Processing Parameters

These parameters are used to clean the resulting point cloud for each frame. Most can be configured the same for all the cameras or individually. But mask_color and bounding_box can only be modified for all the cameras.

• threshold_near: minimum distance to keep
• threshold_far: maximum distance to keep
• depth_x_erosion: neighborhood size in horizontal direction for erosion of depth image
• depth_y_erosion: neighborhood size in vertical direction for erosion of depth image
• remove_floor: assumes (0, 0, 0) is on the floor, and it is on the XZ plane
• floor_height: height of the floor
• remove_roof: assumes parallel to the floor, at the given height
• roof_height: height of the roof
• filter_depth: dis/enable the depth filtering module
• neigh_size: neighborhood size for depth filtering
• depth_threshold: depth filtering threshold (currently unused)
• correct_color: dis/enable color correction module
• color_calibr_cooldown: frames before starting the color calibration module
• color_corr_period: frames between new color calibrations
• mask_color: dis/enable color masking based on depth
• bounding_box: min and max coordinates to keep in world coordinates and meters. With HoloCalibration:
  • The Y axis is the height of the person
  • The person looks towards the positive Z.
  • remove_floor and remove_height overwrite the values given in the Y axis of the bounding box.

{
    "bounding_box": {
        "xMin": -1.5,
        "xMax": 1.5,
        "yMin": -0.5,
        "yMax": 2.5,
        "zMin": -1.5,
        "zMax": 1.5
    }
}

To clean the depth, it's better to set filter_depth to true than using erosion.