RuntimeParameters Class Reference

Parameters that defines the behavior of the grab. More...

Functions
	RuntimeParameters (SENSING_MODE sensing_mode_=SENSING_MODE::STANDARD, bool enable_depth_=true, int confidence_threshold_=100, int texture_confidence_threshold_=100, REFERENCE_FRAME measure3D_reference_frame_=REFERENCE_FRAME::CAMERA, bool remove_saturated_areas_=true)
	Default constructor, set all parameters to their default and optimized values. More...
bool	save (String filename)
	Saves the current set of parameters into a file. More...
bool	load (String filename)
	Loads the values of the parameters contained in a file. More...
bool	operator== (const RuntimeParameters &param1) const
bool	operator!= (const RuntimeParameters &param1) const

Attributes
SENSING_MODE	sensing_mode
REFERENCE_FRAME	measure3D_reference_frame
bool	enable_depth
int	confidence_threshold = 100
int	texture_confidence_threshold = 100
bool	remove_saturated_areas = true

Detailed Description

Parameters that defines the behavior of the 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.

Constructor and Destructor

RuntimeParameters()

RuntimeParameters	(	SENSING_MODE	sensing_mode_ = SENSING_MODE::STANDARD,
		bool	enable_depth_ = true,
		int	confidence_threshold_ = 100,
		int	texture_confidence_threshold_ = 100,
		REFERENCE_FRAME	measure3D_reference_frame_ = REFERENCE_FRAME::CAMERA,
		bool	remove_saturated_areas_ = true
	)

Default constructor, set all parameters to their default and optimized values.

Functions

save()

bool save

(

String

filename

)

Saves the current set of parameters into a file.

Parameters

filename

: the name of the file which will be created to store the parameters (extension '.yml' will be added if not set).

Returns

true if the file was successfully saved, otherwise false.

Warning

For security reason, the file must not exist. In case a file already exists, Function will return false and existing file will not be updated.

load()

bool load

(

String

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. (extension '.yml' will be added at the end of the filename if not detected).

Returns

true if the file was successfully loaded, otherwise false.

operator==()

bool operator==

(

const RuntimeParameters &

param1

)

const

Comparison operator ==

Parameters

RuntimeParameters

to compare

Returns

true if the two struct are identical

operator!=()

bool operator!=

(

const RuntimeParameters &

param1

)

const

Comparison operator !=

Parameters

RuntimeParameters

to compare

Returns

true if the two struct are different

Variables

sensing_mode

SENSING_MODE sensing_mode

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

measure3D_reference_frame

REFERENCE_FRAME measure3D_reference_frame

Provides 3D measures (point cloud and normals) in the desired reference frame (default is REFERENCE_FRAME::CAMERA)
default : REFERENCE_FRAME::CAMERA

enable_depth

bool enable_depth

Defines if the depth map should be computed.
If false, only the images are available.
default : true

confidence_threshold

int confidence_threshold = 100

Threshold to reject depth values based on their confidence.
Each depth pixel has a corresponding confidence. (MEASURE::CONFIDENCE), the confidence range is [1,100].
By default, the confidence threshold is set at 100, meaning that no depth pixel will be rejected.
Decreasing this value will remove depth data from both objects edges and low textured areas, to keep only confident depth estimation data. 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.

texture_confidence_threshold

int texture_confidence_threshold = 100

Threshold to reject depth values based on their texture confidence.
The texture confidence range is [1,100].
By default, the texture confidence threshold is set at 100, meaning that no depth pixel will be rejected.
Decreasing this value will remove depth data from image areas which are uniform. Pixels with a value close to 100 are not to be trusted. Accurate depth pixels tends to be closer to lower values.

remove_saturated_areas

bool remove_saturated_areas = true

Defines if the saturated area (Luminance>=255) must be removed from depth map estimation
True by default
It is recommended to keep this parameter at true because saturated area can create false detection.