Processing that can be done. More...

#include <processing_config.hpp>

Inheritance diagram for chronoptics::tof::ProcessingConfig:

Public Member Functions
	ProcessingConfig (tof_processing_config_t ptr)
	Construct from pointer.

	ProcessingConfig ()
	Create default processing config.

	ProcessingConfig (StringView file_location)
	Load processing config from disk.

void	write (StringView file_location) const
	Write processing config to disk.

bool	get_gpu () const
	Get whether processing on the gpu is enabled.

void	set_gpu (bool gpu)
	Set whether processing on the gpu is enabled.

float	get_speed_of_light () const
	Get the speed of light.

void	set_speed_of_light (float c)
	Set the speed of light.

bool	get_calibration_enabled () const
	Get whether the calibration is applied.

void	set_calibration_enabled (bool enabled)
	Set whether the calibration is applied.

bool	get_phase_unwrapping_enabled () const
	Get whether phase unwrapping is enabled.

void	set_phase_unwrapping_enabled (bool enabled)
	Set whether phase unwrapping is enabled.

double	get_phase_unwrapping_max_offset () const
	Get The maximum distance between ideal location and actual.

void	set_phase_unwrapping_max_offset (double max_offset)
	Set The maximum distance between ideal location and actual.

bool	get_basic_phase_unwrapping_enabled () const
	Get whether basic phase unwrapping is enabled.

void	set_basic_phase_unwrapping_enabled (bool enabled)
	Set whether basic phase unwrapping is enabled.

double	get_basic_phase_unwrapping_max_offset () const
	Get the max radial offset between the two modulation frequencies.

void	set_basic_phase_unwrapping_max_offset (double offset)
	Set the max radial offset between the two modulation frequencies.

bool	get_mpi_detect_enabled () const
	Get wether mpi detect is enabled.

void	set_mpi_detect_enabled (bool enabled)
	Set wether mpi detect is enabled.

float	get_mpi_detect_aratio () const
	Get The amplitude ratio value.

void	set_mpi_detect_aratio (float aratio)
	Set The amplitude ratio value.

float	get_mpi_detect_phi_diff () const
	Get the phase difference ratio.

void	set_mpi_detect_phi_diff (float phi_diff)
	Set the phase difference ratio.

bool	get_mixed_pixel_enabled () const
	Get wether mixed pixel is enabled.

void	set_mixed_pixel_enabled (bool enabled)
	Set wether mixed pixel is enabled.

const char *	get_mixed_pixel_lut_file () const
	Get location of the mixed pixel look up table file.

void	set_mixed_pixel_lut_file (StringView file_location)
	Set location of the mixed pixel look up table file.

double	get_mixed_pixel_amp_min () const
	Get minimum amplitude that pixel needs to have to apply mixed pixel to it.

void	set_mixed_pixel_amp_min (double amp_min)
	Set minimum amplitude that pixel needs to have to apply mixed pixel to it.

MpSortMode	get_mixed_pixel_sort_mode () const
	Get what output is selected.

void	set_mixed_pixel_sort_mode (MpSortMode sort_mode)
	Set what output is selected.

double	get_mixed_pixel_aratio () const
	Get the amplitude ratio for detecting MPI.

void	set_mixed_pixel_aratio (double aratio)
	Set the amplitude ratio for detecting MPI.

double	get_mixed_pixel_phi_diff () const
	Get the phase difference for detecting MPI.

void	set_mixed_pixel_phi_diff (double phi_diff)
	Set the phase difference for detecting MPI.

double	get_mixed_pixel_aggressor_threshold () const
	Get the threshold to classify a pixel as an aggressor.

void	set_mixed_pixel_aggressor_threshold (double threshold)
	Set the threshold to classify a pixel as an aggressor.

int32_t	get_mixed_pixel_min_aggressor_size () const
	Get the minimum amount of bright pixels before a bright spot is classified as an aggressor.

void	set_mixed_pixel_min_aggressor_size (int32_t size)
	Set the minimum amount of bright pixels before a bright spot is classified as an aggressor.

double	get_mixed_pixel_max_error_3f () const
	Get the maximum error when using three modulation frequencies.

void	set_mixed_pixel_max_error_3f (double max_error_3f)
	Set the maximum error when using three modulation frequencies.

double	get_mixed_pixel_adaptive_amp_max () const
	Get the maximum amplitude for adaptive sorting.

void	set_mixed_pixel_adaptive_amp_max (double adaptive_amp_max)
	Set the maximum amplitude for adaptive sorting.

double	get_mixed_pixel_adaptive_amp_min () const
	Get the minimum amplitude for adaptive sorting.

void	set_mixed_pixel_adaptive_amp_min (double adaptive_amp_min)
	Set the minimum amplitude for adaptive sorting.

double	get_mixed_pixel_aratio_min () const
	Get the minimum return amplitude ratio for adaptive sorting.

void	set_mixed_pixel_aratio_min (double aratio_min)
	Set the minimum return amplitude ratio for adaptive sorting.

double	get_mixed_pixel_aggressor_phi_offset () const
	Get The maximum phase difference before a return is not classified as aggressor.

void	set_mixed_pixel_aggressor_phi_offset (double aggressor_phi_offset)
	Set The maximum phase difference before a return is not classified as aggressor.

bool	get_hdr_enabled () const
	Get whether hdr is enabled.

void	set_hdr_enabled (bool enabled)
	Set whether hdr is enabled.

bool	get_average_enabled () const
	Get whether averaging is enabled.

void	set_average_enabled (bool enabled)
	Set whether averaging is enabled.

size_t	get_average_nframes () const
	Get the number of frames to average together.

void	set_average_nframes (size_t nframes)
	Set the number of frames to average together.

bool	get_temporal_enabled () const
	Get whether the temporal filter is enabled.

void	set_temporal_enabled (bool enabled)
	Set whether the temporal filter is enabled.

double	get_temporal_sigma () const
	Get the number of standard deviations before resetting the running average.

