Structure containing a set of parameters for the spatial mapping module. 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
	Float pair defining an interval. More...

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, int stability_counter=0, float disparity_std=0.3f, float decay=1.f, bool enable_forget_past=false)
	Default constructor. More...

void	set (MAPPING_RESOLUTION mapping_resolution=MAPPING_RESOLUTION::MEDIUM)
	Sets the resolution to a sl::SpatialMappingParameters::MAPPING_RESOLUTION preset. More...

void	set (MAPPING_RANGE mapping_range=MAPPING_RANGE::MEDIUM)
	Sets the range to a sl::SpatialMappingParameters::MAPPING_RANGE preset. More...

bool	save (String filename, SERIALIZATION_FORMAT format=SERIALIZATION_FORMAT::LEGACY) const
	Saves the current set of parameters into a file to be reloaded with the load() method. More...

bool	load (String filename, SERIALIZATION_FORMAT format=SERIALIZATION_FORMAT::AUTO)
	Loads a set of parameters from the values contained in a previously saved file. More...

bool	encode (String &serialized_content, SERIALIZATION_FORMAT format=SERIALIZATION_FORMAT::JSON) const
	Generate a JSON Object (with the struct type as a key) containing the serialized struct, converted into a string. More...

bool	decode (const String &serialized_content, SERIALIZATION_FORMAT format=SERIALIZATION_FORMAT::JSON)
	Fill the structure from the serialized json object contained in the input string. 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 value corresponding to a sl::SpatialMappingParameters::MAPPING_RESOLUTION preset in meters. More...

static float	get (MAPPING_RANGE mapping_range=MAPPING_RANGE::MEDIUM)
	Returns the value corresponding to a sl::SpatialMappingParameters::MAPPING_RANGE preset in meters. More...

static float	getRecommendedRange (MAPPING_RESOLUTION mapping_resolution, Camera &camera)
	Returns the recommended maximum depth value corresponding to a sl::SpatialMappingParameters::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. More...

float	range_meter = 0.f
	Depth range in meters. More...

bool	save_texture = false
	Whether to save the texture. More...

bool	use_chunk_only = false
	Whether to only use chunks. More...

int	max_memory_usage = 2048
	The maximum CPU memory (in MB) allocated for the meshing process. More...

bool	reverse_vertex_order = false
	Whether to inverse the order of the vertices of the triangles. More...

SPATIAL_MAP_TYPE	map_type = SPATIAL_MAP_TYPE::MESH
	The type of spatial map to be created. More...

int	stability_counter = 0
	Control the integration rate of the current depth into the mapping process. More...

float	disparity_std = 0.3
	Control the disparity noise (standard deviation) in px. set a very small value (<0.1) if the depth map of the scene is accurate. set a big value (>0.5) if the depth map is noisy. More...

float	decay = 1
	Adjust the weighting factor for the current depth during the integration process. By default, the value is set to 1, which results in the complete integration and fusion of the current depth with the previously integrated depth. Setting it to 0 discards all previous data and solely integrates the current depth. More...

bool	enable_forget_past = false
	This parameter enables the forgetting of the previous map to limit memory and drift issues. It enables a local spatial mapping that only keeps a mapped scene around the current camera position. The distance threshold is set to be equal to 1.5 x the range of the spatial mapping. More...

Static Attributes
static const interval	allowed_resolution
	The resolution allowed by the spatial mapping: More...

static const interval	allowed_range
	The maximum depth allowed by spatial mapping: More...

Detailed Description

Structure containing a set of parameters for the spatial mapping module.

The default constructor sets all parameters to their default settings.

Note: Parameters can be adjusted by the user.

Member Typedef Documentation

◆ interval

typedef std::pair<float, float> interval

Float pair defining an 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`,
		int	stability_counter = `0`,
		float	disparity_std = `0.3f`,
		float	decay = `1.f`,
		bool	enable_forget_past = `false`
	)

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 value corresponding to a sl::SpatialMappingParameters::MAPPING_RESOLUTION preset in meters.

