Time-of-Flight Library(ToF) 4.1.6
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Processing that can be done. More...
#include <processing_config.hpp>
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 DEPRECATED Use reflectivity threshold instead. | |
void | set_amp_dot_segment_enabled (bool enabled) |
Set DEPRECATED Use reflectivity threshold instead. | |
float | get_amp_dot_segment_threshold () const |
Get DEPRECATED Use reflectivity threshold instead. | |
void | set_amp_dot_segment_threshold (float threshold) |
Set DEPRECATED Use reflectivity threshold instead. | |
float | get_amp_dot_segment_midpoint () const |
Get DEPRECATED Use reflectivity modifier instead . | |
void | set_amp_dot_segment_midpoint (float midpoint) |
Set DEPRECATED Use reflectivity modifier instead . | |
float | get_amp_dot_segment_max_correction () const |
Get DEPRECATED No replacement implemented. | |
void | set_amp_dot_segment_max_correction (float correction) |
Set DEPRECATED No replacement implemented. | |
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. | |
float | get_reflectivity_scale () const |
Get how much to scale the reflectivity value by. | |
void | set_reflectivity_scale (float scale) |
Set how much to scale the reflectivity value by. | |
float | get_reflectivity_add () const |
Get how much to add to the reflectivity value. | |
void | set_reflectivity_add (float addition) |
Set how much to add to the reflectivity 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. | |
float | get_reflectivity_modifier () const |
Get what to divide the final value by such that it is a usable value. | |
void | set_reflectivity_modifier (float modifier) |
Set what to divide the final value by such that it is a usable value. | |
bool | get_reflectivity_threshold_enabled () const |
Get whether reflectivity threshold is enabled. | |
void | set_reflectivity_threshold_enabled (bool enabled) |
Set whether reflectivity threshold is enabled. | |
float | get_reflectivity_threshold_min () const |
Get the minimum reflectivity allowed. | |
void | set_reflectivity_threshold_min (float min) |
Set the minimum reflectivity allowed. | |
float | get_reflectivity_threshold_max () const |
Get the maximum reflectivity allowed. | |
void | set_reflectivity_threshold_max (float max) |
Set the maximum reflectivity allowed. | |
Processing that can be done.
Definition at line 47 of file processing_config.hpp.
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Construct from pointer.
Definition at line 50 of file processing_config.hpp.
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Create default processing config.
Definition at line 56 of file processing_config.hpp.
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Load processing config from disk.
file_location | Location of processing config |
Definition at line 61 of file processing_config.hpp.
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Get DEPRECATED Use reflectivity threshold instead.
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
Definition at line 840 of file processing_config.hpp.
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Get DEPRECATED No replacement implemented.
the maximum amount of correction that can be performed on the distance component
Definition at line 890 of file processing_config.hpp.
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Get DEPRECATED Use reflectivity modifier instead .
the distance after which amplitude is increased instead of decreased
Definition at line 874 of file processing_config.hpp.
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Get DEPRECATED Use reflectivity threshold instead.
the minimum corrected amplitude that is allowed
Definition at line 858 of file processing_config.hpp.
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Get whether the amplitude threshold filter is enabled.
This filter filters out pixels outside of the specified values
Definition at line 750 of file processing_config.hpp.
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Get the maximum amplitude allowed.
Definition at line 779 of file processing_config.hpp.
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Get the minimum amplitude allowed.
Definition at line 765 of file processing_config.hpp.
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Get whether averaging is enabled.
The average process allows you to average multiple frames together at the cost of frame rate
Definition at line 424 of file processing_config.hpp.
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Get the number of frames to average together.
Definition at line 439 of file processing_config.hpp.
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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
Definition at line 147 of file processing_config.hpp.
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Get the max radial offset between the two modulation frequencies.
Definition at line 163 of file processing_config.hpp.
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Get whether the bilateral filter is enabled.
This filter averages the current pixel with neighboring ones if they're within the specified standard deviation
Definition at line 591 of file processing_config.hpp.
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Get the bilateral standard deviation.
Definition at line 621 of file processing_config.hpp.
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Get the bilateral region size.
Definition at line 607 of file processing_config.hpp.
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Get whether software binning is enabled.
Definition at line 1087 of file processing_config.hpp.
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Get the binning mode to use.
Definition at line 1115 of file processing_config.hpp.
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Get The maximum standard deviation to use, only used in the smart binning mode.
