Point Cloud

Configuration parameters for the point cloud

Filter

Filter configuration which can be applied on point cloud frames.

Table 1. Available fields in blickfeld.core_processing.config.PointCloud.Filter
Field Type Default Unit

maximum_returns_per_point

optional uint32

-

-

Set maximum number of returns per point. By default, secondary returns are disabled. Set this, e.g. to 2, to enable secondary returns.

sorting

optional Sorting

-

-

Select sorting method for return candidates. The default sorting is by intensity.

minimum_reflectivity

optional uint32

-

-

Set lower threshold for reflectivity. This can be tuned to improve the SNR when low-reflectivity targets have a lower priority.

Sorting

Configure sorting of return candidates. The sorting is always descending thus the higher the value is, the lower is the return id.

Table 2. Available values for blickfeld.core_processing.config.PointCloud.Filter.Sorting enum
Name Value Description

SORTING_UNSPECIFIED

0

No sorting specified.

SORTING_INTENSITY

1

Sort returns by intensity (integral of return pulse).

SORTING_REFLECTIVITY

2

Sort returns by reflectivity (range-compensated intensity). This can improve the SNR as closer points are getting a lower weight.

SORTING_RANGE

3

Sort returns by range. This can improve the SNR for outdoor applications with rain and snow.