Class representing a fused point cloud and containing the geometric and color data of the scene captured by the spatial mapping module. More...

Functions
list[PointCloudChunk]	chunks (self)
	List of chunks constituting the sl.FusedPointCloud.

PointCloudChunk	__getitem__ (self, x)
	Gets a chunk from chunks.

np.array[float]	vertices (self)
	NumPy array of vertices. More...

np.array[float]	normals (self)
	NumPy array of normals. More...

bool	save (self, str filename, typeMesh=MESH_FILE_FORMAT.OBJ, id=[])
	Saves the current sl.FusedPointCloud into a file. More...

bool	load (self, str filename, update_chunk_only=False)
	Loads the fused point cloud from a file. More...

None	clear (self)
	Clears all the data.

None	update_from_chunklist (self, id=[])
	Updates vertices and normals from chunk data pointed by the given list of id. More...

int	get_number_of_points (self)
	Computes the total number of points stored in all chunks. More...

Detailed Description

Class representing a fused point cloud and containing the geometric and color data of the scene captured by the spatial mapping module.

By default the fused point cloud is defined as a set of point cloud chunks.
This way we update only the required data, avoiding a time consuming remapping process every time a small part of the sl.FusedPointCloud cloud is changed.

Functions

◆ vertices()

np.array[float] vertices ( self )

NumPy array of vertices.

Vertices are defined by a colored 3D point [x, y, z, rgba].

◆ normals()

np.array[float] normals ( self )

NumPy array of normals.

Normals are defined by three components [nx, ny, nz].

Note: A normal is defined for each vertex.

◆ save()

bool save	(		self,
		str	filename,
			typeMesh = `MESH_FILE_FORMAT.OBJ`,
			id = `[]`
	)

Saves the current sl.FusedPointCloud into a file.

Parameters

filename	: Path of the file to store the fused point cloud in.
typeMesh	: File extension type. Default: sl.MESH_FILE_FORMAT.OBJ.
id	: Set of chunks to be saved. Default: (empty) (all chunks are saved)

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

Note: This method operates on the sl.FusedPointCloud not on chunks.; This way you can save different parts of your sl.FusedPointCloud by updating it with update_from_chunklist().

◆ load()

bool load	(		self,
		str	filename,
			update_chunk_only = `False`
	)

Loads the fused point cloud from a file.

Parameters

filename	: Path of the file to load the fused point cloud from.
update_chunk_only	: Whether to only load data in chunks (and not vertices / normals). Default: False.

Returns: True if the mesh was successfully loaded, otherwise False.

Note: Updating a sl.FusedPointCloud is time consuming. Consider using only chunks for better performances.

◆ update_from_chunklist()

None update_from_chunklist	(	self,
		id = `[]`
	)

Updates vertices and normals from chunk data pointed by the given list of id.

Parameters

id	: Indices of chunks which will be concatenated. Default: (empty).

Note: If the given list of id is empty, all chunks will be used to update the current sl.FusedPointCloud.

◆ get_number_of_points()

int get_number_of_points ( self )

Computes the total number of points stored in all chunks.

Returns: The number of points stored in all chunks.