RuntimeParameters Struct Reference

Structure containing parameters that defines the behavior of sl::Camera::grab(). More...

Functions
	RuntimeParameters (bool enable_depth_=true, bool enable_fill_mode_=false, int confidence_threshold_=95, int texture_confidence_threshold_=100, REFERENCE_FRAME measure3D_reference_frame_=REFERENCE_FRAME::CAMERA, bool remove_saturated_areas_=true)
	Default constructor. More...
bool	save (String filename, SERIALIZATION_FORMAT format=SERIALIZATION_FORMAT::LEGACY) const
	Saves the current set of parameters into a file to be reloaded with the load() method. More...
bool	load (String filename, SERIALIZATION_FORMAT format=SERIALIZATION_FORMAT::AUTO)
	Loads a set of parameters from the values contained in a previously saved file. More...
bool	encode (String &serialized_content, SERIALIZATION_FORMAT format=SERIALIZATION_FORMAT::JSON) const
	Generate a JSON Object (with the struct type as a key) containing the serialized struct, converted into a string. More...
bool	decode (const String &serialized_content, SERIALIZATION_FORMAT format=SERIALIZATION_FORMAT::JSON)
	Fill the structure from the serialized json object contained in the input string. More...
bool	operator== (const RuntimeParameters &param1) const
bool	operator!= (const RuntimeParameters &param1) const

Attributes
REFERENCE_FRAME	measure3D_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 = false
	Defines if the depth map should be completed or not. More...
int	confidence_threshold = 95
	Threshold to reject depth values based on their confidence. More...
int	texture_confidence_threshold = 100
	Threshold to reject depth values based on their texture confidence. More...
bool	remove_saturated_areas = true
	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::Camera::grab().

The default constructor sets all parameters to their default settings.

Note

Parameters can be adjusted by the user.

Constructor and Destructor

RuntimeParameters()

RuntimeParameters	(	bool	enable_depth_ = true,
		bool	enable_fill_mode_ = false,
		int	confidence_threshold_ = 95,
		int	texture_confidence_threshold_ = 100,
		REFERENCE_FRAME	measure3D_reference_frame_ = REFERENCE_FRAME::CAMERA,
		bool	remove_saturated_areas_ = true
	)

Default constructor.

All the parameters are set to their default values.

Functions

save()

bool save	(	String	filename,
		SERIALIZATION_FORMAT	format = SERIALIZATION_FORMAT::LEGACY
	)		const

Saves the current set of parameters into a file to be reloaded with the load() method.

Parameters

filename

: 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 reasons, the file must not already exist.

In case a file already exists, the method will return false and existing file will not be updated.

load()

bool load	(	String	filename,
		SERIALIZATION_FORMAT	format = SERIALIZATION_FORMAT::AUTO
	)

Loads a set of parameters from the values contained in a previously saved file.

Parameters

filename

: 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.

encode()

bool encode	(	String &	serialized_content,
		SERIALIZATION_FORMAT	format = SERIALIZATION_FORMAT::JSON
	)		const

Generate a JSON Object (with the struct type as a key) containing the serialized struct, converted into a string.

Parameters

serialized_content	output string containing the JSON Object
format	serialization format, default is JSON

Returns

True if file was successfully saved, otherwise false.

decode()

bool decode	(	const String &	serialized_content,
		SERIALIZATION_FORMAT	format = SERIALIZATION_FORMAT::JSON
	)

Fill the structure from the serialized json object contained in the input string.

Parameters

serialized_content	input string containing the JSON Object
format	serialization format, default is JSON

Returns

True if the decoding was successful, 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

measure3D_reference_frame

REFERENCE_FRAME measure3D_reference_frame

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

Default: sl::REFERENCE_FRAME::CAMERA

enable_depth

bool 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 enable_fill_mode = false

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 confidence_threshold = 95

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 texture_confidence_threshold = 100

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 remove_saturated_areas = true

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

Default: true

Note

It is recommended to keep this parameter at true because saturated area can create false detection.