Definition at line 1130 of file processing_config.hpp.
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Get the size of the area to bin, 2 would bin a 2x2 area.
Definition at line 1101 of file processing_config.hpp.
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Get whether the calibration is applied.
Definition at line 103 of file processing_config.hpp.
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Get the characterization addition component.
The characterization function computes the sigma for the temporal and bilateral filter
Definition at line 1056 of file processing_config.hpp.
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Get the characterization multiplication component.
The characterization function computes the sigma for the temporal and bilateral filter
Definition at line 1072 of file processing_config.hpp.
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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.
Definition at line 909 of file processing_config.hpp.
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Get the maximum allowed ratio.
Definition at line 927 of file processing_config.hpp.
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Get whether the distance threshold filter is enabled.
This filter filters out pixels outside of the specified values
Definition at line 794 of file processing_config.hpp.
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Get the maximum distance allowed.
Definition at line 823 of file processing_config.hpp.
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Get the minimum distance allowed.
Definition at line 809 of file processing_config.hpp.
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Get the maximum distance allowed between surrounding pixels.
Definition at line 707 of file processing_config.hpp.
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Get another distance threshold which is scaled by the radial distance.
Definition at line 735 of file processing_config.hpp.
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Get the number of edges allowed to be larger than maximum distance.
Definition at line 721 of file processing_config.hpp.
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Get whether flying pixel filter is enabled.
The flying pixel filters out pixels when more than x edges are farther than x size away
Definition at line 678 of file processing_config.hpp.
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Get the shape of which surrounding pixels are checked.
Definition at line 693 of file processing_config.hpp.
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Get whether the gaussian blur is enabled.
This is a standard gaussian blur applied over the depth image
Definition at line 516 of file processing_config.hpp.
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Get the gaussian sigma.
Definition at line 545 of file processing_config.hpp.
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Get the gaussian region size.
Definition at line 531 of file processing_config.hpp.
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Get whether processing on the gpu is enabled.
Definition at line 73 of file processing_config.hpp.
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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.
Definition at line 407 of file processing_config.hpp.
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Get how much to add to the intensity value.
Definition at line 1013 of file processing_config.hpp.
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Get how much to scale the intensity value by.
Definition at line 999 of file processing_config.hpp.
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Get Whether the local means filter is enabled.
Definition at line 635 of file processing_config.hpp.
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Get The local means standard deviation for how close values are.
Definition at line 663 of file processing_config.hpp.
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Get The local means region size.
Definition at line 649 of file processing_config.hpp.
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Get whether the median filter is enabled.
This is a standard median filter applied over the depth image
Definition at line 560 of file processing_config.hpp.
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Get the median region size.
Definition at line 575 of file processing_config.hpp.
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Get the maximum amplitude for adaptive sorting.
Definition at line 347 of file processing_config.hpp.
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Get the minimum amplitude for adaptive sorting.
Definition at line 361 of file processing_config.hpp.
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Get The maximum phase difference before a return is not classified as aggressor.
Definition at line 390 of file processing_config.hpp.
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Get the threshold to classify a pixel as an aggressor.
Definition at line 303 of file processing_config.hpp.
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Get minimum amplitude that pixel needs to have to apply mixed pixel to it.
Definition at line 247 of file processing_config.hpp.
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Get the amplitude ratio for detecting MPI.
Definition at line 275 of file processing_config.hpp.
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Get the minimum return amplitude ratio for adaptive sorting.
Definition at line 375 of file processing_config.hpp.
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Get wether mixed pixel is enabled.
Definition at line 219 of file processing_config.hpp.
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Get location of the mixed pixel look up table file.
Definition at line 233 of file processing_config.hpp.
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Get the maximum error when using three modulation frequencies.
Definition at line 333 of file processing_config.hpp.
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Get the minimum amount of bright pixels before a bright spot is classified as an aggressor.
Definition at line 318 of file processing_config.hpp.
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Get the phase difference for detecting MPI.
Definition at line 289 of file processing_config.hpp.
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Get whether the morph erode filter is enabled.
The morph erode filter removes pixels that have no neighboring (correct) pixels.
Definition at line 942 of file processing_config.hpp.
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Get the shape of the neighboring pixels.
Definition at line 957 of file processing_config.hpp.
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Get The amplitude ratio value.
Definition at line 191 of file processing_config.hpp.
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Get wether mpi detect is enabled.
Definition at line 177 of file processing_config.hpp.
