parameters

mapping_resolution The desired MAPPING_RESOLUTION. Default: MAPPING_RESOLUTION::MEDIUM.

Returns: The resolution in meters.

◆ set() [1/2]

void set ( MAPPING_RESOLUTION mapping_resolution = MAPPING_RESOLUTION::MEDIUM )

Sets the resolution corresponding to the given MAPPING_RESOLUTION preset.

Parameters

mapping_resolution The desired MAPPING_RESOLUTION. Default: MAPPING_RESOLUTION::MEDIUM.

◆ get() [2/2]

static float get ( MAPPING_RANGE mapping_range = MAPPING_RANGE::MEDIUM )

static

Returns the maximum value of depth corresponding to the given MAPPING_RANGE presets.

Parameters

mapping_range The desired MAPPING_RANGE. Default: MAPPING_RANGE::MEDIUM.

Returns: The maximum value of the depth.

◆ set() [2/2]

void set ( MAPPING_RANGE mapping_range = MAPPING_RANGE::MEDIUM )

Sets the maximum value of the depth corresponding to the given MAPPING_RANGE preset.

Parameters

mapping_range The desired MAPPING_RANGE. Default: MAPPING_RANGE::MEDIUM.

◆ getRecommendedRange() [1/2]

static float getRecommendedRange	(	MAPPING_RESOLUTION	mapping_resolution,
		Camera &	camera
	)

static

Returns the recommended maximum depth value for the given MAPPING_RESOLUTION preset.

Parameters

mapping_resolution	The desired MAPPING_RESOLUTION.
camera	The Camera object that will run the spatial mapping.

Returns: The maximum value of the depth in meters.

◆ getRecommendedRange() [2/2]

static float getRecommendedRange	(	float	resolution_meters,
		Camera &	camera
	)

static

Returns the recommended maximum depth value for the given resolution in meters.

Parameters

resolution_meters	The desired resolution in meters.
camera	The Camera object that will run the spatial mapping.

Returns: The maximum value of the depth in meters.

◆ save()

bool save ( String filename )

Saves the current set of parameters into a file.

Parameters

filename : the name of the file which will be created to store the parameters (extension '.yml' will be added if not set).

Returns: True if the file was successfully saved. False otherwise.

Warning: For security reason, the file must not exist. In case a file already exists, Function will return false and existing file will not be updated.

◆ load()

bool load ( String filename )

Loads the values of the parameters contained in a file.

Parameters

filename the path to the file from which the parameters will be loaded.

Returns: true if the file was successfully loaded. false otherwise.

◆ operator==()

bool operator== ( const SpatialMappingParameters & param1 ) const

Comparison operator ==

Parameters

SpatialMappingParameters to compare

Returns: true if the two struct are identical

◆ operator!=()

bool operator!= ( const SpatialMappingParameters & param1 ) const

Comparison operator !=

Parameters

SpatialMappingParameters to compare

Returns: true if the two struct are different

Variables

◆ resolution_meter

float resolution_meter = 0.05f

Spatial mapping resolution in meters. Should fit allowed_resolution.

◆ allowed_resolution

const interval allowed_resolution

static

The resolution allowed by the spatial mapping.
allowed_resolution.first is the minimum value allowed.
allowed_resolution.second is the maximum value allowed.

◆ range_meter

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.

◆ allowed_range

const interval allowed_range

static

Range of the maximum depth value allowed by spatial mapping.
allowed_range.first is the minimum value allowed.
allowed_range.second is the maximum value allowed.

◆ save_texture

bool save_texture = false

Set to true if you want to be able to apply the texture to your mesh after its creation.

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

◆ use_chunk_only

bool use_chunk_only = false

Set to false if you want to 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.

◆ max_memory_usage

int max_memory_usage = 2048

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

◆ reverse_vertex_order

bool reverse_vertex_order = false

Specify if the order of the vertices of the triangles needs to be inverted. 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 SPATIAL_MAP_TYPE::MESH

◆ 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.

Types

Functions

Static Functions

Attributes

Static Attributes

Detailed Description

Member Typedef Documentation

◆ interval

Constructor and Destructor

◆ SpatialMappingParameters()

Functions

◆ get() [1/2]

◆ set() [1/2]

◆ get() [2/2]

◆ set() [2/2]

◆ getRecommendedRange() [1/2]

◆ getRecommendedRange() [2/2]

◆ save()

◆ load()

◆ operator==()

◆ operator!=()

Variables

◆ resolution_meter

◆ allowed_resolution

◆ range_meter

◆ allowed_range

◆ save_texture

◆ use_chunk_only

◆ max_memory_usage

◆ reverse_vertex_order

◆ map_type