Spatial Mapping Module

Classes
class	SpatialMappingParameters
	Sets the spatial mapping parameters. More...
class	Mesh
	A mesh contains the geometric (and optionally texture) data of the scene captured by spatial mapping. More...
struct	Chunk
	Represents a sub-mesh, it contains local vertices and triangles. More...

Enumerations
enum class	MAPPING_RESOLUTION
	Spatial mapping depth resolution presets. More...
enum class	MAPPING_RANGE
	Spatial mapping depth range presets. More...
enum class	SPATIAL_MAP_TYPE
	Spatial Mapping type (default is mesh) More...
enum class	MESH_FILE_FORMAT
	Mesh formats that can be saved/loaded with spatial mapping. More...
enum class	MESH_FILTER
	Presets for filtering meshes scannedw ith spatial mapping. Higher values reduce total face count by more. More...
enum class	SPATIAL_MAPPING_STATE
	Possible states of the ZED's Spatial Mapping system. More...
enum class	PLANE_TYPE
	Type of the plane, determined by its orientation and whether detected by ZEDPlaneDetectionManager's DetectFloorPlane() or DetectPlaneAtHit(). 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

MAPPING_RESOLUTION

enum MAPPING_RESOLUTION

strong

Spatial mapping depth resolution presets.

Enumerator
HIGH	Create detailed geometry. Requires lots of memory.
MEDIUM	Small variations in the geometry will disappear. Useful for large objects.
LOW	Keeps only large variations of the geometry. Useful for outdoors.

MAPPING_RANGE

enum MAPPING_RANGE

strong

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

Spatial Mapping type (default is mesh)

m

Enumerator
MESH	Represent 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.

MESH_FILE_FORMAT

enum MESH_FILE_FORMAT

strong

Mesh formats that can be saved/loaded with spatial mapping.

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

Presets for filtering meshes scannedw ith spatial mapping. Higher values reduce total face count by more.

Enumerator
LOW	Soft decimation and smoothing.
MEDIUM	Decimate the number of faces and apply a soft smooth.
HIGH	Drastically reduce the number of faces.

SPATIAL_MAPPING_STATE

enum SPATIAL_MAPPING_STATE

strong

Possible states of the ZED's Spatial Mapping system.

Enumerator
INITIALIZING	Spatial mapping is initializing.
OK	Depth and tracking data were correctly integrated into the fusion algorithm.
NOT_ENOUGH_MEMORY	Maximum memory dedicated to scanning has been reached; the mesh will no longer be updated.
NOT_ENABLED	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 performance-friendly parameters (DEPTH_MODE_PERFORMANCE, VGA or HD720 camera resolution, and LOW spatial mapping resolution).

PLANE_TYPE

enum PLANE_TYPE

strong

Type of the plane, determined by its orientation and whether detected by ZEDPlaneDetectionManager's DetectFloorPlane() or DetectPlaneAtHit().

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