libvisiontransfer
7.1.0
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Allows a configuration of SceneScan's parameters through a network connection. More...
#include <visiontransfer/scenescanparameters.h>
Classes | |
class | Pimpl |
Public Types | |
enum | OperationMode { PASS_THROUGH = 0, RECTIFY = 1, STEREO_MATCHING = 2 } |
Operation modes supported by SceneScan. More... | |
enum | AutoMode { AUTO_EXPOSURE_AND_GAIN = 0, AUTO_EXPOSURE_MANUAL_GAIN = 1, MANUAL_EXPOSORE_AUTO_GAIN = 2, MANUAL_EXPOSURE_MANUAL_GAIN = 3 } |
Possible modes of the automatic exposure and gain control. More... | |
enum | TargetFrame { LEFT_FRAME = 0, RIGHT_FRAME = 1, BOTH_FRAMES = 2 } |
Possible options for the target frame selection of the automatic exposure and gain control. More... | |
Public Member Functions | |
SceneScanParameters (const DeviceInfo &device) | |
Connects to SceneScan's parameter server by using the device information from device enumeration. More... | |
SceneScanParameters (const char *address, const char *service="7683") | |
Connects to SceneScan's parameter server by using a network address. More... | |
OperationMode | getOperationMode () |
Gets the current operation mode. More... | |
void | setOperationMode (OperationMode mode) |
Configures the device to a new operation mode. More... | |
int | getDisparityOffset () |
Gets the current offset of the evaluated disparity range. More... | |
void | setDisparityOffset (int offset) |
Sets the offset of the evaluated disparity range. More... | |
int | getStereoMatchingP1Edge () |
Gets the SGM penalty P1 for small disparity changes at image edges. More... | |
void | setStereoMatchingP1Edge (int p1) |
Sets the SGM penalty P1 for small disparity changes at image edges. More... | |
int | getStereoMatchingP1NoEdge () |
Gets the SGM penalty P1 for small disparity changes outside image edges. More... | |
void | setStereoMatchingP1NoEdge (int p1) |
Sets the SGM penalty P1 for small disparity changes outside image edges. More... | |
int | getStereoMatchingP2Edge () |
Gets the SGM penalty P2 for large disparity changes at image edges. More... | |
void | setStereoMatchingP2Edge (int p2) |
Sets the SGM penalty P2 for large disparity changes at image edges. More... | |
int | getStereoMatchingP2NoEdge () |
Gets the SGM penalty P2 for large disparity changes at image edges. More... | |
void | setStereoMatchingP2NoEdge (int p2) |
Sets the SGM penalty P2 for large disparity changes at image edges. More... | |
int | getStereoMatchingEdgeSensitivity () |
Gets the edge sensitivity of the SGM algorithm. More... | |
void | setStereoMatchingEdgeSensitivity (int sensitivity) |
Sets the edge sensitivity of the SGM algorithm. More... | |
bool | getMaskBorderPixelsEnabled () |
Returns true if border pixels are removed from the computed disparity map. More... | |
void | setMaskBorderPixelsEnabled (bool enabled) |
Enables or disables the removal of border pixels from the computed disparity map. More... | |
bool | getConsistencyCheckEnabled () |
Returns true if the consistency check is enabled. More... | |
void | setConsistencyCheckEnabled (bool enabled) |
Enables or disables the consistency check. More... | |
int | getConsistencyCheckSensitivity () |
Gets the current sensitivity value for the consistency check. More... | |
void | setConsistencyCheckSensitivity (int sensitivity) |
Sets a new sensitivity value for the consistency check. More... | |
bool | getUniquenessCheckEnabled () |
Returns true if the consistency check is enabled. More... | |
void | setUniquenessCheckEnabled (bool enabled) |
Enables or disables the uniqueness check. More... | |
int | getUniquenessCheckSensitivity () |
Gets the current sensitivity value for the uniqueness check. More... | |
void | setUniquenessCheckSensitivity (int sensitivity) |
Sets a new sensitivity value for the uniqueness check. More... | |
bool | getTextureFilterEnabled () |
Returns true if the texture filter is enabled. More... | |
void | setTextureFilterEnabled (bool enabled) |
Enables or disables the texture filter. More... | |
int | getTextureFilterSensitivity () |
Gets the current sensitivity value for the texture filter. More... | |
void | setTextureFilterSensitivity (int sensitivity) |
Sets a new sensitivity value for the texture filter. More... | |
bool | getGapInterpolationEnabled () |
Returns true if the texture gap interpolation is enabled. More... | |
