mmind::api::PointCloudProcessingSettings Struct Reference

Public Types
enum struct	CloudOutlierFilterMode { Off , Weak , Normal }
enum struct	CloudSmoothMode { Off , Weak , Normal , Strong }
enum struct	PointCloudSurfaceSmoothing { Off , Weak , Normal , Strong }
enum struct	PointCloudNoiseRemoval { Off , Weak , Normal , Strong }
enum struct	PointCloudOutlierRemoval { Off , Weak , Normal , Strong }
enum struct	PointCloudEdgePreservation { Sharp , Normal , Smooth }

Public Attributes
CloudOutlierFilterMode	outlierFilterMode
CloudSmoothMode	smoothMode
int	fringeContrastThreshold
int	fringeMinThreshold
PointCloudSurfaceSmoothing	surfaceSmoothing
PointCloudNoiseRemoval	noiseRemoval
PointCloudOutlierRemoval	outlierRemoval
PointCloudEdgePreservation	edgePreservation

Detailed Description

Definition at line 189 of file MechEyeSettings.h.

Member Enumeration Documentation

CloudOutlierFilterMode

enum struct mmind::api::PointCloudProcessingSettings::CloudOutlierFilterMode

strong

Option for cloud outlier filter.

Deprecated

Please use PointCloudProcessingSettings::outlierRemoval instead.

Enumerator
Off	No outlier removal operation. Certain noisy points may exist.
Weak	Moderate amount of outliers are removed. This mode allows having more accurate and more complete edges.
Normal	Most outliers are removed. Mild edge erosion might occur under certain circumstances.

Definition at line 195 of file MechEyeSettings.h.

CloudSmoothMode

enum struct mmind::api::PointCloudProcessingSettings::CloudSmoothMode

strong

Option for cloud smooth filter.

Deprecated

Please use PointCloudProcessingSettings::surfaceSmoothing instead.

Enumerator
Off	No smoothing. More details of the point cloud are preserved.
Weak	Light level surface smoothness. Noise is reduced at the expense of negligible details.
Normal	Moderate level surface smoothness. Noise is reduced at the expense of fine-scale details.
Strong	Advanced level surface smoothness. Noise is reduced at the expense of moderate-scale details.

Definition at line 207 of file MechEyeSettings.h.

PointCloudEdgePreservation

enum struct mmind::api::PointCloudProcessingSettings::PointCloudEdgePreservation

strong

Preserves the sharpness of object edges during surface smoothing.

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

Definition at line 271 of file MechEyeSettings.h.

PointCloudNoiseRemoval

enum struct mmind::api::PointCloudProcessingSettings::PointCloudNoiseRemoval

strong

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.

Definition at line 250 of file MechEyeSettings.h.

PointCloudOutlierRemoval

enum struct mmind::api::PointCloudProcessingSettings::PointCloudOutlierRemoval

strong

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

Definition at line 261 of file MechEyeSettings.h.

PointCloudSurfaceSmoothing

enum struct mmind::api::PointCloudProcessingSettings::PointCloudSurfaceSmoothing

strong

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.

Definition at line 239 of file MechEyeSettings.h.

Member Data Documentation

edgePreservation

PointCloudEdgePreservation mmind::api::PointCloudProcessingSettings::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.

Definition at line 347 of file MechEyeSettings.h.

fringeContrastThreshold

int mmind::api::PointCloudProcessingSettings::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

Definition at line 291 of file MechEyeSettings.h.

fringeMinThreshold

int mmind::api::PointCloudProcessingSettings::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

Definition at line 303 of file MechEyeSettings.h.

noiseRemoval

PointCloudNoiseRemoval mmind::api::PointCloudProcessingSettings::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.

Definition at line 325 of file MechEyeSettings.h.

outlierFilterMode

CloudOutlierFilterMode mmind::api::PointCloudProcessingSettings::outlierFilterMode

The point cloud outlier removal level.

Getter: MechEyeDevice::getCloudOutlierFilterMode

Setter: MechEyeDevice::setCloudOutlierFilterMode

Deprecated

Please use PointCloudProcessingSettings::outlierRemoval instead.

Definition at line 223 of file MechEyeSettings.h.

outlierRemoval

PointCloudOutlierRemoval mmind::api::PointCloudProcessingSettings::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.

Definition at line 336 of file MechEyeSettings.h.

smoothMode

CloudSmoothMode mmind::api::PointCloudProcessingSettings::smoothMode

Option for cloud smooth filter.

Getter: MechEyeDevice::getCloudSmoothMode

Setter: MechEyeDevice::setCloudSmoothMode

Deprecated

Please use PointCloudProcessingSettings::surfaceSmoothing instead.

Definition at line 231 of file MechEyeSettings.h.

surfaceSmoothing

PointCloudSurfaceSmoothing mmind::api::PointCloudProcessingSettings::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.

Definition at line 313 of file MechEyeSettings.h.

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The documentation for this struct was generated from the following file:

• include/camera/deprecated/MechEyeSettings.h