get smoothness point map

# Copyright (c) RVBUST, Inc - All rights reserved.

# This example is to illustrate how to obtain a smooth point cloud. The Gaussian filter smooths points within a small
# local area based on 3D distance, and the 'smooth_sigma' parameter determines the degree of smoothing by the filter.
# The higher 'the smooth_sigma' value, the more aggressive the smoothing effect. However, a high 'smooth_sigma' value
# can also smooth edges.

# Waring:
# Starting from version 1.11.0,the 'smoothness' parameter has been deprecated; please use the parameter 'smooth_sigma'
# instead.
 
import PyRVC as RVC
import os
import numpy as np
import cv2
from Utils.Tools import *


def App():

    # Initialize RVC system.
    RVC.SystemInit()

    # Choose RVC Camera type (USB, GigE or All)
    opt = RVC.SystemListDeviceTypeEnum.All

    # Scan all RVC GigE Camera devices.
    ret, devices = RVC.SystemListDevices(opt)

    #  Find whether any RVC GigE Camera is connected or not.
    if len(devices) == 0:
        print("Can not find any RVC Camera!")
        RVC.SystemShutdown()
        return 1
    if devices[0].IsFirmwareMatch() == False:
        print("device firmware mismatch, Please use RVCManager to upgrade the firmware")
        RVC.SystemShutdown()
        return 1
    # Create a RVC Camera and choose use left side camera.
    x = RVC.X1.Create(devices[0], RVC.CameraID_Left)

    # Test RVC Camera is valid or not.
    if x.IsValid() is not True:
        print("RVC Camera is not valid!")
        RVC.X1.Destroy(x)
        RVC.SystemShutdown()
        return 1
    #PrintCaptureMode(devices[0])

    # Open RVC Camera.
    ret1 = x.Open()

    # Test RVC Camera is opened or not.
    if not ret1:
        print("Failed to open camera! Please check whether the camera is connected and make sure it is not occupied and supports X1.")
        RVC.X1.Destroy(x)
        RVC.SystemShutdown()
        return 1
    
    # Print ExposureTime Range
    _, exp_range_min, exp_range_max = x.GetExposureTimeRange()
    print("ExposureTime Range:[{}, {}]".format(exp_range_min, exp_range_max))

    cap_opt = RVC.X1_CaptureOptions()
    ret,cap_opt = x.LoadCaptureOptionParameters()

    # The larger the smooth_sigma, the smoother the point cloud becomes. However, an excessively large smooth_sigma
    # can cause edges to be smoothed out as well.
    # range: [0, 5]
    cap_opt.smooth_sigma = 1.75

    # Capture a point map and a image.
    ret2 = x.Capture(cap_opt)

    # Create saving address of image and point map.
    save_address = "Data"
    TryCreateDir(save_address)

    if ret2 == True:
        print("RVC Camera capture successed!")

        # Get image data and image size.
        img = x.GetImage()

        # Save image
        if img.SaveImage(save_address + "/image.png"):
            print("Save image successed!")
        else:
            print("Save image failed!")

        # Save point map (m) to file.
        if x.GetPointMap().Save("Data/test.ply", RVC.PointMapUnitEnum.Meter):
            print("Save point map successed!")
        else:
            print("Save point map failed!")
    else:
        print("RVC Camera capture failed!")
        print(RVC.GetLastErrorMessage())
        x.Close()
        RVC.X1.Destroy(x)
        RVC.SystemShutdown()
        return 1

    # Close RVC Camera.
    x.Close()

    # Destroy RVC Camera.
    RVC.X1.Destroy(x)

    # Shutdown RVC System.
    RVC.SystemShutdown()

    return 0


if __name__ == "__main__":
    App()