Mech-Eye API
2.4.1
API reference documentation for Mech-Eye Industrial 3D Camera
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area_scan_3d_camera
parameters
Laser.h
1
/*******************************************************************************
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* BSD 3-Clause License
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*
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* Copyright (c) 2016-2024, Mech-Mind Robotics
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* 3. Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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* Info: https://www.mech-mind.com/
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*
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******************************************************************************/
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#pragma once
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#include "Parameter.h"
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namespace
mmind {
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namespace
eye {
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namespace
laser_setting {
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class
PowerLevel
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{
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public
:
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static
constexpr
const
char
* name =
"LaserPowerLevel"
;
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static
constexpr
const
char
* description =
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"Set Laser's power level."
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"High power is often used for scanning dark objects. Low power is often used for scanning "
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"reflective objects."
;
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static
constexpr
Parameter::Type
type =
Parameter::Type::_Int
;
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static
constexpr
int
step() {
return
10; }
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static
constexpr
Range<int>
range() {
return
{50, 100}; }
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static
constexpr
const
char
* unit =
"%"
;
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};
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class
FringeCodingMode
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{
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public
:
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static
constexpr
const
char
* name =
"LaserFringeCodingMode"
;
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static
constexpr
const
char
* description =
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"Select the pattern of the structured light to be projected.\n\nNote:\n* When "
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"\"Reflective\" is selected, the following tool and parameters are "
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"unavailable:\n\"FramePartitionCount\" in the \"mmind::eye::laser_setting\" namespace\n** "
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"\"FringeMinThreshold\" in the \"mmind::eye::pointcloud_processing_setting\" namespace."
;
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static
constexpr
Parameter::Type
type =
Parameter::Type::_Enum
;
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enum struct
Value
{
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Fast
,
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Accurate
,
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Reflective
,
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};
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};
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class
ProcessingMode
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{
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public
:
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static
constexpr
const
char
* name =
"LaserProcessingMode"
;
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static
constexpr
const
char
* description =
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"Select the data processing mode for the \"Reflective\" fringe coding mode.\n\n* Faster: "
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"provides faster processing speed, but the depth data might have missing points. Suitable "
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"for scenarios with relatively simple reflective conditions.\n* More Complete: provides "
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"more complete depth data, but the processing speed is slower. Suitable for scenarios with "
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"complex reflective conditions, such as a bin whose walls often cause interreflection."
;
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static
constexpr
Parameter::Type
type =
Parameter::Type::_Enum
;
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enum struct
Value
{
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Faster
,
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MoreComplete
,
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};
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};
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class
FrameRange
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{
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public
:
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static
constexpr
const
char
* name =
"LaserFrameRange"
;
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static
constexpr
const
char
* description =
"Modify the Laser's scan range."
;
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static
constexpr
Parameter::Type
type =
Parameter::Type::_Range
;
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static
constexpr
Range<int>
range() {
return
{0, 100}; }
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};
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class
FramePartitionCount
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{
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public
:
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static
constexpr
const
char
* name =
"LaserFramePartitionCount"
;
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static
constexpr
const
char
* description =
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"Set Laser's scan partition count."
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"If the value is more than 1, the scan from start to end will be partitioned to "
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"multiple "
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"parts. It is recommended to use mutiple partition for extremely dark "
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"objects.\n\nNote: "
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"\"FramePartitionCount\" is unavailable when \"FringeCodingMode\" category is set to "
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"\"Reflective\"."
;
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static
constexpr
Parameter::Type
type =
Parameter::Type::_Int
;
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static
constexpr
Range<int>
range() {
return
{1, 4}; }
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};
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}
// namespace laser_setting
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}
// namespace eye
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}
// namespace mmind
mmind::eye::Parameter::Type
Type
Describes the device parameter data types.
Definition
Parameter.h:30
mmind::eye::Parameter::_Int
@ _Int
Integer type.
Definition
Parameter.h:31
mmind::eye::Parameter::_Enum
@ _Enum
Enumeration type.
Definition
Parameter.h:34
mmind::eye::Parameter::_Range
@ _Range
Range type. See Range for details.
Definition
Parameter.h:36
mmind::eye::laser_setting::FramePartitionCount
Definition
Laser.h:123
mmind::eye::laser_setting::FrameRange
Definition
Laser.h:111
mmind::eye::laser_setting::FringeCodingMode
Definition
Laser.h:65
mmind::eye::laser_setting::FringeCodingMode::Value
Value
Definition
Laser.h:77
mmind::eye::laser_setting::FringeCodingMode::Value::Accurate
@ Accurate
mmind::eye::laser_setting::FringeCodingMode::Value::Reflective
@ Reflective
mmind::eye::laser_setting::FringeCodingMode::Value::Fast
@ Fast
mmind::eye::laser_setting::PowerLevel
Definition
Laser.h:46
mmind::eye::laser_setting::ProcessingMode
Definition
Laser.h:88
mmind::eye::laser_setting::ProcessingMode::Value
Value
Definition
Laser.h:101
mmind::eye::laser_setting::ProcessingMode::Value::Faster
@ Faster
mmind::eye::laser_setting::ProcessingMode::Value::MoreComplete
@ MoreComplete
mmind::eye::Range
Describes a value range.
Definition
CommonTypes.h:18
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