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Get the phase difference ratio.
Definition at line 205 of file processing_config.hpp.
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Get whether phase unwrapping is enabled.
Definition at line 117 of file processing_config.hpp.
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Get The maximum distance between ideal location and actual.
Definition at line 131 of file processing_config.hpp.
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Get the radial distance threshold.
Definition at line 1190 of file processing_config.hpp.
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Get the maximum radial distance.
Definition at line 1218 of file processing_config.hpp.
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Get the minimum radial distance.
Definition at line 1204 of file processing_config.hpp.
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Get how much to add to the radial value.
Definition at line 985 of file processing_config.hpp.
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Get how much to scale the radial value by.
Definition at line 971 of file processing_config.hpp.
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Get how much to add to the reflectivity value.
Definition at line 1041 of file processing_config.hpp.
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Get what to divide the final value by such that it is a usable value.
Definition at line 1232 of file processing_config.hpp.
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Get how much to scale the reflectivity value by.
Definition at line 1027 of file processing_config.hpp.
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Get whether reflectivity threshold is enabled.
Reflectivity threshold filters based on reflectivity.
Definition at line 1247 of file processing_config.hpp.
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Get the maximum reflectivity allowed.
Definition at line 1276 of file processing_config.hpp.
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Get the minimum reflectivity allowed.
Definition at line 1262 of file processing_config.hpp.
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Get whether rigid transformation is enabled.
Definition at line 1159 of file processing_config.hpp.
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Get the rigid transformation 4x4 matrix.
Definition at line 1173 of file processing_config.hpp.
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Get the speed of light.
Only change this when operating the camera in a liquid.
Definition at line 88 of file processing_config.hpp.
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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
Definition at line 455 of file processing_config.hpp.
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Get the maximum number of frames to average together.
Definition at line 501 of file processing_config.hpp.
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Get the number of standard deviations before resetting the running average.
Definition at line 471 of file processing_config.hpp.
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Get whether to use common data or amplitude data to determine noisiness of signal.
Definition at line 486 of file processing_config.hpp.
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Get the dimension of the xyz output.
Definition at line 1145 of file processing_config.hpp.
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Set DEPRECATED Use reflectivity threshold instead.
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
enabled | Enabled |
Definition at line 850 of file processing_config.hpp.
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Set DEPRECATED No replacement implemented.
the maximum amount of correction that can be performed on the distance component
correction | Max radial correction |
Definition at line 898 of file processing_config.hpp.
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Set DEPRECATED Use reflectivity modifier instead .
the distance after which amplitude is increased instead of decreased
midpoint | Radial midpoint |
Definition at line 882 of file processing_config.hpp.
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Set DEPRECATED Use reflectivity threshold instead.
the minimum corrected amplitude that is allowed
threshold | Amplitude threshold |
Definition at line 866 of file processing_config.hpp.
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Set whether the amplitude threshold filter is enabled.
This filter filters out pixels outside of the specified values
enabled | Enabled |
Definition at line 758 of file processing_config.hpp.
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Set the maximum amplitude allowed.
max | Maximum value |
Definition at line 786 of file processing_config.hpp.
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Set the minimum amplitude allowed.
min | Minimum value |
Definition at line 772 of file processing_config.hpp.
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Set whether averaging is enabled.
The average process allows you to average multiple frames together at the cost of frame rate
enabled | Enabled |
Definition at line 432 of file processing_config.hpp.
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Set the number of frames to average together.
nframes | Number of frames |
Definition at line 446 of file processing_config.hpp.
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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
enabled | Enabled |
Definition at line 156 of file processing_config.hpp.
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Set the max radial offset between the two modulation frequencies.
offset | Max offset |
Definition at line 170 of file processing_config.hpp.
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Set whether the bilateral filter is enabled.
This filter averages the current pixel with neighboring ones if they're within the specified standard deviation
enabled | Enabled |
Definition at line 600 of file processing_config.hpp.
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Set the bilateral standard deviation.
sigma | The standard deviation |
Definition at line 628 of file processing_config.hpp.
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Set the bilateral region size.
size | Region size, 3x3 and 5x5 are supported |
Definition at line 614 of file processing_config.hpp.
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Set whether software binning is enabled.
enabled | Enabled |
Definition at line 1094 of file processing_config.hpp.
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Set the binning mode to use.
mode | The binning mode |
Definition at line 1122 of file processing_config.hpp.
