RuntimeParameters Class Reference

Parameters that define the behavior of the Camera.grab. More...

Functions
def	__cinit__ (self, enable_depth=True, enable_fill_mode=False, confidence_threshold=100, texture_confidence_threshold=100, measure3D_reference_frame=REFERENCE_FRAME.CAMERA, remove_saturated_areas=True)
	Constructor. More...
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...
def	enable_depth (self)
	Defines if the depth map should be computed. More...
def	enable_fill_mode (self)
	Defines if the depth map should be completed or not, similar to the removed SENSING_MODE::FILL Enabling this will override the confidence values confidence_threshold and texture_confidence_threshold as well as remove_saturated_areas.
def	measure3D_reference_frame (self)
	Provides 3D measures (point cloud and normals) in the desired reference frame. More...
def	confidence_threshold (self)
	Threshold to reject depth values based on their confidence. More...
def	texture_confidence_threshold (self)
	Threshold to reject depth values based on their texture confidence. More...
def	remove_saturated_areas (self)
	Defines if the saturated area (Luminance>=255) must be removed from depth map estimationd. More...

Detailed Description

Parameters that define the behavior of the Camera.grab.

Default values are enabled. You can customize it to fit your application and then save it to create a preset that can be loaded for further executions.

Functions

__cinit__()

def __cinit__	(		self,
			enable_depth = True,
			enable_fill_mode = False,
			confidence_threshold = 100,
			texture_confidence_threshold = 100,
			measure3D_reference_frame = REFERENCE_FRAME.CAMERA,
			remove_saturated_areas = True
	)

Constructor.

Parameters

enable_depth	: activates enable_depth
confidence_threshold	: chosen confidence_threshold
texture_confidence_threshold	: chosen texture_confidence_threshold
measure3D_reference_frame	: chosen measure3D_reference_frame

params = sl.RuntimeParameters(enable_depth=True)

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.

enable_depth()

def enable_depth

(

self

)

Defines if the depth map should be computed.

If false, only the images are available. default : True

measure3D_reference_frame()

def measure3D_reference_frame

(

self

)

Provides 3D measures (point cloud and normals) in the desired reference frame.

default : REFERENCE_FRAME.CAMERA

confidence_threshold()

def confidence_threshold

(

self

)

Threshold to reject depth values based on their confidence.

Each depth pixel has a corresponding confidence. (MEASURE.CONFIDENCE) A lower value means more confidence and precision (but less density). An upper value reduces filtering (more density, less certainty).
- setConfidenceThreshold(100) will allow values from 0 to 100. (no filtering)
- setConfidenceThreshold(90) will allow values from 10 to 100. (filtering lowest confidence values)
- setConfidenceThreshold(30) will allow values from 70 to 100. (keeping highest confidence values and lowering the density of the depth map) The value should be in [1,100].
By default, the confidence threshold is set at 100, meaning that no depth pixel will be rejected.

texture_confidence_threshold()

def texture_confidence_threshold

(

self

)

Threshold to reject depth values based on their texture confidence.

A lower value means more confidence and precision (but less density). An upper value reduces filtering (more density, less certainty). The value should be in [1,100]. By default, the confidence threshold is set at 100, meaning that no depth pixel will be rejected.

remove_saturated_areas()

def remove_saturated_areas

(

self

)

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

default : True