void	set_temporal_sigma (double sigma)
	Set the number of standard deviations before resetting the running average.

bool	get_temporal_use_common () const
	Get whether to use common data or amplitude data to determine noisiness of signal.

void	set_temporal_use_common (bool use_common)
	Set whether to use common data or amplitude data to determine noisiness of signal.

size_t	get_temporal_nframes () const
	Get the maximum number of frames to average together.

void	set_temporal_nframes (size_t nframes)
	Set the maximum number of frames to average together.

bool	get_gaussian_enabled () const
	Get whether the gaussian blur is enabled.

void	set_gaussian_enabled (bool enabled)
	Set whether the gaussian blur is enabled.

size_t	get_gaussian_size () const
	Get the gaussian region size.

void	set_gaussian_size (size_t size)
	Set the gaussian region size.

double	get_gaussian_sigma () const
	Get the gaussian sigma.

void	set_gaussian_sigma (double sigma)
	Set the gaussian sigma.

bool	get_median_enabled () const
	Get whether the median filter is enabled.

void	set_median_enabled (bool enabled)
	Set whether the median filter is enabled.

size_t	get_median_size () const
	Get the median region size.

void	set_median_size (size_t size)
	Set the median region size.

bool	get_bilateral_enabled () const
	Get whether the bilateral filter is enabled.

void	set_bilateral_enabled (bool enabled)
	Set whether the bilateral filter is enabled.

size_t	get_bilateral_size () const
	Get the bilateral region size.

void	set_bilateral_size (size_t size)
	Set the bilateral region size.

double	get_bilateral_sigma () const
	Get the bilateral standard deviation.

void	set_bilateral_sigma (double sigma)
	Set the bilateral standard deviation.

bool	get_local_means_enabled () const
	Get Whether the local means filter is enabled.

void	set_local_means_enabled (bool enabled)
	Set Whether the local means filter is enabled.

size_t	get_local_means_size () const
	Get The local means region size.

void	set_local_means_size (size_t size)
	Set The local means region size.

double	get_local_means_sigma () const
	Get The local means standard deviation for how close values are.

void	set_local_means_sigma (double sigma)
	Set The local means standard deviation for how close values are.

bool	get_flying_enabled () const
	Get whether flying pixel filter is enabled.

void	set_flying_enabled (bool enabled)
	Set whether flying pixel filter is enabled.

FlyingShape	get_flying_shape () const
	Get the shape of which surrounding pixels are checked.

void	set_flying_shape (FlyingShape shape)
	Set the shape of which surrounding pixels are checked.

size_t	get_flying_distance () const
	Get the maximum distance allowed between surrounding pixels.

void	set_flying_distance (size_t distance)
	Set the maximum distance allowed between surrounding pixels.

size_t	get_flying_edges () const
	Get the number of edges allowed to be larger than maximum distance.

void	set_flying_edges (size_t edges)
	Set the number of edges allowed to be larger than maximum distance.

float	get_flying_distance_scaled () const
	Get another distance threshold which is scaled by the radial distance.

void	set_flying_distance_scaled (float scale)
	Set another distance threshold which is scaled by the radial distance.

bool	get_amp_threshold_enabled () const
	Get whether the amplitude threshold filter is enabled.

void	set_amp_threshold_enabled (bool enabled)
	Set whether the amplitude threshold filter is enabled.

double	get_amp_threshold_min () const
	Get the minimum amplitude allowed.

void	set_amp_threshold_min (double min)
	Set the minimum amplitude allowed.

double	get_amp_threshold_max () const
	Get the maximum amplitude allowed.

void	set_amp_threshold_max (double max)
	Set the maximum amplitude allowed.

bool	get_dist_threshold_enabled () const
	Get whether the distance threshold filter is enabled.

void	set_dist_threshold_enabled (bool enabled)
	Set whether the distance threshold filter is enabled.

double	get_dist_threshold_min () const
	Get the minimum distance allowed.

void	set_dist_threshold_min (double min)
	Set the minimum distance allowed.

double	get_dist_threshold_max () const
	Get the maximum distance allowed.

void	set_dist_threshold_max (double max)
	Set the maximum distance allowed.

bool	get_amp_dot_segment_enabled () const
	Get whether the amplitude dot segmentation filter is enabled.

void	set_amp_dot_segment_enabled (bool enabled)
	Set whether the amplitude dot segmentation filter is enabled.

float	get_amp_dot_segment_threshold () const
	Get the minimum corrected amplitude that is allowed.

void	set_amp_dot_segment_threshold (float threshold)
	Set the minimum corrected amplitude that is allowed.

float	get_amp_dot_segment_midpoint () const
	Get the distance after which amplitude is increased instead of decreased.

void	set_amp_dot_segment_midpoint (float midpoint)
	Set the distance after which amplitude is increased instead of decreased.

float	get_amp_dot_segment_max_correction () const
	Get the maximum amount of correction that can be performed on the distance component.

void	set_amp_dot_segment_max_correction (float correction)
	Set the maximum amount of correction that can be performed on the distance component.

bool	get_common_amp_ratio_enabled () const
	Get whether the common amplitude ratio threshold filter is enabled.

void	set_common_amp_ratio_enabled (bool enabled)
	Set whether the common amplitude ratio threshold filter is enabled.

float	get_common_amp_ratio_threshold () const
	Get the maximum allowed ratio.

void	set_common_amp_ratio_threshold (float threshold)
	Set the maximum allowed ratio.

bool	get_morph_erode_enabled () const
	Get whether the morph erode filter is enabled.

void	set_morph_erode_enabled (bool enabled)
	Set whether the morph erode filter is enabled.