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Set The maximum standard deviation to use, only used in the smart binning mode.
sigma | The standard deviation |
Definition at line 1138 of file processing_config.hpp.
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Set the size of the area to bin, 2 would bin a 2x2 area.
size | The bin size |
Definition at line 1108 of file processing_config.hpp.
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Set whether the calibration is applied.
enabled | Enabled |
Definition at line 110 of file processing_config.hpp.
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Set the characterization addition component.
The characterization function computes the sigma for the temporal and bilateral filter
addition | addition |
Definition at line 1064 of file processing_config.hpp.
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Set the characterization multiplication component.
The characterization function computes the sigma for the temporal and bilateral filter
multiplication | Multiplication |
Definition at line 1080 of file processing_config.hpp.
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Set 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.
enabled | Enabled |
Definition at line 920 of file processing_config.hpp.
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Set the maximum allowed ratio.
threshold | The threshold |
Definition at line 934 of file processing_config.hpp.
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Set whether the distance threshold filter is enabled.
This filter filters out pixels outside of the specified values
enabled | Enabled |
Definition at line 802 of file processing_config.hpp.
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Set the maximum distance allowed.
max | Maximum value |
Definition at line 830 of file processing_config.hpp.
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Set the minimum distance allowed.
min | Minimum value |
Definition at line 816 of file processing_config.hpp.
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Set the maximum distance allowed between surrounding pixels.
distance | Maximum distance |
Definition at line 714 of file processing_config.hpp.
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Set another distance threshold which is scaled by the radial distance.
scale | What to scale the radial distance by, from 0.0 to 1.0 |
Definition at line 742 of file processing_config.hpp.
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Set the number of edges allowed to be larger than maximum distance.
edges | Maximum edges |
Definition at line 728 of file processing_config.hpp.
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Set whether flying pixel filter is enabled.
The flying pixel filters out pixels when more than x edges are farther than x size away
enabled | Enabled |
Definition at line 686 of file processing_config.hpp.
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Set the shape of which surrounding pixels are checked.
shape | The shape |
Definition at line 700 of file processing_config.hpp.
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Set whether the gaussian blur is enabled.
This is a standard gaussian blur applied over the depth image
enabled | Enabled |
Definition at line 524 of file processing_config.hpp.
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Set the gaussian sigma.
sigma | The standard deviation |
Definition at line 552 of file processing_config.hpp.
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Set the gaussian region size.
size | Region size, 3x3 and 5x5 are supported |
Definition at line 538 of file processing_config.hpp.
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Set whether processing on the gpu is enabled.
gpu | Enabled |
Definition at line 80 of file processing_config.hpp.
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Set 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.
enabled | Enabled |
Definition at line 416 of file processing_config.hpp.
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Set how much to add to the intensity value.
addition | Intensity addition |
Definition at line 1020 of file processing_config.hpp.
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Set how much to scale the intensity value by.
scale | Intensity scale |
Definition at line 1006 of file processing_config.hpp.
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Set Whether the local means filter is enabled.
enabled | Enabled |
Definition at line 642 of file processing_config.hpp.
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Set The local means standard deviation for how close values are.
sigma | The stand deviation |
Definition at line 670 of file processing_config.hpp.
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Set The local means region size.
size | Region size |
Definition at line 656 of file processing_config.hpp.
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Set whether the median filter is enabled.
This is a standard median filter applied over the depth image
enabled | Enabled |
Definition at line 568 of file processing_config.hpp.
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Set the median region size.
size | Region size, 3x3 and 5x5 are supported |
Definition at line 582 of file processing_config.hpp.
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Set the maximum amplitude for adaptive sorting.
adaptive_amp_max | Maximum amplitude |
Definition at line 354 of file processing_config.hpp.
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Set the minimum amplitude for adaptive sorting.
adaptive_amp_min | Minimum amplitude |
Definition at line 368 of file processing_config.hpp.
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Set The maximum phase difference before a return is not classified as aggressor.
aggressor_phi_offset | Phase offset before not a aggressor return |
Definition at line 398 of file processing_config.hpp.
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Set the threshold to classify a pixel as an aggressor.
threshold | Aggressor threshold |
Definition at line 310 of file processing_config.hpp.
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Set minimum amplitude that pixel needs to have to apply mixed pixel to it.
amp_min | Minimum amplitude |
Definition at line 254 of file processing_config.hpp.
