MechEyeSettings.h

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 *Copyright (c) 2016-2025, Mech-Mind Robotics Technologies Co., Ltd.
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 *   list of conditions and the following disclaimer.
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 *   contributors may be used to endorse or promote products derived from
 *   this software without specific prior written permission.
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#pragma once
#include <vector>
#include "MechEyeDataType.h"
 
namespace mmind {
 
namespace api {
 
struct Scanning3DSettings
{
    std::vector<double> exposureSequence;
 
    double gain;
 
    ROI scan3DROI;
 
    DepthRange depthRange;
};
 
struct Scanning2DSettings
{
    enum Scan2DExposureMode {
        Timed, 
        Auto,  
        HDR,   
        Flash, 
    };
 
    Scan2DExposureMode exposureMode;
 
    double exposureTime;
 
    double sharpenFactor;
 
    int expectedGrayValue;
 
    ROI scan2DROI;
 
    bool toneMappingEnable;
 
    std::vector<double> hdrExposureSequence;
};
 
struct PointCloudProcessingSettings
{
    enum struct CloudOutlierFilterMode {
        Off,    
        Weak,   
        Normal, 
    };
 
    enum struct CloudSmoothMode {
        Off,    
        Weak,   
        Normal, 
        Strong, 
    };
 
    CloudOutlierFilterMode outlierFilterMode;
 
    CloudSmoothMode smoothMode;
 
    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, 
 
    };
 
    int fringeContrastThreshold;
 
    int fringeMinThreshold;
 
    PointCloudSurfaceSmoothing surfaceSmoothing;
 
    PointCloudNoiseRemoval noiseRemoval;
 
    PointCloudOutlierRemoval outlierRemoval;
 
    PointCloudEdgePreservation edgePreservation;
};
 
struct ProjectorSettings
{
    enum struct FringeCodingMode {
        Fast,     
        Accurate, 
    };
 
    enum struct PowerLevel {
        High,   
        Normal, 
        Low,    
    };
 
    enum struct AntiFlickerMode {
        Off,    
        AC50Hz, 
        AC60Hz, 
    };
 
    FringeCodingMode fringeCodingMode;
 
    PowerLevel powerLevel;
 
    AntiFlickerMode antiFlickerMode;
};
 
struct LaserSettings
{
    enum LaserFringeCodingMode {
        Fast,     
        Accurate, 
    };
 
    LaserFringeCodingMode fringeCodingMode;
 
    int frameRangeStart;
 
    int frameRangeEnd;
 
    int framePartitionCount;
 
    int powerLevel;
};
 
struct UhpSettings
{
    enum struct UhpCaptureMode {
        Camera1, 
        Camera2, 
        Merge,   
    };
 
    enum struct UhpFringeCodingMode {
        Fast,     
        Accurate, 
    };
 
    UhpCaptureMode captureMode;
 
    UhpFringeCodingMode fringeCodingMode;
};
 
struct HandeyeCalibrationSettings
{
    enum struct calibrationType {
        EyeInHand, 
        EyeToHand, 
        UNKNOWN,
    };
 
    enum struct boardType {
        BDB_5,
        BDB_6,
        BDB_7,
        OCB_5,
        OCB_10,
        OCB_15,
        OCB_20,
        CGB_20,
        CGB_35,
        CGB_50,
        UNKNOWN,
    };
 
    std::string poseData;
 
    std::string extrinsic;
};
 
} // namespace api
} // namespace mmind