FlyingShape	get_morph_erode_shape () const
	Get the shape of the neighboring pixels.

void	set_morph_erode_shape (FlyingShape shape)
	Set the shape of the neighboring pixels.

float	get_radial_scale () const
	Get how much to scale the radial value by.

void	set_radial_scale (float scale)
	Set how much to scale the radial value by.

float	get_radial_add () const
	Get how much to add to the radial value.

void	set_radial_add (float addition)
	Set how much to add to the radial value.

float	get_intensity_scale () const
	Get how much to scale the intensity value by.

void	set_intensity_scale (float scale)
	Set how much to scale the intensity value by.

float	get_intensity_add () const
	Get how much to add to the intensity value.

void	set_intensity_add (float addition)
	Set how much to add to the intensity value.

double	get_char_add () const
	Get the characterization addition component.

void	set_char_add (double addition)
	Set the characterization addition component.

double	get_char_mult () const
	Get the characterization multiplication component.

void	set_char_mult (double multiplication)
	Set the characterization multiplication component.

bool	get_binning_enabled () const
	Get whether software binning is enabled.

void	set_binning_enabled (bool enabled)
	Set whether software binning is enabled.

size_t	get_binning_size () const
	Get the size of the area to bin, 2 would bin a 2x2 area.

void	set_binning_size (size_t size)
	Set the size of the area to bin, 2 would bin a 2x2 area.

BinningMode	get_binning_mode () const
	Get the binning mode to use.

void	set_binning_mode (BinningMode mode)
	Set the binning mode to use.

float	get_binning_sigma () const
	Get The maximum standard deviation to use, only used in the smart binning mode.

void	set_binning_sigma (float sigma)
	Set The maximum standard deviation to use, only used in the smart binning mode.

XyzDimension	get_xyz_dimension () const
	Get the dimension of the xyz output.

void	set_xyz_dimension (XyzDimension dimension)
	Set the dimension of the xyz output.

bool	get_rigid_transformation_enabled () const
	Get whether rigid transformation is enabled.

void	set_rigid_transformation_enabled (bool enabled)
	Set whether rigid transformation is enabled.

std::array< float, 16 >	get_rigid_transformation_matrix () const
	Get the rigid transformation 4x4 matrix.

void	set_rigid_transformation_matrix (const std::array< float, 16 > &matrix)
	Set the rigid transformation 4x4 matrix.

bool	get_rad_dist_threshold_enabled () const
	Get the radial distance threshold.

void	set_rad_dist_threshold_enabled (bool enabled)
	Set the radial distance threshold.

double	get_rad_dist_threshold_min () const
	Get the minimum radial distance.

void	set_rad_dist_threshold_min (double min)
	Set the minimum radial distance.

double	get_rad_dist_threshold_max () const
	Get the maximum radial distance.

void	set_rad_dist_threshold_max (double max)
	Set the maximum radial distance.

Detailed Description

Processing that can be done.

Definition at line 47 of file processing_config.hpp.

Constructor & Destructor Documentation

◆ ProcessingConfig() [1/3]

chronoptics::tof::ProcessingConfig::ProcessingConfig ( tof_processing_config_t ptr )

inline

Construct from pointer.

Definition at line 50 of file processing_config.hpp.

◆ ProcessingConfig() [2/3]

chronoptics::tof::ProcessingConfig::ProcessingConfig ( )

inline

Create default processing config.

Definition at line 56 of file processing_config.hpp.

◆ ProcessingConfig() [3/3]

chronoptics::tof::ProcessingConfig::ProcessingConfig ( StringView file_location )

inline

Load processing config from disk.

Parameters

file_location Location of processing config

Definition at line 61 of file processing_config.hpp.

Member Function Documentation

◆ get_amp_dot_segment_enabled()

bool chronoptics::tof::ProcessingConfig::get_amp_dot_segment_enabled ( ) const

inline

Get whether the amplitude dot segmentation filter is enabled.

This filter is designed to filter out everything but the dots in cameras with dot illumination. It has also proved effective at removing shadowing effects in kea

Returns: Enabled

Definition at line 840 of file processing_config.hpp.

◆ get_amp_dot_segment_max_correction()

float chronoptics::tof::ProcessingConfig::get_amp_dot_segment_max_correction ( ) const

inline

Get the maximum amount of correction that can be performed on the distance component.

Returns: Max radial correction

Definition at line 886 of file processing_config.hpp.

◆ get_amp_dot_segment_midpoint()

float chronoptics::tof::ProcessingConfig::get_amp_dot_segment_midpoint ( ) const

inline

Get the distance after which amplitude is increased instead of decreased.

Returns: Radial midpoint

Definition at line 871 of file processing_config.hpp.

◆ get_amp_dot_segment_threshold()

float chronoptics::tof::ProcessingConfig::get_amp_dot_segment_threshold ( ) const

inline

Get the minimum corrected amplitude that is allowed.

Returns: Amplitude threshold

Definition at line 857 of file processing_config.hpp.

◆ get_amp_threshold_enabled()

bool chronoptics::tof::ProcessingConfig::get_amp_threshold_enabled ( ) const

inline

Get whether the amplitude threshold filter is enabled.

This filter filters out pixels outside of the specified values

Returns: Enabled

Definition at line 750 of file processing_config.hpp.

◆ get_amp_threshold_max()

double chronoptics::tof::ProcessingConfig::get_amp_threshold_max ( ) const

inline

Get the maximum amplitude allowed.

Returns: Maximum value

Definition at line 779 of file processing_config.hpp.

◆ get_amp_threshold_min()

double chronoptics::tof::ProcessingConfig::get_amp_threshold_min ( ) const

inline

Get the minimum amplitude allowed.

Returns: Minimum value

Definition at line 765 of file processing_config.hpp.

◆ get_average_enabled()

bool chronoptics::tof::ProcessingConfig::get_average_enabled ( ) const

inline

Get whether averaging is enabled.

The average process allows you to average multiple frames together at the cost of frame rate

Returns: Enabled

Definition at line 424 of file processing_config.hpp.

◆ get_average_nframes()

size_t chronoptics::tof::ProcessingConfig::get_average_nframes ( ) const

inline

Get the number of frames to average together.