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Set the amplitude ratio for detecting MPI.
aratio | Amplitude ratio |
Definition at line 282 of file processing_config.hpp.
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Set the minimum return amplitude ratio for adaptive sorting.
aratio_min | Minimum return ratio |
Definition at line 382 of file processing_config.hpp.
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Set wether mixed pixel is enabled.
enabled | Enabled |
Definition at line 226 of file processing_config.hpp.
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Set location of the mixed pixel look up table file.
file_location | File location |
Definition at line 240 of file processing_config.hpp.
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Set the maximum error when using three modulation frequencies.
max_error_3f | The error |
Definition at line 340 of file processing_config.hpp.
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Set the minimum amount of bright pixels before a bright spot is classified as an aggressor.
size | Minimum aggressor size |
Definition at line 326 of file processing_config.hpp.
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Set the phase difference for detecting MPI.
phi_diff | Phase difference |
Definition at line 296 of file processing_config.hpp.
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Set what output is selected.
sort_mode | Sort mode |
Definition at line 268 of file processing_config.hpp.
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Set whether the morph erode filter is enabled.
The morph erode filter removes pixels that have no neighboring (correct) pixels.
enabled | Enabled |
Definition at line 950 of file processing_config.hpp.
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Set the shape of the neighboring pixels.
shape | The shape |
Definition at line 964 of file processing_config.hpp.
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Set The amplitude ratio value.
aratio | The maximum ratio |
Definition at line 198 of file processing_config.hpp.
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Set wether mpi detect is enabled.
enabled | Enabled |
Definition at line 184 of file processing_config.hpp.
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Set the phase difference ratio.
phi_diff | The maximum phase difference |
Definition at line 212 of file processing_config.hpp.
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Set whether phase unwrapping is enabled.
enabled | Enabled |
Definition at line 124 of file processing_config.hpp.
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Set The maximum distance between ideal location and actual.
max_offset | Max offset, range [0, 1] |
Definition at line 138 of file processing_config.hpp.
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Set the radial distance threshold.
enabled | Enabled |
Definition at line 1197 of file processing_config.hpp.
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Set the maximum radial distance.
max | Maximum |
Definition at line 1225 of file processing_config.hpp.
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Set the minimum radial distance.
min | Minimum |
Definition at line 1211 of file processing_config.hpp.
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Set how much to add to the radial value.
addition | Radial addition |
Definition at line 992 of file processing_config.hpp.
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Set how much to scale the radial value by.
scale | Radial scale |
Definition at line 978 of file processing_config.hpp.
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Set how much to add to the reflectivity value.
addition | Reflectivity addition |
Definition at line 1048 of file processing_config.hpp.
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Set what to divide the final value by such that it is a usable value.
modifier | Modifier |
Definition at line 1239 of file processing_config.hpp.
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Set how much to scale the reflectivity value by.
scale | Reflectivity scale |
Definition at line 1034 of file processing_config.hpp.
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Set whether reflectivity threshold is enabled.
Reflectivity threshold filters based on reflectivity.
enabled | Enabled |
Definition at line 1255 of file processing_config.hpp.
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Set the maximum reflectivity allowed.
max | Maximum |
Definition at line 1283 of file processing_config.hpp.
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Set the minimum reflectivity allowed.
min | Minimum |
Definition at line 1269 of file processing_config.hpp.
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Set whether rigid transformation is enabled.
enabled | Enabled |
Definition at line 1166 of file processing_config.hpp.
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Set the rigid transformation 4x4 matrix.
matrix | 4x4 transformation matrix |
Definition at line 1183 of file processing_config.hpp.
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Set the speed of light.
Only change this when operating the camera in a liquid.
c | Speed of light |
Definition at line 96 of file processing_config.hpp.
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Set 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
enabled | Enabled |
Definition at line 464 of file processing_config.hpp.
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Set the maximum number of frames to average together.
nframes | Number of frames |
Definition at line 508 of file processing_config.hpp.
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Set the number of standard deviations before resetting the running average.
sigma | The standard deviation |
Definition at line 478 of file processing_config.hpp.
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Set whether to use common data or amplitude data to determine noisiness of signal.
use_common | Use common |
Definition at line 494 of file processing_config.hpp.
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Set the dimension of the xyz output.
dimension | The dimension |
Definition at line 1152 of file processing_config.hpp.
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Write processing config to disk.
file_location | Location where to save the processing config |
Definition at line 66 of file processing_config.hpp.