void | setGapInterpolationEnabled (bool enabled) |
Enables or disables the gap interpolation. More... | |
bool | getNoiseReductionEnabled () |
Returns true if the noise reduction filter is enabled. More... | |
void | setNoiseReductionEnabled (bool enabled) |
Enables or disables the noise reduction filter. More... | |
int | getSpeckleFilterIterations () |
Returns true if the speckle filter is enabled. More... | |
void | setSpeckleFilterIterations (int iter) |
Enables or disables the speckle filter. More... | |
AutoMode | getAutoMode () |
Gets the current mode of the automatic exposure and gain control. More... | |
void | setAutoMode (AutoMode mode) |
Sets the current mode of the automatic exposure and gain control. More... | |
double | getAutoTargetIntensity () |
Gets the target image intensity of the automatic exposure and gain control. More... | |
void | setAutoTargetIntensity (double intensity) |
Sets the target image intensity of the automatic exposure and gain control. More... | |
double | getAutoIntensityDelta () |
Gets the minimum intensity change that is required for adjusting the camera settings. More... | |
void | setAutoIntensityDelta (double delta) |
Sets the minimum intensity change that is required for adjusting the camera settings. More... | |
AutoMode | getAutoTargetFrame () |
Gets the selected target frame for automatic exposure and gain control. More... | |
void | setAutoTargetFrame (TargetFrame target) |
Selects the target frame for automatic exposure and gain control. More... | |
int | getAutoSkippedFrames () |
Gets the current interval at which the automatic exposure and gain control is run. More... | |
void | setAutoSkippedFrames (int skipped) |
Sets the current interval at which the automatic exposure and gain control is run. More... | |
double | getAutoMaxExposureTime () |
Gets the maximum exposure time that can be selected automatically. More... | |
void | setAutoMaxExposureTime (double time) |
Sets the maximum exposure time that can be selected automatically. More... | |
double | getAutoMaxGain () |
Gets the maximum gain that can be selected automatically. More... | |
void | setAutoMaxGain (double gain) |
Gets the maximum gain that can be selected automatically. More... | |
double | getManualExposureTime () |
Gets the manually selected exposure time. More... | |
void | setManualExposureTime (double time) |
Sets the manually selected exposure time. More... | |
double | getManualGain () |
Gets the manually selected gain. More... | |
void | setManualGain (double gain) |
Sets the manually selected gain. More... | |
bool | getAutoROIEnabled () |
Returns true if an ROI for automatic exposure and gain control is enabled. More... | |
void | setAutoROIEnabled (bool enabled) |
Enables or disables an ROI for automatic exposure and gain control. More... | |
void | getAutoROI (int &x, int &y, int &width, int &height) |
Gets the configured ROI for automatic exposure and gain control. More... | |
void | setAutoROI (int x, int y, int width, int height) |
Sets the configured ROI for automatic exposure and gain control. More... | |
int | getMaxFrameTimeDifference () |
Gets the maximum allowed time difference between two corresponding frames. More... | |
void | setMaxFrameTimeDifference (int diffMs) |
Sets the maximum allowed time difference between two corresponding frames. More... | |
double | getTriggerFrequency () |
Gets the frequency of the trigger signal. More... | |
void | setTriggerFrequency (double freq) |
Sets the frequency of the trigger signal. More... | |
bool | getTrigger0Enabled () |
Returns true if trigger signal 0 is enabled. More... | |
void | setTrigger0Enabled (bool enabled) |
Enables or disables trigger signal 0. More... | |
bool | getTrigger1Enabled () |
Returns true if trigger signal 1 is enabled. More... | |
void | setTrigger1Enabled (bool enabled) |
Enables or disables trigger signal 1. More... | |
double | getTrigger0PulseWidth () |
Gets the pulse width of trigger signal 0. More... | |
void | setTrigger0PulseWidth (double width) |
Sets the pulse width of trigger signal 0. More... | |
double | getTrigger1PulseWidth () |
Gets the pulse width of trigger signal 1. More... | |
void | setTrigger1PulseWidth (double width) |
Sets the pulse width of trigger signal 1. More... | |
double | getTrigger1Offset () |