Returns: Number of frames

Definition at line 439 of file processing_config.hpp.

◆ get_basic_phase_unwrapping_enabled()

bool chronoptics::tof::ProcessingConfig::get_basic_phase_unwrapping_enabled ( ) const

inline

Get whether basic phase unwrapping is enabled.

A simpler phase unwrapping algorithm which uses the smaller of the two modulation frequencies to unwrap the larger one. This works well with 15 and 70 MHz for example

Returns: Enabled

Definition at line 147 of file processing_config.hpp.

◆ get_basic_phase_unwrapping_max_offset()

double chronoptics::tof::ProcessingConfig::get_basic_phase_unwrapping_max_offset ( ) const

inline

Get the max radial offset between the two modulation frequencies.

Returns: Max offset

Definition at line 163 of file processing_config.hpp.

◆ get_bilateral_enabled()

bool chronoptics::tof::ProcessingConfig::get_bilateral_enabled ( ) const

inline

Get whether the bilateral filter is enabled.

This filter averages the current pixel with neighboring ones if they're within the specified standard deviation

Returns: Enabled

Definition at line 591 of file processing_config.hpp.

◆ get_bilateral_sigma()

double chronoptics::tof::ProcessingConfig::get_bilateral_sigma ( ) const

inline

Get the bilateral standard deviation.

Returns: The standard deviation

Definition at line 621 of file processing_config.hpp.

◆ get_bilateral_size()

size_t chronoptics::tof::ProcessingConfig::get_bilateral_size ( ) const

inline

Get the bilateral region size.

Returns: Region size, 3x3 and 5x5 are supported

Definition at line 607 of file processing_config.hpp.

◆ get_binning_enabled()

bool chronoptics::tof::ProcessingConfig::get_binning_enabled ( ) const

inline

Get whether software binning is enabled.

Returns: Enabled

Definition at line 1055 of file processing_config.hpp.

◆ get_binning_mode()

BinningMode chronoptics::tof::ProcessingConfig::get_binning_mode ( ) const

inline

Get the binning mode to use.

Returns: The binning mode

Definition at line 1083 of file processing_config.hpp.

◆ get_binning_sigma()

float chronoptics::tof::ProcessingConfig::get_binning_sigma ( ) const

inline

Get The maximum standard deviation to use, only used in the smart binning mode.

Returns: The standard deviation

Definition at line 1098 of file processing_config.hpp.

◆ get_binning_size()

size_t chronoptics::tof::ProcessingConfig::get_binning_size ( ) const

inline

Get the size of the area to bin, 2 would bin a 2x2 area.

Returns: The bin size

Definition at line 1069 of file processing_config.hpp.

◆ get_calibration_enabled()

bool chronoptics::tof::ProcessingConfig::get_calibration_enabled ( ) const

inline

Get whether the calibration is applied.

Returns: Enabled

Definition at line 103 of file processing_config.hpp.

◆ get_char_add()

double chronoptics::tof::ProcessingConfig::get_char_add ( ) const

inline

Get the characterization addition component.

The characterization function computes the sigma for the temporal and bilateral filter

Returns: addition

Definition at line 1024 of file processing_config.hpp.

◆ get_char_mult()

double chronoptics::tof::ProcessingConfig::get_char_mult ( ) const

inline

Get the characterization multiplication component.

The characterization function computes the sigma for the temporal and bilateral filter

Returns: Multiplication

Definition at line 1040 of file processing_config.hpp.

◆ get_common_amp_ratio_enabled()

bool chronoptics::tof::ProcessingConfig::get_common_amp_ratio_enabled ( ) const

inline

Get whether the common amplitude ratio threshold filter is enabled.

This filter calculates the difference between the amplitude and ir data and you can set a certain threshold. This is useful to get rid of pixels that are heavily saturated with sunlight since the difference between amplitude and total ir light will be large.

Returns: Enabled

Definition at line 905 of file processing_config.hpp.

◆ get_common_amp_ratio_threshold()

float chronoptics::tof::ProcessingConfig::get_common_amp_ratio_threshold ( ) const

inline

Get the maximum allowed ratio.

Returns: The threshold

Definition at line 923 of file processing_config.hpp.

◆ get_dist_threshold_enabled()

bool chronoptics::tof::ProcessingConfig::get_dist_threshold_enabled ( ) const

inline

Get whether the distance threshold filter is enabled.

This filter filters out pixels outside of the specified values

Returns: Enabled

Definition at line 794 of file processing_config.hpp.

◆ get_dist_threshold_max()

double chronoptics::tof::ProcessingConfig::get_dist_threshold_max ( ) const

inline

Get the maximum distance allowed.

Returns: Maximum value

Definition at line 823 of file processing_config.hpp.

◆ get_dist_threshold_min()

double chronoptics::tof::ProcessingConfig::get_dist_threshold_min ( ) const

inline

Get the minimum distance allowed.

Returns: Minimum value

Definition at line 809 of file processing_config.hpp.

◆ get_flying_distance()

size_t chronoptics::tof::ProcessingConfig::get_flying_distance ( ) const

inline

Get the maximum distance allowed between surrounding pixels.

Returns: Maximum distance

Definition at line 707 of file processing_config.hpp.

◆ get_flying_distance_scaled()

float chronoptics::tof::ProcessingConfig::get_flying_distance_scaled ( ) const

inline

Get another distance threshold which is scaled by the radial distance.

Returns: What to scale the radial distance by, from 0.0 to 1.0

Definition at line 735 of file processing_config.hpp.

◆ get_flying_edges()

size_t chronoptics::tof::ProcessingConfig::get_flying_edges ( ) const

inline

Get the number of edges allowed to be larger than maximum distance.

Returns: Maximum edges

Definition at line 721 of file processing_config.hpp.

◆ get_flying_enabled()

bool chronoptics::tof::ProcessingConfig::get_flying_enabled ( ) const

inline

Get whether flying pixel filter is enabled.

