RVC::X1::CaptureOptions Struct Reference

Capture options. More...

#include <RVC.h>

Public Member Functions
	CaptureOptions ()
	Construct a new Capture Options object.

Public Attributes
bool	calc_normal
	flag Whether calculate 3D points normal vector
bool	transform_to_camera
	flag Whether transfrom 3D points from calibration board system to camera coordinate system
int	filter_range
	Set the noise filter value. The larger the value, the greater the filtering degree. The default value has been changed to 0 from 1 after v1.6.1. More...
bool	use_auto_noise_removal
	flag Whether to use auto noise removal. If true, the noise_removal_distance and noise_removal_point_number will be ignored. It will automatically adjust these two parameters according to the point cloud data and do noise removal. More...
double	noise_removal_distance
	The smaller the value, the greater the filtering degree. range: 0 ~ 20 (units: mm)
int	noise_removal_point_number
	Set the noise filter parameter 2. The larger the value, the greater the filtering degree.
int	light_contrast_threshold
	Light contrast trheshold, range in [0, 10]. The contrast of point less than this value will be treat as invalid point and be removed.
int	phase_filter_range
	Set the phase filter value. The larger the value, the greater the filtering degree 0~40.
int	exposure_time_2d
	Set the exposure_time 2D value in milliseconds.
int	exposure_time_3d
	Set the exposure_time 3D value in milliseconds.
int	projector_brightness
	Set the projector brightness value.
float	gain_2d
	Set the 2D gain value.
float	gain_3d
	Set the 3D gain value.
int	hdr_exposure_times
	Set the hdr exposure times value. 0,2,3.
int	hdr_exposuretime_content [3]
	Set the hdr exposure time content. capture with white light, range [11, 100], others [3, 100]. If use M-series, range[10, 100].
float	hdr_gain_3d [3]
	Set the hdr 3D gain content.
int	hdr_scan_times [3]
	Set the hdr scan times, only use in robust mode. range: [1, 8].
int	hdr_projector_brightness [3]
	Set the hdr projector brightness value.
unsigned int	calc_normal_radius
	Neighborhood radius in pixel of calculating normal, > 0.
float	gamma_2d
	Set the 2D gamma value.
float	gamma_3d
	Set the 3D gamma value.
bool	use_projector_capturing_2d_image
	Set 2D image whether use projector.
SmoothnessLevel	smoothness
	control point map smoothness
double	downsample_distance
	uniform downsample distance. if <= 0, do nothing.
CaptureMode	capture_mode
	control capture mode
double	confidence_threshold
	confidence threshold, the point with confindence low then this value will be removed range: [0, 1]
RVC::ROI	roi
	set ROI function, only 3d points in the roi will be generated. This function can improve 3d capturespeed. The parameters of roi must comply with the rules of the equipment and can be checked by CheckRoi. We recommend that you adjust roi automatically through C before AutoAdjustRoi.
double	truncate_z_min
	truncate point map and depth map by z direction minimum value (units: mm) and truncate_z_min should less than truncate_z_max range: [-9999, 9999]
double	truncate_z_max
	truncate point map and depth map by z direction maximum value (units: mm) and truncate_z_max should more than truncate_z_min range: [-9999, 9999]
int	bilateral_filter_kernal_size
	the kernal size of bilateral filter of depth map range: [3, 31], 0 for not use bilateral filter
double	bilateral_filter_depth_sigma
	the guassian sigma in depth of bilateral filter of depth map range: [0, 100]
double	bilateral_filter_space_sigma
	the guassian sigma in space of bilateral filter of depth map range: [0, 100]
int	scan_times
	scan times, only use in robust mode. range: [1, 8]
bool	use_auto_bilateral_filter
	flag Whether to use auto bilateral filter. If true, the bilateral_filter_kernal_size and bilateral_filter_depth_sigma and bilateral_filter_space_sigma will be ignored. It will automatically adjust these three parameters according to the point cloud data and do bilateral filter.
int	reflection_filter_threshold
	Used to remove large-area erroneous point clouds caused by reflections. The higher this value is set, the more points will be removed by the reflection filter. Setting it too large may remove data from thin and pointy objects. range:[0, 30].
double	smooth_sigma
	The Gaussian filters are used to smooth points. 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].
bool	enable_2d_in_capture
	Acquire 2D images during capture.

Detailed Description

Capture options.

Member Data Documentation

filter_range

int RVC::X1::CaptureOptions::filter_range

Set the noise filter value. The larger the value, the greater the filtering degree. The default value has been changed to 0 from 1 after v1.6.1.

Point cloud noise removal algorithm 1, contains one parameter: filter_range. If this algorithm does not work well, set filter_range to 0 and try noise removal algorithm 2 below.

use_auto_noise_removal

bool RVC::X1::CaptureOptions::use_auto_noise_removal

flag Whether to use auto noise removal. If true, the noise_removal_distance and noise_removal_point_number will be ignored. It will automatically adjust these two parameters according to the point cloud data and do noise removal.

Point cloud noise removal algorithm, contains three parameters: use_auto_noise_removal, noise_removal_distance and noise_removal_point_number. This algorithm performs noise reduction through a clustering algorithm. The point cloud is classified into blocks according to the distance (noise_removal_distance). If the total number of points in the block is less than a certain threshold (noise_removal_point_number), the points in the block are considered as noise points and need to be removed.

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The documentation for this struct was generated from the following file:

• RVC.h