Spatial Mapping Module

Classes
class	PlaneDetectionParameters
	Class containing a set of parameters for the plane detection functionality. More...
class	SpatialMappingParameters
	Class containing a set of parameters for the spatial mapping module. 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...
struct	Chunk
	Class representing a sub-mesh containing local vertices and triangles. More...

Enumerations
enum class	AREA_EXPORTING_STATE
	Lists the different states of spatial memory area export. 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	SPATIAL_MAP_TYPE
	Lists the types of spatial maps that can be created. More...
enum class	MESH_FILE_FORMAT
	Lists available mesh file formats. More...
enum class	MESH_FILTER
	Lists available mesh filtering intensities. More...
enum class	SPATIAL_MAPPING_STATE
	Lists the different states of spatial mapping. More...
enum class	PLANE_TYPE
	Lists the available plane types detected based on its orientation and whether detected by sl.Camera.FindFloorPlane() or sl.Camera.FindPlaneAtHit(). More...
enum class	AREA_EXPORT_STATE
	Possible states of the ZED's spatial memory area export, for saving 3D features used by the tracking system to relocalize the camera. This is used when saving a mesh generated by spatial mapping when Save Mesh is enabled - a .area file is saved as well. 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.

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
NEAR	Geometry within 3.5 meters of the camera will be mapped.
MEDIUM	Geometry within 5 meters of the camera will be mapped.
FAR	Objects as far as 10 meters away are mapped. Useful for outdoors.

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.

MESH_FILE_FORMAT

enum MESH_FILE_FORMAT

strong

Lists available mesh file formats.

Enumerator
PLY	Contains only vertices and faces.
BIN	Contains only vertices and faces encoded in binary.
OBJ	Contains vertices, normals, faces, and texture information (if possible).

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.

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.MAPPING_RESOLUTION.LOW, low camera resolution (sl.RESOLUTION.VGA / sl.RESOLUTION.HDSVGA or sl.RESOLUTION.HD720).

PLANE_TYPE

enum PLANE_TYPE

strong

Lists the available plane types detected based on its orientation and whether detected by sl.Camera.FindFloorPlane() or sl.Camera.FindPlaneAtHit().

Enumerator
FLOOR	Floor plane of a scene. Retrieved by sl.Camera.FindFloorPlane().
HIT_HORIZONTAL	Horizontal plane, such as a tabletop, floor, etc. Detected with sl.Camera.FindPlaneAtHit() using screen-space coordinates.
HIT_VERTICAL	Vertical plane, such as a wall. Detected with sl.Camera.FindPlaneAtHit() using screen-space coordinates.
HIT_UNKNOWN	Plane at an angle neither parallel nor perpendicular to the floor. Detected with sl.Camera.FindPlaneAtHit() using screen-space coordinates.

AREA_EXPORT_STATE

enum AREA_EXPORT_STATE

strong

Possible states of the ZED's spatial memory area export, for saving 3D features used by the tracking system to relocalize the camera. This is used when saving a mesh generated by spatial mapping when Save Mesh is enabled - a .area file is saved as well.

Enumerator
AREA_EXPORT_STATE_SUCCESS	Spatial memory file has been successfully created.
AREA_EXPORT_STATE_RUNNING	Spatial memory file is currently being written to.
AREA_EXPORT_STATE_NOT_STARTED	Spatial memory file export has not been called.
AREA_EXPORT_STATE_FILE_EMPTY	Spatial memory contains no data; the file is empty.
AREA_EXPORT_STATE_FILE_ERROR	Spatial memory file has not been written to because of a bad file name.
AREA_EXPORT_STATE_SPATIAL_MEMORY_DISABLED	Spatial memory has been disabled, so no file can be created.