Gets the time offset between trigger signal 1 and signal 0. More... | |
void | setTrigger1Offset (double offset) |
Sets the time offset between trigger signal 1 and signal 0. More... | |
bool | getAutoRecalibrationEnabled () |
Returns true if auto re-calibration is enabled. More... | |
void | setAutoRecalibrationEnabled (bool enabled) |
Enables or disables auto-recalibration. More... | |
bool | getSaveAutoRecalibration () |
Returns true if persistent storage of auto re-calibration results is enabled. More... | |
void | setSaveAutoRecalibration (bool save) |
Enables or disables persistent storage of auto re-calibration results. More... | |
bool | getSubpixelOptimizationROIEnabled () |
Returns true if an ROI for the subpixel optimization algorithm is enabled (otherwise complete frames are used for optimization). More... | |
void | setSubpixelOptimizationROIEnabled (bool enabled) |
Enables or disables an ROI for the subpixel optimization algorithm. (if disabled, complete frames are used for optimization). More... | |
void | getSubpixelOptimizationROI (int &x, int &y, int &width, int &height) |
Gets the configured ROI for the subpixel optimization algorithm. More... | |
void | setSubpixelOptimizationROI (int x, int y, int width, int height) |
Sets the configured ROI for the subpixel optimization algorithm. More... | |
std::map< std::string, ParameterInfo > | getAllParameters () |
Enumerates all parameters as reported by the device. More... | |
template<typename T > | |
void | setNamedParameter (const std::string &name, T value) |
Set a parameter by name. ParameterException for invalid names. More... | |
template<typename T > | |
T | getNamedParameter (const std::string &name) |
Get a parameter by name, specifying the return type (int, double or bool). ParameterException for invalid names. More... | |
Allows a configuration of SceneScan's parameters through a network connection.
Parameters are read and written through a TCP connection. Not all parameters that are available in the web interface can be configured through this class.
If parameters are changed, they are only valid until the device is rebooted or until a parameter change is performed through the web interface.
Since device parameters should be predictable at all times, the functions from this class will internally throw a visiontransfer::TransferException in case of network failure or device reinitialization during parameter access. Please catch this exception if you wish to handle such cases.
Definition at line 46 of file scenescanparameters.h.
Possible modes of the automatic exposure and gain control.
Definition at line 357 of file scenescanparameters.h.
Operation modes supported by SceneScan.
Enumerator | |
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PASS_THROUGH | The device passes through the input images without modification. |
RECTIFY | The devices outputs the rectified input images. |
STEREO_MATCHING | The devices performs stereo matching. |
Definition at line 75 of file scenescanparameters.h.
Possible options for the target frame selection of the automatic exposure and gain control.
Enumerator | |
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LEFT_FRAME | Control using only the left frame. |
RIGHT_FRAME | Control using only the right frame. |
BOTH_FRAMES | Control using both frames. |
Definition at line 435 of file scenescanparameters.h.
visiontransfer::SceneScanParameters::SceneScanParameters | ( | const DeviceInfo & | device | ) |
Connects to SceneScan's parameter server by using the device information from device enumeration.
device | Information on the device to which a connection should be established. |
Definition at line 108 of file scenescanparameters.cpp.
visiontransfer::SceneScanParameters::SceneScanParameters | ( | const char * | address, |
const char * | service = "7683" |
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Connects to SceneScan's parameter server by using a network address.
address | IP address or host name of the device to which a connection should be established. |
service | The port number that should be used as string or as textual service name. |
Definition at line 113 of file scenescanparameters.cpp.
std::map< std::string, ParameterInfo > visiontransfer::SceneScanParameters::getAllParameters | ( | ) |
Enumerates all parameters as reported by the device.
Definition at line 164 of file scenescanparameters.cpp.
