Parameter

Performance Setting

Opposite Setting

FlexView

Operate the camera in one-shot mode by disabling multi pattern acquisition (i.e. set the FlexView node to false)

Setting the FlexView node to a number of 2 or higher will acquire multiple image pairs with shifted patterns, leading to higher X, Y and Z resolution (only available on N35 cameras).

Exposure

(also see Exposure Limitations)

Setting lower exposures will improve the frame rate when the selected exposure/frame rate exceeds the allowable LED duty cycle. You might compensate for the lower exposure by using analog Gain or GainBoost.

Long exposures will cause wait times in software triggered mode to ensure that the LED duty cycle is not exceeded by the projector flash time. This ensures that the LED will be switched on for the entire image exposure time. The wait times are especially noticeable when using FlexView.

PixelClock

Higher values result in shorter image transfer times.

Lower values require less bus bandwidth and lead to more stable image transfers (eliminating transfer errors).

InitialTrigger /
FinalTrigger

When running the camera untriggered, the frame rate might increase when doing a software trigger for the next image after an image has been captured. This can be achieved by setting InitialTrigger to "Untriggered" and FinalTrigger to "All". Please refer to the definition of the capture phases.

By default, each Capture command triggers the acquisition of a fresh image.

AutoExposure /
AutoGain

Disabling automatic exposure and gain adjustment might save a few (≤5) milliseconds that are used for calculating the image mean and reconfiguring the sensor (bus communication time).

UseDisparityMapAreaOfInterest

Setting this parameter to true will reduce the image transfer time by only retrieving the minimal rectangular areas of each sensor necessary for the current stereo matching settings.

Parameter

Performance Setting

Opposite Setting

Method

Setting "SgmAligned" or "SgmDiagonal" for the global stereo matching optimization only uses 4 instead of 8 optimization paths for stereo matching, resulting in faster runtime of ComputeDisparityMap.

Setting "SgmAlignedAndDiagonal" uses 8 optimization paths and yields better disparity map results.

NumberOfDisparities

Setting smaller values for NumberOfDisparities reduces the correspondence search range for the stereo matcher. This results in (linearly) faster runtime of ComputeDisparityMap, but also reduces the measurable depth range in z-direction of the camera.

Larger values enlarge the measurement volume.

Filling /
Speckle Removal /
Median Filtering

Disabling as many post processing steps as possible results in faster runtime of ComputeDisparityMap.

Post processing of the disparity map might enhance the data quality for your specific application.

AreaOfInterest

The stereo matching algorithm can be resticted to run only on a smaller image region. The smaller the specified AOI is, the more computation time will be saved in the ComputeDisparityMap command.

Scaling

With the scaling parameter the resolution of the rectified images and the resulting 3D data can be reduced by an arbitrary scale factor. This can significantly reduce the runtime of ComputeDisparityMap.