RuntimeParameters Class Reference

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

Functions

def __cinit__ (self, sensing_mode=SENSING_MODE.STANDARD, enable_depth=True, confidence_threshold=100, texture_confidence_threshold=100, measure3D_reference_frame=REFERENCE_FRAME.CAMERA)
 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 sensing_mode (self)
 Defines the algorithm used for depth map computation, more info : SENSING_MODE definition. More...
 
def enable_depth (self)
 Defines if the depth map should be computed. More...
 
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 textureness_confidence_threshold (self)
 
def texture_confidence_threshold (self)
 Threshold to reject depth values based on their texture confidence. 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,
  sensing_mode = SENSING_MODE.STANDARD,
  enable_depth = True,
  confidence_threshold = 100,
  texture_confidence_threshold = 100,
  measure3D_reference_frame = REFERENCE_FRAME.CAMERA 
)

Constructor.

 

Parameters
sensing_mode: chosen sensing_mode  
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(sensing_mode=SENSING_MODE.STANDARD, 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.

◆ sensing_mode()

def sensing_mode (   self)

Defines the algorithm used for depth map computation, more info : SENSING_MODE definition.

 default : SENSING_MODE.STANDARD

◆ 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.

◆ textureness_confidence_threshold()

def textureness_confidence_threshold (   self)
Deprecated:
Use texture_confidence_threshold instead

◆ 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.