The flying pixel filters out pixels when more than x edges are farther than x size away

Returns: Enabled

Definition at line 678 of file processing_config.hpp.

◆ get_flying_shape()

FlyingShape chronoptics::tof::ProcessingConfig::get_flying_shape ( ) const

inline

Get the shape of which surrounding pixels are checked.

Returns: The shape

Definition at line 693 of file processing_config.hpp.

◆ get_gaussian_enabled()

bool chronoptics::tof::ProcessingConfig::get_gaussian_enabled ( ) const

inline

Get whether the gaussian blur is enabled.

This is a standard gaussian blur applied over the depth image

Returns: Enabled

Definition at line 516 of file processing_config.hpp.

◆ get_gaussian_sigma()

double chronoptics::tof::ProcessingConfig::get_gaussian_sigma ( ) const

inline

Get the gaussian sigma.

Returns: The standard deviation

Definition at line 545 of file processing_config.hpp.

◆ get_gaussian_size()

size_t chronoptics::tof::ProcessingConfig::get_gaussian_size ( ) const

inline

Get the gaussian region size.

Returns: Region size, 3x3 and 5x5 are supported

Definition at line 531 of file processing_config.hpp.

◆ get_gpu()

bool chronoptics::tof::ProcessingConfig::get_gpu ( ) const

inline

Get whether processing on the gpu is enabled.

Returns: Enabled

Definition at line 73 of file processing_config.hpp.

◆ get_hdr_enabled()

bool chronoptics::tof::ProcessingConfig::get_hdr_enabled ( ) const

inline

Get whether hdr is enabled.

High dynamic range allows you to separate depth with high intensity difference. This is mostly useful when the sensor is being saturated.

Returns: Enabled

Definition at line 407 of file processing_config.hpp.

◆ get_intensity_add()

float chronoptics::tof::ProcessingConfig::get_intensity_add ( ) const

inline

Get how much to add to the intensity value.

Returns: Intensity addition

Definition at line 1009 of file processing_config.hpp.

◆ get_intensity_scale()

float chronoptics::tof::ProcessingConfig::get_intensity_scale ( ) const

inline

Get how much to scale the intensity value by.

Returns: Intensity scale

Definition at line 995 of file processing_config.hpp.

◆ get_local_means_enabled()

bool chronoptics::tof::ProcessingConfig::get_local_means_enabled ( ) const

inline

Get Whether the local means filter is enabled.

Returns: Enabled

Definition at line 635 of file processing_config.hpp.

◆ get_local_means_sigma()

double chronoptics::tof::ProcessingConfig::get_local_means_sigma ( ) const

inline

Get The local means standard deviation for how close values are.

Returns: The stand deviation

Definition at line 663 of file processing_config.hpp.

◆ get_local_means_size()

size_t chronoptics::tof::ProcessingConfig::get_local_means_size ( ) const

inline

Get The local means region size.

Returns: Region size

Definition at line 649 of file processing_config.hpp.

◆ get_median_enabled()

bool chronoptics::tof::ProcessingConfig::get_median_enabled ( ) const

inline

Get whether the median filter is enabled.

This is a standard median filter applied over the depth image

Returns: Enabled

Definition at line 560 of file processing_config.hpp.

◆ get_median_size()

size_t chronoptics::tof::ProcessingConfig::get_median_size ( ) const

inline

Get the median region size.

Returns: Region size, 3x3 and 5x5 are supported

Definition at line 575 of file processing_config.hpp.

◆ get_mixed_pixel_adaptive_amp_max()

double chronoptics::tof::ProcessingConfig::get_mixed_pixel_adaptive_amp_max ( ) const

inline

Get the maximum amplitude for adaptive sorting.

Returns: Maximum amplitude

Definition at line 347 of file processing_config.hpp.

◆ get_mixed_pixel_adaptive_amp_min()

double chronoptics::tof::ProcessingConfig::get_mixed_pixel_adaptive_amp_min ( ) const

inline

Get the minimum amplitude for adaptive sorting.

Returns: Minimum amplitude

Definition at line 361 of file processing_config.hpp.

◆ get_mixed_pixel_aggressor_phi_offset()

double chronoptics::tof::ProcessingConfig::get_mixed_pixel_aggressor_phi_offset ( ) const

inline

Get The maximum phase difference before a return is not classified as aggressor.

Returns: Phase offset before not a aggressor return

Definition at line 390 of file processing_config.hpp.

◆ get_mixed_pixel_aggressor_threshold()

double chronoptics::tof::ProcessingConfig::get_mixed_pixel_aggressor_threshold ( ) const

inline

Get the threshold to classify a pixel as an aggressor.

Returns: Aggressor threshold

Definition at line 303 of file processing_config.hpp.

◆ get_mixed_pixel_amp_min()

double chronoptics::tof::ProcessingConfig::get_mixed_pixel_amp_min ( ) const

inline

Get minimum amplitude that pixel needs to have to apply mixed pixel to it.

Returns: Minimum amplitude

Definition at line 247 of file processing_config.hpp.

◆ get_mixed_pixel_aratio()

double chronoptics::tof::ProcessingConfig::get_mixed_pixel_aratio ( ) const

inline

Get the amplitude ratio for detecting MPI.

Returns: Amplitude ratio

Definition at line 275 of file processing_config.hpp.

◆ get_mixed_pixel_aratio_min()

double chronoptics::tof::ProcessingConfig::get_mixed_pixel_aratio_min ( ) const

inline

Get the minimum return amplitude ratio for adaptive sorting.

Returns: Minimum return ratio

Definition at line 375 of file processing_config.hpp.

◆ get_mixed_pixel_enabled()

bool chronoptics::tof::ProcessingConfig::get_mixed_pixel_enabled ( ) const

inline

Get wether mixed pixel is enabled.

Returns: Enabled

Definition at line 219 of file processing_config.hpp.

