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, 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 | 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... | |
def | remove_saturated_areas (self) |
Defines if the saturated area (Luminance>=255) must be removed from depth map estimationd. More... | |
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.
def __cinit__ | ( | self, | |
sensing_mode = SENSING_MODE.STANDARD , |
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enable_depth = True , |
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confidence_threshold = 100 , |
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texture_confidence_threshold = 100 , |
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measure3D_reference_frame = REFERENCE_FRAME.CAMERA , |
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remove_saturated_areas = True |
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) |
Constructor.
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 |
def save | ( | self, | |
str | filename | ||
) |
Saves the current set of parameters into a file.
filename | : the path to the file in which the parameters will be stored. |
def load | ( | self, | |
str | filename | ||
) |
Loads the values of the parameters contained in a file.
filename | : the path to the file from which the parameters will be loaded. |
def sensing_mode | ( | self | ) |
Defines the algorithm used for depth map computation, more info : SENSING_MODE definition.
default : SENSING_MODE.STANDARD
def enable_depth | ( | self | ) |
Defines if the depth map should be computed.
If false, only the images are available. default : True
def measure3D_reference_frame | ( | self | ) |
Provides 3D measures (point cloud and normals) in the desired reference frame.
default : REFERENCE_FRAME.CAMERA
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.
def textureness_confidence_threshold | ( | self | ) |
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.
def remove_saturated_areas | ( | self | ) |
Defines if the saturated area (Luminance>=255) must be removed from depth map estimationd.
default : True