Struct PointCloudProcessingSettings

Struct Documentation

struct PointCloudProcessingSettings

Public Types

enum class CloudOutlierFilterMode

Option for cloud outlier filter.

Deprecated:

Please use PointCloudProcessingSettings::outlierRemoval instead.

Values:

enumerator Off

No outlier removal operation. Certain noisy points may exist.

enumerator Weak

Moderate amount of outliers are removed. This mode allows having more accurate and more complete edges.

enumerator Normal

Most outliers are removed. Mild edge erosion might occur under certain circumstances.

enum class CloudSmoothMode

Option for cloud smooth filter.

Deprecated:

Please use PointCloudProcessingSettings::surfaceSmoothing instead.

Values:

enumerator Off

No smoothing. More details of the point cloud are preserved.

enumerator Weak

Light level surface smoothness. Noise is reduced at the expense of negligible details.

enumerator Normal

Moderate level surface smoothness. Noise is reduced at the expense of fine-scale details.

enumerator Strong

Advanced level surface smoothness. Noise is reduced at the expense of moderate-scale details.

enum class PointCloudSurfaceSmoothing

Reduces the depth fluctuation in the point cloud and improves its resemblance to the actual object surface. Surface smoothing causes loss of object surface details. The more intense the smoothing, the more details are lost.

Values:

enumerator Off
enumerator Weak
enumerator Normal
enumerator Strong
enum class PointCloudNoiseRemoval

Removes the noise in the point cloud, thus reducing the impact on the precision and accuracy of subsequent calculation. Noise is the scattered points close to the object surface.

Values:

enumerator Off
enumerator Weak
enumerator Normal
enumerator Strong
enum class PointCloudOutlierRemoval

Removes the outliers in the point cloud. Outliers are clustered points away from the object point cloud.

Values:

enumerator Off
enumerator Weak
enumerator Normal
enumerator Strong
enum class PointCloudEdgePreservation

Preserves the sharpness of object edges during surface smoothing.

Values:

enumerator Sharp

Preserves the sharpness of object edges as much as possible. However, the effect of surface smoothing will be reduced.

enumerator Normal

Balances between edge preservation and surface smoothing.

enumerator Smooth

Does not preserve the edges. The object surface will be well smoothed, but the object edges will be distorted.

Public Members

CloudOutlierFilterMode outlierFilterMode

The point cloud outlier removal level.

Getter: MechEyeDevice::getCloudOutlierFilterMode

Setter: MechEyeDevice::setCloudOutlierFilterMode

Deprecated:

Please use PointCloudProcessingSettings::outlierRemoval instead.

CloudSmoothMode smoothMode

Option for cloud smooth filter.

Getter: MechEyeDevice::getCloudSmoothMode

Setter: MechEyeDevice::setCloudSmoothMode

Deprecated:

Please use PointCloudProcessingSettings::surfaceSmoothing instead.

int fringeContrastThreshold

The signal contrast threshold for effective pixels. Pixels with contrast less than this threshold will be ignored.

A higher value will result in more image noise to be filtered but may also cause the point cloud of dark objects to be removed.

Getter: MechEyeDevice::getFringeContrastThreshold

Setter: MechEyeDevice::setFringeContrastThreshold

Note

Minimum: 0

Maximum: 100

int fringeMinThreshold

The signal minimum threshold for effective pixels. Pixels with intensity less than this threshold will be ignored.

A higher value will result in more image noise to be filtered but may also cause the point cloud of dark objects to be removed.

Getter: MechEyeDevice::getFringeMinThreshold

Setter: MechEyeDevice::setFringeMinThreshold

Note

Minimum: 0

Maximum: 100

PointCloudSurfaceSmoothing surfaceSmoothing

Reduces the depth fluctuation in the point cloud and improves its resemblance to the actual object surface.

Getter: MechEyeDevice::getCloudSurfaceSmoothingMode

Setter: MechEyeDevice::setCloudSurfaceSmoothingMode

Note

Surface smoothing causes loss of object surface details. The more intense the smoothing, the more details are lost.

PointCloudNoiseRemoval noiseRemoval

Removes the noise in the point cloud, thus reducing the impact on the precision and accuracy of subsequent calculation. Noise is the scattered points close to the object surface.

Getter: MechEyeDevice::getCloudNoiseRemovalMode

Setter: MechEyeDevice::setCloudNoiseRemovalMode

Note

1. Noise removal might remove some sharp object features. The more intense the noise removal, the more object feature might be removed. \n2. If this function removes the needed object features, please reduce the intensity. However, more noise will be retained.

PointCloudOutlierRemoval outlierRemoval

Removes the outliers in the point cloud. Outliers are clustered points away from the object point cloud.

Getter: MechEyeDevice::getCloudOutlierRemovalMode

Setter: MechEyeDevice::setCloudOutlierRemovalMode

Note

If the object point cloud contains clustered points that have depth difference from other parts of the object, high intensity of outlier removal might remove these points.

PointCloudEdgePreservation edgePreservation

Preserves the sharpness of object edges during surface smoothing.

Getter: MechEyeDevice::getCloudEdgePreservationMode

Setter: MechEyeDevice::setCloudEdgePreservationMode

Note

Sharp: Preserves the sharpness of object edges as much as possible. However, the effect of surface smoothing will be reduced.\nNormal: Balances between edge preservation and surface smoothing.\nSmooth: Does not preserve the edges. The object surface will be well smoothed, but the object edges will be distorted.