#include <MechEyeSettings.h>

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 }

Data Fields
CloudOutlierFilterMode	outlierFilterMode

CloudSmoothMode	smoothMode

int	fringeContrastThreshold

int	fringeMinThreshold

PointCloudSurfaceSmoothing	surfaceSmoothing

PointCloudNoiseRemoval	noiseRemoval

PointCloudOutlierRemoval	outlierRemoval

PointCloudEdgePreservation	edgePreservation

Member Enumeration Documentation

◆ CloudOutlierFilterMode

enum struct 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.

◆ CloudSmoothMode

enum struct 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.

◆ PointCloudEdgePreservation

enum struct 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.

◆ PointCloudNoiseRemoval

enum struct 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.

Enumerator
Off
Weak
Normal
Strong

◆ PointCloudOutlierRemoval

enum struct PointCloudOutlierRemoval

strong

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

Enumerator
Off
Weak
Normal
Strong

◆ PointCloudSurfaceSmoothing

enum struct 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.

Enumerator
Off
Weak
Normal
Strong

Field Documentation

◆ edgePreservation

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.

◆ fringeContrastThreshold

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

◆ fringeMinThreshold

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

◆ noiseRemoval

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.

◆ outlierFilterMode

CloudOutlierFilterMode outlierFilterMode

The point cloud outlier removal level.

Getter: MechEyeDevice::getCloudOutlierFilterMode

Setter: MechEyeDevice::setCloudOutlierFilterMode

Deprecated:: Please use PointCloudProcessingSettings::outlierRemoval instead.

◆ outlierRemoval

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.