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Gets the minimum intensity change that is required for adjusting the camera settings.
Intensity values are relatively to the target intensity. A value of 0.01 represents a change of 1%.
Definition at line 416 of file scenescanparameters.h.
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Gets the maximum exposure time that can be selected automatically.
Definition at line 488 of file scenescanparameters.h.
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Gets the maximum gain that can be selected automatically.
Definition at line 504 of file scenescanparameters.h.
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Gets the current mode of the automatic exposure and gain control.
Definition at line 375 of file scenescanparameters.h.
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Returns true if auto re-calibration is enabled.
Definition at line 739 of file scenescanparameters.h.
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Gets the configured ROI for automatic exposure and gain control.
x | Horizontal offset of the ROI from the image center. A value of 0 means the ROI is horizontally centered. |
y | Vertical offset of the ROI from the image center. A value of 0 means the ROI is vertically centered. |
width | Width of the ROI. |
height | Height of the ROI. |
The ROI must be enabled with setAutoROIEnabled() before it is considered for exposure or gain control.
Definition at line 595 of file scenescanparameters.h.
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Returns true if an ROI for automatic exposure and gain control is enabled.
Definition at line 571 of file scenescanparameters.h.
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Gets the current interval at which the automatic exposure and gain control is run.
The return value indicates the number of skipped frames between each adjustment. Typically a value > 0 is desired to give the cameras enough time to react to the new setting.
Definition at line 469 of file scenescanparameters.h.
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Gets the selected target frame for automatic exposure and gain control.
Definition at line 450 of file scenescanparameters.h.
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Gets the target image intensity of the automatic exposure and gain control.
Intensities are measured from 0.0 to 1.0, with 0.0 being the darkest, and 1.0 the brightest possible pixel intensity.
Definition at line 394 of file scenescanparameters.h.
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Returns true if the consistency check is enabled.
Definition at line 223 of file scenescanparameters.h.
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Gets the current sensitivity value for the consistency check.
Definition at line 237 of file scenescanparameters.h.
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Gets the current offset of the evaluated disparity range.
Definition at line 109 of file scenescanparameters.h.
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Returns true if the texture gap interpolation is enabled.
Definition at line 313 of file scenescanparameters.h.
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Gets the manually selected exposure time.
This parameter is only relevant if the auto mode is set to MANUAL_EXPOSORE_AUTO_GAIN or MANUAL_EXPOSURE_MANUAL_GAIN.
Definition at line 525 of file scenescanparameters.h.
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Gets the manually selected gain.
This parameter is only relevant if the auto mode is set to AUTO_EXPOSORE_MANUAL_GAIN or MANUAL_EXPOSURE_MANUAL_GAIN.
Definition at line 551 of file scenescanparameters.h.
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Returns true if border pixels are removed from the computed disparity map.
Definition at line 208 of file scenescanparameters.h.
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Gets the maximum allowed time difference between two corresponding frames.
Definition at line 629 of file scenescanparameters.h.
T visiontransfer::SceneScanParameters::getNamedParameter | ( | const std::string & | name | ) |
Get a parameter by name, specifying the return type (int, double or bool). ParameterException for invalid names.
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Returns true if the noise reduction filter is enabled.
Definition at line 327 of file scenescanparameters.h.
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Gets the current operation mode.
Definition at line 92 of file scenescanparameters.h.
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Returns true if persistent storage of auto re-calibration results is enabled.
Definition at line 753 of file scenescanparameters.h.
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Returns true if the speckle filter is enabled.
Definition at line 341 of file scenescanparameters.h.
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Gets the edge sensitivity of the SGM algorithm.
Definition at line 191 of file scenescanparameters.h.
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Gets the SGM penalty P1 for small disparity changes at image edges.
Definition at line 127 of file scenescanparameters.h.
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Gets the SGM penalty P1 for small disparity changes outside image edges.
Definition at line 143 of file scenescanparameters.h.
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Gets the SGM penalty P2 for large disparity changes at image edges.
Definition at line 159 of file scenescanparameters.h.
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Gets the SGM penalty P2 for large disparity changes at image edges.
Definition at line 175 of file scenescanparameters.h.
