SpatialMappingParameters Class Reference

Sets the spatial mapping parameters. More...

Functions
def	__cinit__ (self, resolution=MAPPING_RESOLUTION.MEDIUM, mapping_range=MAPPING_RANGE.AUTO, max_memory_usage=2048, save_texture=False, use_chunk_only=False, reverse_vertex_order=False, map_type=SPATIAL_MAP_TYPE.MESH)
	Constructor. More...
def	set_resolution (self, resolution=MAPPING_RESOLUTION.HIGH)
	Sets the resolution corresponding to the given MAPPING_RESOLUTION preset. More...
def	set_range (self, mapping_range=MAPPING_RANGE.AUTO)
	Sets the range corresponding to the given MAPPING_RANGE preset. More...
def	get_range_preset (self, mapping_range=MAPPING_RANGE.AUTO)
	Returns the maximum value of depth corresponding to the given MAPPING_RANGE presets. More...
def	get_resolution_preset (self, resolution=MAPPING_RESOLUTION.HIGH)
	Returns the resolution corresponding to the given MAPPING_RESOLUTION preset. More...
def	get_recommended_range (self, resolution, Camera py_cam)
	Returns the recommended maximum depth value for the given resolution. More...
def	map_type (self)
	The type of spatial map to be created. More...
def	max_memory_usage (self)
	The maximum CPU memory (in mega bytes) allocated for the meshing process.
def	save_texture (self)
	Set to true if you want to be able to apply the texture to your mesh after its creation. More...
def	use_chunk_only (self)
	Set to false if you want to ensure consistency between the mesh and its inner chunk data. More...
def	reverse_vertex_order (self)
	Specify if the order of the vertices of the triangles needs to be inverted. More...
def	allowed_range (self)
	Gets the range of the minimal/maximal depth value allowed by the spatial mapping in a numpy array. More...
def	range_meter (self)
	Depth range in meters. More...
def	allowed_resolution (self)
	Gets the range of the maximal depth value allowed by the spatial mapping in a numpy array. More...
def	resolution_meter (self)
	Spatial mapping resolution in meters, should fit allowed_resolution.
def	save (self, str filename)
	Saves the current set of parameters into a file. More...
def	load (self, str filename)
	Loads the values of the parameters contained in a file. 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.

Functions

__cinit__()

def __cinit__	(		self,
			resolution = MAPPING_RESOLUTION.MEDIUM,
			mapping_range = MAPPING_RANGE.AUTO,
			max_memory_usage = 2048,
			save_texture = False,
			use_chunk_only = False,
			reverse_vertex_order = False,
			map_type = SPATIAL_MAP_TYPE.MESH
	)

Constructor.

Parameters

resolution	: the chosen MAPPING_RESOLUTION
mapping_range	: the chosen MAPPING_RANGE
max_memory_usage	: the chosen max_memory_usage
save_texture	: activates save_texture
use_chunk_only	: activates use_chunk_only
reverse_vertex_order	: activates reverse_vertex_order
map_type	: the chosen map_type

params = sl.SpatialMappingParameters(resolution=MAPPING_RESOLUTION.HIGH)

set_resolution()

def set_resolution	(		self,
			resolution = MAPPING_RESOLUTION.HIGH
	)

Sets the resolution corresponding to the given MAPPING_RESOLUTION preset.

Parameters

resolution

: the desired MAPPING_RESOLUTION. default : MAPPING_RESOLUTION.HIGH.

set_range()

def set_range	(		self,
			mapping_range = MAPPING_RANGE.AUTO
	)

Sets the range corresponding to the given MAPPING_RANGE preset.

Parameters

mapping_range

: the desired MAPPING_RANGE . default : MAPPING_RANGE.AUTO

get_range_preset()

def get_range_preset	(		self,
			mapping_range = MAPPING_RANGE.AUTO
	)

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

Parameters

range

: the desired MAPPING_RANGE . default : MAPPING_RANGE.AUTO

Returns

The maximum value of depth.

get_resolution_preset()

def get_resolution_preset	(		self,
			resolution = MAPPING_RESOLUTION.HIGH
	)

Returns the resolution corresponding to the given MAPPING_RESOLUTION preset.

Parameters

resolution

: the desired MAPPING_RESOLUTION . default : MAPPING_RESOLUTION.HIGH

Returns

The resolution in meter

get_recommended_range()

def get_recommended_range	(		self,
			resolution,
		Camera	py_cam
	)

Returns the recommended maximum depth value for the given resolution.

Parameters

resolution	: the desired resolution, either defined by a MAPPING_RESOLUTION preset or a resolution value in meters
py_cam	: the Camera object which will run the spatial mapping.

Returns

The maximum value of depth in meters.

map_type()

def map_type

(

self

)

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

save_texture()

def save_texture

(

self

)

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()

def use_chunk_only

(

self

)

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.

reverse_vertex_order()

def reverse_vertex_order

(

self

)

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 set it right.

Note

This option is only available for SPATIAL_MAP_TYPE.MESH

allowed_range()

def allowed_range

(

self

)

Gets the range of the minimal/maximal depth value allowed by the spatial mapping in a numpy array.

The first value of the array is the minimum value allowed. The second value of the array is the maximum value allowed.

range_meter()

def range_meter

(

self

)

Depth range in meters.

Can be different from the value set by Camera.set_depth_max_range_value() 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. Deprecated : Since SDK 2.6, we recommend leaving this to 0.

allowed_resolution()

def allowed_resolution

(

self

)

Gets the range of the maximal depth value allowed by the spatial mapping in a numpy array.

The first value of the array is the minimum value allowed. The second value of the array is the maximum value allowed.

save()

def save	(		self,
		str	filename
	)

Saves the current set of parameters into a file.

Parameters

filename

: the path to the file in which the parameters will be stored.

Returns

true if the file was successfully saved, otherwise false.

load()

def load	(		self,
		str	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, otherwise false.