◆ get_mixed_pixel_lut_file()

const char * chronoptics::tof::ProcessingConfig::get_mixed_pixel_lut_file ( ) const

inline

Get location of the mixed pixel look up table file.

Returns: File location

Definition at line 233 of file processing_config.hpp.

◆ get_mixed_pixel_max_error_3f()

double chronoptics::tof::ProcessingConfig::get_mixed_pixel_max_error_3f ( ) const

inline

Get the maximum error when using three modulation frequencies.

Returns: The error

Definition at line 333 of file processing_config.hpp.

◆ get_mixed_pixel_min_aggressor_size()

int32_t chronoptics::tof::ProcessingConfig::get_mixed_pixel_min_aggressor_size ( ) const

inline

Get the minimum amount of bright pixels before a bright spot is classified as an aggressor.

Returns: Minimum aggressor size

Definition at line 318 of file processing_config.hpp.

◆ get_mixed_pixel_phi_diff()

double chronoptics::tof::ProcessingConfig::get_mixed_pixel_phi_diff ( ) const

inline

Get the phase difference for detecting MPI.

Returns: Phase difference

Definition at line 289 of file processing_config.hpp.

◆ get_mixed_pixel_sort_mode()

MpSortMode chronoptics::tof::ProcessingConfig::get_mixed_pixel_sort_mode ( ) const

inline

Get what output is selected.

Returns: Sort mode

Definition at line 261 of file processing_config.hpp.

◆ get_morph_erode_enabled()

bool chronoptics::tof::ProcessingConfig::get_morph_erode_enabled ( ) const

inline

Get whether the morph erode filter is enabled.

The morph erode filter removes pixels that have no neighboring (correct) pixels.

Returns: Enabled

Definition at line 938 of file processing_config.hpp.

◆ get_morph_erode_shape()

FlyingShape chronoptics::tof::ProcessingConfig::get_morph_erode_shape ( ) const

inline

Get the shape of the neighboring pixels.

Returns: The shape

Definition at line 953 of file processing_config.hpp.

◆ get_mpi_detect_aratio()

float chronoptics::tof::ProcessingConfig::get_mpi_detect_aratio ( ) const

inline

Get The amplitude ratio value.

Returns: The maximum ratio

Definition at line 191 of file processing_config.hpp.

◆ get_mpi_detect_enabled()

bool chronoptics::tof::ProcessingConfig::get_mpi_detect_enabled ( ) const

inline

Get wether mpi detect is enabled.

Returns: Enabled

Definition at line 177 of file processing_config.hpp.

◆ get_mpi_detect_phi_diff()

float chronoptics::tof::ProcessingConfig::get_mpi_detect_phi_diff ( ) const

inline

Get the phase difference ratio.

Returns: The maximum phase difference

Definition at line 205 of file processing_config.hpp.

◆ get_phase_unwrapping_enabled()

bool chronoptics::tof::ProcessingConfig::get_phase_unwrapping_enabled ( ) const

inline

Get whether phase unwrapping is enabled.

Returns: Enabled

Definition at line 117 of file processing_config.hpp.

◆ get_phase_unwrapping_max_offset()

double chronoptics::tof::ProcessingConfig::get_phase_unwrapping_max_offset ( ) const

inline

Get The maximum distance between ideal location and actual.

Returns: Max offset, range [0, 1]

Definition at line 131 of file processing_config.hpp.

◆ get_rad_dist_threshold_enabled()

bool chronoptics::tof::ProcessingConfig::get_rad_dist_threshold_enabled ( ) const

inline

Get the radial distance threshold.

Returns: Enabled

Definition at line 1158 of file processing_config.hpp.

◆ get_rad_dist_threshold_max()

double chronoptics::tof::ProcessingConfig::get_rad_dist_threshold_max ( ) const

inline

Get the maximum radial distance.

Returns: Maximum

Definition at line 1186 of file processing_config.hpp.

◆ get_rad_dist_threshold_min()

double chronoptics::tof::ProcessingConfig::get_rad_dist_threshold_min ( ) const

inline

Get the minimum radial distance.

Returns: Minimum

Definition at line 1172 of file processing_config.hpp.

◆ get_radial_add()

float chronoptics::tof::ProcessingConfig::get_radial_add ( ) const

inline

Get how much to add to the radial value.

Returns: Radial addition

Definition at line 981 of file processing_config.hpp.

◆ get_radial_scale()

float chronoptics::tof::ProcessingConfig::get_radial_scale ( ) const

inline

Get how much to scale the radial value by.

Returns: Radial scale

Definition at line 967 of file processing_config.hpp.

◆ get_rigid_transformation_enabled()

bool chronoptics::tof::ProcessingConfig::get_rigid_transformation_enabled ( ) const

inline

Get whether rigid transformation is enabled.

Returns: Enabled

Definition at line 1127 of file processing_config.hpp.

◆ get_rigid_transformation_matrix()

std::array< float, 16 > chronoptics::tof::ProcessingConfig::get_rigid_transformation_matrix ( ) const

inline

Get the rigid transformation 4x4 matrix.

Returns: 4x4 transformation matrix

Definition at line 1141 of file processing_config.hpp.

◆ get_speed_of_light()

float chronoptics::tof::ProcessingConfig::get_speed_of_light ( ) const

inline

Get the speed of light.

Only change this when operating the camera in a liquid.

Returns: Speed of light

Definition at line 88 of file processing_config.hpp.

◆ get_temporal_enabled()

bool chronoptics::tof::ProcessingConfig::get_temporal_enabled ( ) const

inline

Get whether the temporal filter is enabled.

The temporal filter is a running average as long as the values are within sigma standard deviations of each other

Returns: Enabled

Definition at line 455 of file processing_config.hpp.

◆ get_temporal_nframes()

size_t chronoptics::tof::ProcessingConfig::get_temporal_nframes ( ) const

inline

Get the maximum number of frames to average together.

Returns: Number of frames

Definition at line 501 of file processing_config.hpp.