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Gets the configured ROI for the subpixel optimization algorithm.
x | Horizontal offset of the ROI from the image center. A value of 0 means the ROI is horizontally centered. |
y | Vertical offset of the ROI from the image center. A value of 0 means the ROI is vertically centered. |
width | Width of the ROI. |
height | Height of the ROI. |
The ROI must be enabled with setSubpixelOptimizationROIEnabled(), otherwise the optimization algorithm will consider the full images.
Definition at line 793 of file scenescanparameters.h.
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Returns true if an ROI for the subpixel optimization algorithm is enabled (otherwise complete frames are used for optimization).
Definition at line 768 of file scenescanparameters.h.
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Returns true if the texture filter is enabled.
Definition at line 283 of file scenescanparameters.h.
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Gets the current sensitivity value for the texture filter.
Definition at line 297 of file scenescanparameters.h.
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Returns true if trigger signal 0 is enabled.
Definition at line 661 of file scenescanparameters.h.
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Gets the pulse width of trigger signal 0.
Definition at line 690 of file scenescanparameters.h.
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Returns true if trigger signal 1 is enabled.
Definition at line 675 of file scenescanparameters.h.
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Gets the time offset between trigger signal 1 and signal 0.
Definition at line 722 of file scenescanparameters.h.
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Gets the pulse width of trigger signal 1.
Definition at line 706 of file scenescanparameters.h.
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Gets the frequency of the trigger signal.
Definition at line 646 of file scenescanparameters.h.
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Returns true if the consistency check is enabled.
Definition at line 253 of file scenescanparameters.h.
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Gets the current sensitivity value for the uniqueness check.
Definition at line 267 of file scenescanparameters.h.
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Sets the minimum intensity change that is required for adjusting the camera settings.
Intensity values are relatively to the target intensity. A value of 0.01 represents a change of 1%.
Definition at line 427 of file scenescanparameters.h.
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Sets the maximum exposure time that can be selected automatically.
time | Maximum exposure time in microseconds. |
Definition at line 496 of file scenescanparameters.h.
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Gets the maximum gain that can be selected automatically.
gain | Maximum gain in dB. |
Definition at line 512 of file scenescanparameters.h.
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Sets the current mode of the automatic exposure and gain control.
Definition at line 383 of file scenescanparameters.h.
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Enables or disables auto-recalibration.
Definition at line 746 of file scenescanparameters.h.
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Sets the configured ROI for automatic exposure and gain control.
x | Horizontal offset of the ROI from the image center. A value of 0 means the ROI is horizontally centered. |
y | Vertical offset of the ROI from the image center. A value of 0 means the ROI is vertically centered. |
width | Width of the ROI. |
height | Height of the ROI. |
The ROI must be enabled with setAutoROIEnabled() before it is considered for exposure or gain control.
Definition at line 615 of file scenescanparameters.h.
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Enables or disables an ROI for automatic exposure and gain control.
Definition at line 578 of file scenescanparameters.h.
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Sets the current interval at which the automatic exposure and gain control is run.
The return value indicates the number of skipped frames between each adjustment. Typically a value > 0 is desired to give the cameras enough time to react to the new setting.
Definition at line 480 of file scenescanparameters.h.
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Selects the target frame for automatic exposure and gain control.
Definition at line 458 of file scenescanparameters.h.
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Sets the target image intensity of the automatic exposure and gain control.
intensity | The new target intensity. |
Intensities are measured from 0.0 to 1.0, with 0.0 being the darkest, and 1.0 the brightest possible pixel intensity.
Definition at line 405 of file scenescanparameters.h.
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Enables or disables the consistency check.
Definition at line 230 of file scenescanparameters.h.
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Sets a new sensitivity value for the consistency check.
This parameter must be in the range of 0 to 15.
Definition at line 246 of file scenescanparameters.h.
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Sets the offset of the evaluated disparity range.
The offset plus the number of disparities must be smaller or equal to 256.
Definition at line 118 of file scenescanparameters.h.
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Enables or disables the gap interpolation.
Definition at line 320 of file scenescanparameters.h.
