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RVC
1.15.0
a product by
RVBUST.
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RVC
1.15.0
a product by
RVBUST.
|
Capture options. More...
#include <RVC.h>
Public Member Functions | |
| CaptureOptions () | |
| Construct a new Capture Options object. | |
Public Attributes | |
| CameraID | transform_to_camera |
| CameraID_Left transfrom 3D points from calibration board system to left camera coordinate system CameraID_Right transfrom 3D points from calibration board system to right camera coordinate system other is do not transfrom. | |
| int | projector_brightness |
| Set the projector brightness value. | |
| bool | calc_normal |
| flag Whether calculate 3D points normal vector | |
| unsigned int | calc_normal_radius |
| Neighborhood radius in pixel of calculating normal, > 0. | |
| 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 | edge_noise_reduction_threshold |
| edge control after point matching, range in [0, 10], default = 2. The big the value, the more edge noise to be removed. | |
| int | exposure_time_2d |
| Set the exposure_time 2D value in milliseconds. | |
| int | exposure_time_3d |
| Set the exposure_time 3D value in milliseconds. | |
| float | gain_2d |
| Set the 2D gain value in milliseconds. | |
| float | gain_3d |
| Set the 3D gain value in milliseconds. | |
| 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_projector_brightness [3] |
| Set the hdr projector brightness value. | |
| float | gamma_2d |
| Set the 2D gamma value in milliseconds. | |
| float | gamma_3d |
| Set the 3D gamma value in milliseconds. | |
| ProjectorColor | projector_color |
| projector color | |
| bool | use_projector_capturing_2d_image |
| Set 2D image whether use projector. | |
| SmoothnessLevel | smoothness |
| control point map smoothness | |
| 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. | |
| 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] | |
| int | scan_times |
| scan times, only use in robust mode. range: [1, 8] | |
| int | hdr_scan_times [3] |
| Set the hdr scan times, only use in robust mode. range: [1, 8]. | |
| 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 | line_scanner_scan_time_ms |
| Set line scanner mode's total scan time. | |
| int | line_scanner_exposure_time_us |
| Set line scanner mode's single line exposure time. | |
| int | line_scanner_min_distance |
| Set line scanner mode's minimum working distance. | |
| int | line_scanner_max_distance |
| Set line scanner mode's maximum working distance. | |
| bool | correspond2d |
| whether to generate point clouds corresponding to 2D images | |
| uint16_t | line_scanner_laser_position |
| select laser position in fixed line scan mode | |
| 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]. | |
| RVC::ROI | roi |
| set ROI function, only 3d points in the roi will be generated. This function can improve 3d capture speed and only support SwingLineScan capture mode. 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. | |
| bool | enable_2d_in_capture |
| Acquire 2D images during capture. | |
| bool | pointcloud_completion |
| In 'CaptureMode_SwingLineScan' mode with 'correspond2d' enabled,turning on 'pointcloud_completion' will interpolate the point cloud to produce a dense reconstruction. | |
| int | line_scanner_brightness_threshold |
| TriggerMode | trigger_mode |
| Trigger mode. Currently, only the 'FixedLineScan' mode supports hardware triggering (TriggerMode_HardWare); all other modes only support software triggering (TriggerMode_SoftWare). | |
| int | encoder_trigger_interval |
| Number of encoder pulses required to trigger one profile acquisition. | |
| 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: [-29999, 29999] | |
| 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: [-29999, 29999] | |
| double | line_scanner_confidence |
| Line scanner confidence threshold for point cloud filtering. More... | |
| double | fixed_rate |
| Fixed-rate trigger frequency in Hz. More... | |
| bool | auto_set_fixed_rate |
| Enable automatic fixed rate estimation. More... | |
| bool | enable_transfer_control |
| Enable transfer control. More... | |
Capture options.
| bool RVC::X2::CaptureOptions::auto_set_fixed_rate |
Enable automatic fixed rate estimation.
When true: camera auto-estimates trigger rate, ignoring fixed_rate. When false: manual fixed_rate setting takes effect.
| bool RVC::X2::CaptureOptions::enable_transfer_control |
Enable transfer control.
When true: Network transmission is more stable, but data may be lost if the buffer is full. When false: Network transmission is faster, but packet loss may occur.
| double RVC::X2::CaptureOptions::fixed_rate |
Fixed-rate trigger frequency in Hz.
Specifies the internal trigger frequency in TriggerMode_FixedRate mode.
| double RVC::X2::CaptureOptions::line_scanner_confidence |
Line scanner confidence threshold for point cloud filtering.
Sets the minimum confidence level for line scanner data points [0,1]
How it works:
Adjustment suggestions:
Warning: Setting too high may remove valid data points
| bool RVC::X2::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.