◆ get_temporal_sigma()

double chronoptics::tof::ProcessingConfig::get_temporal_sigma ( ) const

inline

Get the number of standard deviations before resetting the running average.

Returns: The standard deviation

Definition at line 471 of file processing_config.hpp.

◆ get_temporal_use_common()

bool chronoptics::tof::ProcessingConfig::get_temporal_use_common ( ) const

inline

Get whether to use common data or amplitude data to determine noisiness of signal.

Returns: Use common

Definition at line 486 of file processing_config.hpp.

◆ get_xyz_dimension()

XyzDimension chronoptics::tof::ProcessingConfig::get_xyz_dimension ( ) const

inline

Get the dimension of the xyz output.

Returns: The dimension

Definition at line 1113 of file processing_config.hpp.

◆ set_amp_dot_segment_enabled()

void chronoptics::tof::ProcessingConfig::set_amp_dot_segment_enabled ( bool enabled )

inline

Set whether the amplitude dot segmentation filter is enabled.

This filter is designed to filter out everything but the dots in cameras with dot illumination. It has also proved effective at removing shadowing effects in kea

Parameters

enabled Enabled

Definition at line 850 of file processing_config.hpp.

◆ set_amp_dot_segment_max_correction()

void chronoptics::tof::ProcessingConfig::set_amp_dot_segment_max_correction ( float correction )

inline

Set the maximum amount of correction that can be performed on the distance component.

Parameters

correction Max radial correction

Definition at line 894 of file processing_config.hpp.

◆ set_amp_dot_segment_midpoint()

void chronoptics::tof::ProcessingConfig::set_amp_dot_segment_midpoint ( float midpoint )

inline

Set the distance after which amplitude is increased instead of decreased.

Parameters

midpoint Radial midpoint

Definition at line 878 of file processing_config.hpp.

◆ set_amp_dot_segment_threshold()

void chronoptics::tof::ProcessingConfig::set_amp_dot_segment_threshold ( float threshold )

inline

Set the minimum corrected amplitude that is allowed.

Parameters

threshold Amplitude threshold

Definition at line 864 of file processing_config.hpp.

◆ set_amp_threshold_enabled()

void chronoptics::tof::ProcessingConfig::set_amp_threshold_enabled ( bool enabled )

inline

Set whether the amplitude threshold filter is enabled.

This filter filters out pixels outside of the specified values

Parameters

enabled Enabled

Definition at line 758 of file processing_config.hpp.

◆ set_amp_threshold_max()

void chronoptics::tof::ProcessingConfig::set_amp_threshold_max ( double max )

inline

Set the maximum amplitude allowed.

Parameters

max	Maximum value

Definition at line 786 of file processing_config.hpp.

◆ set_amp_threshold_min()

void chronoptics::tof::ProcessingConfig::set_amp_threshold_min ( double min )

inline

Set the minimum amplitude allowed.

Parameters

min	Minimum value

Definition at line 772 of file processing_config.hpp.

◆ set_average_enabled()

void chronoptics::tof::ProcessingConfig::set_average_enabled ( bool enabled )

inline

Set whether averaging is enabled.

The average process allows you to average multiple frames together at the cost of frame rate

Parameters

enabled Enabled

Definition at line 432 of file processing_config.hpp.

◆ set_average_nframes()

void chronoptics::tof::ProcessingConfig::set_average_nframes ( size_t nframes )

inline

Set the number of frames to average together.

Parameters

nframes Number of frames

Definition at line 446 of file processing_config.hpp.

◆ set_basic_phase_unwrapping_enabled()

void chronoptics::tof::ProcessingConfig::set_basic_phase_unwrapping_enabled ( bool enabled )

inline

Set whether basic phase unwrapping is enabled.

A simpler phase unwrapping algorithm which uses the smaller of the two modulation frequencies to unwrap the larger one. This works well with 15 and 70 MHz for example

Parameters

enabled Enabled

Definition at line 156 of file processing_config.hpp.

◆ set_basic_phase_unwrapping_max_offset()

void chronoptics::tof::ProcessingConfig::set_basic_phase_unwrapping_max_offset ( double offset )

inline

Set the max radial offset between the two modulation frequencies.

Parameters

offset Max offset

Definition at line 170 of file processing_config.hpp.

◆ set_bilateral_enabled()

void chronoptics::tof::ProcessingConfig::set_bilateral_enabled ( bool enabled )

void chronoptics::tof::ProcessingConfig::set_common_amp_ratio_threshold ( float threshold )

inline

Set the maximum allowed ratio.

Parameters

threshold The threshold

Definition at line 930 of file processing_config.hpp.

◆ set_dist_threshold_enabled()

void chronoptics::tof::ProcessingConfig::set_dist_threshold_enabled ( bool enabled )

inline

Set whether the distance threshold filter is enabled.

This filter filters out pixels outside of the specified values

Parameters

enabled Enabled

Definition at line 802 of file processing_config.hpp.

◆ set_dist_threshold_max()

void chronoptics::tof::ProcessingConfig::set_dist_threshold_max ( double max )

inline

Set the maximum distance allowed.

Parameters

max	Maximum value

Definition at line 830 of file processing_config.hpp.

◆ set_dist_threshold_min()

void chronoptics::tof::ProcessingConfig::set_dist_threshold_min ( double min )

inline

Set the minimum distance allowed.

Parameters

min	Minimum value

Definition at line 816 of file processing_config.hpp.

◆ set_flying_distance()

void chronoptics::tof::ProcessingConfig::set_flying_distance ( size_t distance )

inline

Set the maximum distance allowed between surrounding pixels.

Parameters

distance Maximum distance

Definition at line 714 of file processing_config.hpp.

◆ set_flying_distance_scaled()

void chronoptics::tof::ProcessingConfig::set_flying_distance_scaled ( float scale )

inline

Set another distance threshold which is scaled by the radial distance.

