def getDisparityPointCloud(decimation=4, removeOutliers=True, removeSize=0, imagesChannel='CAMERA', cameraName='CAMERA_LEFT'):

    p = cameraview.getStereoPointCloud(decimation, imagesChannel=imagesChannel, cameraName=cameraName, removeSize=removeSize)
    if not p:
      return None

    if removeOutliers:
        # attempt to scale outlier filtering, best tuned for decimation of 2 or 4
        scaling = (decimation*decimation)/(10*16)
        p = labelOutliers(p, searchRadius=0.06, neighborsInSearchRadius=scaling)
        p = thresholdPoints(p, 'is_outlier', [0.0, 0.0])

    return p
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/segmentation.py/getDisparityPointCloud/swapped operands of `/`