Structure containing parameters that defines the behavior of sl_grab(). More...

Data Fields
enum SL_REFERENCE_FRAME	reference_frame
	Reference frame in which to provides the 3D measures (point cloud, normals, etc.). More...

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

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

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

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

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

Detailed Description

Structure containing parameters that defines the behavior of sl_grab().

The default constructor sets all parameters to their default settings.

Note: Parameters can be adjusted by the user.

Field Documentation

◆ reference_frame

enum SL_REFERENCE_FRAME SL_RuntimeParameters::reference_frame

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

Default: SL_REFERENCE_FRAME_CAMERA

◆ enable_depth

bool SL_RuntimeParameters::enable_depth

Defines if the depth map should be computed.

Default: true

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

◆ enable_fill_mode

bool SL_RuntimeParameters::enable_fill_mode

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 confidence_threshold and texture_confidence_threshold as well as remove_saturated_areas.

◆ confidence_threshold

int SL_RuntimeParameters::confidence_threshold

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.

◆ texture_confidence_threshold

int SL_RuntimeParameters::texture_confidence_threshold

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.

◆ remove_saturated_areas

bool SL_RuntimeParameters::remove_saturated_areas

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