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Sets the manually selected exposure time.
time | Exposure time in microseconds. |
This parameter is only relevant if the auto mode is set to MANUAL_EXPOSORE_AUTO_GAIN or MANUAL_EXPOSURE_MANUAL_GAIN.
Definition at line 538 of file scenescanparameters.h.
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Sets the manually selected gain.
gain | Gain in dB. |
This parameter is only relevant if the auto mode is set to AUTO_EXPOSORE_MANUAL_GAIN or MANUAL_EXPOSURE_MANUAL_GAIN.
Definition at line 564 of file scenescanparameters.h.
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Enables or disables the removal of border pixels from the computed disparity map.
Definition at line 216 of file scenescanparameters.h.
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Sets the maximum allowed time difference between two corresponding frames.
diffMs | Time difference in milliseconds. |
Definition at line 638 of file scenescanparameters.h.
void visiontransfer::SceneScanParameters::setNamedParameter | ( | const std::string & | name, |
T | value | ||
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Set a parameter by name. ParameterException for invalid names.
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Enables or disables the noise reduction filter.
Definition at line 334 of file scenescanparameters.h.
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Configures the device to a new operation mode.
mode | The new operation mode, which can be PASS_THROUGH, RECTIFY or STEREO_MATCHING. |
Definition at line 102 of file scenescanparameters.h.
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Enables or disables persistent storage of auto re-calibration results.
Definition at line 760 of file scenescanparameters.h.
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Enables or disables the speckle filter.
Definition at line 348 of file scenescanparameters.h.
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Sets the edge sensitivity of the SGM algorithm.
This parameter must be in the range of 0 to 255.
Definition at line 200 of file scenescanparameters.h.
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Sets the SGM penalty P1 for small disparity changes at image edges.
This parameter must be in the range of 0 to 255.
Definition at line 136 of file scenescanparameters.h.
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Sets the SGM penalty P1 for small disparity changes outside image edges.
This parameter must be in the range of 0 to 255.
Definition at line 152 of file scenescanparameters.h.
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Sets the SGM penalty P2 for large disparity changes at image edges.
This parameter must be in the range of 0 to 255.
Definition at line 168 of file scenescanparameters.h.
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Sets the SGM penalty P2 for large disparity changes at image edges.
This parameter must be in the range of 0 to 255.
Definition at line 184 of file scenescanparameters.h.
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Sets the configured ROI for the subpixel optimization algorithm.
x | Horizontal offset of the ROI from the image center. A value of 0 means the ROI is horizontally centered. |
y | Vertical offset of the ROI from the image center. A value of 0 means the ROI is vertically centered. |
width | Width of the ROI. |
height | Height of the ROI. |
The ROI must be enabled with setSubpixelOptimizationROIEnabled(), otherwise the optimization algorithm will consider the full images.
Definition at line 813 of file scenescanparameters.h.
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Enables or disables an ROI for the subpixel optimization algorithm. (if disabled, complete frames are used for optimization).
Definition at line 776 of file scenescanparameters.h.
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Enables or disables the texture filter.
Definition at line 290 of file scenescanparameters.h.
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Sets a new sensitivity value for the texture filter.
This parameter must be in the range of 0 to 63.
Definition at line 306 of file scenescanparameters.h.
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Enables or disables trigger signal 0.
Definition at line 668 of file scenescanparameters.h.
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Sets the pulse width of trigger signal 0.
width | Pulse width in milliseconds. |
Definition at line 698 of file scenescanparameters.h.
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Enables or disables trigger signal 1.
Definition at line 682 of file scenescanparameters.h.
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Sets the time offset between trigger signal 1 and signal 0.
offset | Offset in milliseconds. |
Definition at line 730 of file scenescanparameters.h.
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Sets the pulse width of trigger signal 1.
width | Pulse width in milliseconds. |
Definition at line 714 of file scenescanparameters.h.
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Sets the frequency of the trigger signal.
freq | Frequency in Hz. |
Definition at line 654 of file scenescanparameters.h.
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Enables or disables the uniqueness check.
Definition at line 260 of file scenescanparameters.h.
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Sets a new sensitivity value for the uniqueness check.
This parameter must be in the range of 0 to 256.
Definition at line 276 of file scenescanparameters.h.