Class containing parameters that defines the behavior of sl.Camera.Grab(). More...

Functions
	RuntimeParameters (REFERENCE_FRAME reframe=REFERENCE_FRAME.CAMERA, bool depth=true, int cnf_threshold=95, int txt_cnf_threshold=100, bool removeSaturatedAreas_=true, bool pEnableFillMode=false)
	Default constructor. More...

Attributes
sl.REFERENCE_FRAME	measure3DReferenceFrame
	Reference frame in which to provides the 3D measures (point cloud, normals, etc.). More...

bool	enableDepth
	Defines if the depth map should be computed. More...

bool	enableFillMode
	Defines if the depth map should be completed or not. More...

int	confidenceThreshold
	Threshold to reject depth values based on their confidence. More...

int	textureConfidenceThreshold
	Threshold to reject depth values based on their texture confidence. More...

bool	removeSaturatedAreas
	Defines if the saturated area (luminance>=255) must be removed from depth map estimation. More...

Detailed Description

Class containing parameters that defines the behavior of sl.Camera.Grab().

The default constructor sets all parameters to their default settings.

Note: Parameters can be user-adjusted at runtime.

Constructor and Destructor

◆ RuntimeParameters()

RuntimeParameters	(	REFERENCE_FRAME	reframe = `REFERENCE_FRAME.CAMERA`,
		bool	depth = `true`,
		int	cnf_threshold = `95`,
		int	txt_cnf_threshold = `100`,
		bool	removeSaturatedAreas_ = `true`,
		bool	pEnableFillMode = `false`
	)

inline

Default constructor.

All the parameters are set to their default values.

Variables

◆ measure3DReferenceFrame

sl.REFERENCE_FRAME measure3DReferenceFrame

Reference frame in which to provides the 3D measures (point cloud, normals, etc.).

Default: sl.REFERENCE_FRAME.CAMERA

Referenced by RuntimeParameters.RuntimeParameters().

◆ enableDepth

bool enableDepth

Defines if the depth map should be computed.

Default: true

Note: If set to false, only the images are available.

◆ enableFillMode

bool enableFillMode

Defines if the depth map should be completed or not.

Default: false

Note: It is similar to the removed sl.SENSING_MODE.FILL.

Warning: Enabling this will override the confidence values confidenceThreshold and textureConfidenceThreshold as well as removeSaturatedAreas.

◆ confidenceThreshold

int confidenceThreshold

Threshold to reject depth values based on their confidence.

Each depth pixel has a corresponding confidence sl.MEASURE.CONFIDENCE in the range [1, 100].
Decreasing this value will remove depth data from both objects edges and low textured areas, to keep only confident depth estimation data.
Default: 95

Note: Pixels with a value close to 100 are not to be trusted. Accurate depth pixels tends to be closer to lower values.; It can be seen as a probability of error, scaled to 100.

◆ textureConfidenceThreshold

int textureConfidenceThreshold

Threshold to reject depth values based on their texture confidence.

The texture confidence range is [1, 100].
Decreasing this value will remove depth data from image areas which are uniform.
Default: 100 (no depth pixel will be rejected)

Note: Pixels with a value close to 100 are not to be trusted. Accurate depth pixels tends to be closer to lower values.

Referenced by Camera.GetRuntimeParameters().

◆ removeSaturatedAreas

bool removeSaturatedAreas

Defines if the saturated area (luminance>=255) must be removed from depth map estimation.