Parameters

scale What to scale the radial distance by, from 0.0 to 1.0

Definition at line 742 of file processing_config.hpp.

◆ set_flying_edges()

void chronoptics::tof::ProcessingConfig::set_flying_edges ( size_t edges )

inline

Set the number of edges allowed to be larger than maximum distance.

Parameters

edges Maximum edges

Definition at line 728 of file processing_config.hpp.

◆ set_flying_enabled()

void chronoptics::tof::ProcessingConfig::set_flying_enabled ( bool enabled )

inline

Set whether flying pixel filter is enabled.

The flying pixel filters out pixels when more than x edges are farther than x size away

Parameters

enabled Enabled

Definition at line 686 of file processing_config.hpp.

◆ set_flying_shape()

void chronoptics::tof::ProcessingConfig::set_flying_shape ( FlyingShape shape )

inline

Set the shape of which surrounding pixels are checked.

Parameters

shape The shape

Definition at line 700 of file processing_config.hpp.

◆ set_gaussian_enabled()

void chronoptics::tof::ProcessingConfig::set_gaussian_enabled ( bool enabled )

inline

Set whether the gaussian blur is enabled.

This is a standard gaussian blur applied over the depth image

Parameters

enabled Enabled

Definition at line 524 of file processing_config.hpp.

◆ set_gaussian_sigma()

void chronoptics::tof::ProcessingConfig::set_gaussian_sigma ( double sigma )

inline

Set the gaussian sigma.

Parameters

sigma The standard deviation

Definition at line 552 of file processing_config.hpp.

◆ set_gaussian_size()

void chronoptics::tof::ProcessingConfig::set_gaussian_size ( size_t size )

inline

Set the gaussian region size.

Parameters

size	Region size, 3x3 and 5x5 are supported

Definition at line 538 of file processing_config.hpp.

◆ set_gpu()

void chronoptics::tof::ProcessingConfig::set_gpu ( bool gpu )

inline

Set whether processing on the gpu is enabled.

Parameters

gpu Enabled

Definition at line 80 of file processing_config.hpp.

◆ set_hdr_enabled()

void chronoptics::tof::ProcessingConfig::set_hdr_enabled ( bool enabled )

void chronoptics::tof::ProcessingConfig::set_median_enabled ( bool enabled )

inline

Set whether the median filter is enabled.

This is a standard median filter applied over the depth image

Parameters

enabled Enabled

Definition at line 568 of file processing_config.hpp.

◆ set_median_size()

void chronoptics::tof::ProcessingConfig::set_median_size ( size_t size )

inline

Set the median region size.

Parameters

size	Region size, 3x3 and 5x5 are supported

Parameters

c	Speed of light

Definition at line 96 of file processing_config.hpp.

◆ set_temporal_enabled()

void chronoptics::tof::ProcessingConfig::set_temporal_enabled ( bool enabled )

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ProcessingConfig() [1/3]

◆ ProcessingConfig() [2/3]

◆ ProcessingConfig() [3/3]

Member Function Documentation

◆ get_amp_dot_segment_enabled()

◆ get_amp_dot_segment_max_correction()

◆ get_amp_dot_segment_midpoint()

◆ get_amp_dot_segment_threshold()

◆ get_amp_threshold_enabled()

◆ get_amp_threshold_max()

◆ get_amp_threshold_min()

◆ get_average_enabled()

◆ get_average_nframes()

◆ get_basic_phase_unwrapping_enabled()

◆ get_basic_phase_unwrapping_max_offset()

◆ get_bilateral_enabled()

◆ get_bilateral_sigma()

◆ get_bilateral_size()

◆ get_binning_enabled()

◆ get_binning_mode()

◆ get_binning_sigma()

◆ get_binning_size()

◆ get_calibration_enabled()

◆ get_char_add()

◆ get_char_mult()

◆ get_common_amp_ratio_enabled()

◆ get_common_amp_ratio_threshold()

◆ get_dist_threshold_enabled()

◆ get_dist_threshold_max()

◆ get_dist_threshold_min()

◆ get_flying_distance()

◆ get_flying_distance_scaled()

◆ get_flying_edges()

◆ get_flying_enabled()

◆ get_flying_shape()

◆ get_gaussian_enabled()

◆ get_gaussian_sigma()

◆ get_gaussian_size()

◆ get_gpu()

◆ get_hdr_enabled()

◆ get_intensity_add()

◆ get_intensity_scale()

◆ get_local_means_enabled()

◆ get_local_means_sigma()

◆ get_local_means_size()

◆ get_median_enabled()

◆ get_median_size()

◆ get_mixed_pixel_adaptive_amp_max()

◆ get_mixed_pixel_adaptive_amp_min()

◆ get_mixed_pixel_aggressor_phi_offset()

◆ get_mixed_pixel_aggressor_threshold()

◆ get_mixed_pixel_amp_min()

◆ get_mixed_pixel_aratio()

◆ get_mixed_pixel_aratio_min()

◆ get_mixed_pixel_enabled()

◆ get_mixed_pixel_lut_file()

◆ get_mixed_pixel_max_error_3f()

◆ get_mixed_pixel_min_aggressor_size()

◆ get_mixed_pixel_phi_diff()

◆ get_mixed_pixel_sort_mode()

◆ get_morph_erode_enabled()

◆ get_morph_erode_shape()

◆ get_mpi_detect_aratio()

◆ get_mpi_detect_enabled()

◆ get_mpi_detect_phi_diff()

◆ get_phase_unwrapping_enabled()

◆ get_phase_unwrapping_max_offset()

◆ get_rad_dist_threshold_enabled()

◆ get_rad_dist_threshold_max()

◆ get_rad_dist_threshold_min()

◆ get_radial_add()

◆ get_radial_scale()

◆ get_rigid_transformation_enabled()

◆ get_rigid_transformation_matrix()

◆ get_speed_of_light()

◆ get_temporal_enabled()

◆ get_temporal_nframes()