Parameters

mapping_resolution The desired MAPPING_RESOLUTION. Default: MAPPING_RESOLUTION::MEDIUM

Returns: The value of mapping_resolution in meters.

◆ set() [1/2]

void set ( MAPPING_RESOLUTION mapping_resolution = MAPPING_RESOLUTION::MEDIUM )

Sets the resolution to a sl::SpatialMappingParameters::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 value corresponding to a sl::SpatialMappingParameters::MAPPING_RANGE preset in meters.

Parameters

mapping_range The desired MAPPING_RANGE. Default: MAPPING_RANGE::MEDIUM

Returns: The value of mapping_range in meters.

◆ set() [2/2]

void set ( MAPPING_RANGE mapping_range = MAPPING_RANGE::MEDIUM )

Sets the range to a sl::SpatialMappingParameters::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 corresponding to a sl::SpatialMappingParameters::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,
		SERIALIZATION_FORMAT	format = `SERIALIZATION_FORMAT::LEGACY`
	)		const

Saves the current set of parameters into a file to be reloaded with the load() method.

Parameters

filename : 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, otherwise false.

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

◆ load()

bool load	(	String	filename,
		SERIALIZATION_FORMAT	format = `SERIALIZATION_FORMAT::AUTO`
	)

Loads a set of parameters from the values contained in a previously saved file.

Parameters

filename : Path to the file from which the parameters will be loaded (extension '.yml' will be added at the end of the filename if not detected).

Returns: True if the file was successfully loaded, otherwise false.

◆ encode()

bool encode	(	String &	serialized_content,
		SERIALIZATION_FORMAT	format = `SERIALIZATION_FORMAT::JSON`
	)		const

Generate a JSON Object (with the struct type as a key) containing the serialized struct, converted into a string.

Parameters

serialized_content	output string containing the JSON Object
format	serialization format, default is JSON

Returns: True if file was successfully saved, otherwise false.

◆ decode()

bool decode	(	const String &	serialized_content,
		SERIALIZATION_FORMAT	format = `SERIALIZATION_FORMAT::JSON`
	)

Fill the structure from the serialized json object contained in the input string.

Parameters

serialized_content	input string containing the JSON Object
format	serialization format, default is JSON

Returns: True if the decoding was successful, otherwise false.

◆ 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.

Note: It 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.

Note: 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

The maximum depth 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

Whether to save the texture.

If set to true, you will be able to apply the texture to your mesh after it is created.

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

◆ use_chunk_only

bool use_chunk_only = false

Whether to only use chunks.

If set to false, you will 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

Whether to inverse the order of the vertices of the triangles.

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 sl::SpatialMappingParameters::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 sl::SpatialMappingParameters::SPATIAL_MAP_TYPE.

◆ stability_counter

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: 0 (this will define the stability counter based on the mesh resolution, the higher the resolution, the higher the stability counter)

◆ disparity_std

float disparity_std = 0.3

Control the disparity noise (standard deviation) in px. set a very small value (<0.1) if the depth map of the scene is accurate. set a big value (>0.5) if the depth map is noisy.

◆ decay

float decay = 1

Adjust the weighting factor for the current depth during the integration process. By default, the value is set to 1, which results in the complete integration and fusion of the current depth with the previously integrated depth. Setting it to 0 discards all previous data and solely integrates the current depth.

◆ enable_forget_past

bool enable_forget_past = false

This parameter enables the forgetting of the previous map to limit memory and drift issues. It enables a local spatial mapping that only keeps a mapped scene around the current camera position. The distance threshold is set to be equal to 1.5 x the range of the spatial mapping.

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()

◆ encode()

◆ decode()

◆ operator==()

◆ operator!=()

Variables

◆ resolution_meter

◆ allowed_resolution

◆ range_meter

◆ allowed_range

◆ save_texture

◆ use_chunk_only

◆ max_memory_usage

◆ reverse_vertex_order

◆ map_type

◆ stability_counter

◆ disparity_std

◆ decay

◆ enable_forget_past