PointCloudProcessing.h

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#pragma once
#include "Parameter.h"
 
namespace mmind {
 
namespace eye {
 
// Process the generated point cloud. Please perform image capturing again after adjusting the
// parameters to see the result.
namespace pointcloud_processing_setting {
 
// Point Cloud Surface Smoothing
class SurfaceSmoothing
{
public:
    static constexpr const char* name = "PointCloudSurfaceSmoothing";
 
    static constexpr const char* description =
        "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.";
 
    static constexpr Parameter::Type type = Parameter::Type::_Enum;
 
    enum struct Value {
        Off,
        Weak,
        Normal,
        Strong,
    };
};
 
// Point Cloud Noise Removal
class NoiseRemoval
{
public:
    static constexpr const char* name = "PointCloudNoiseRemoval";
 
    static constexpr const char* description =
        "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. Noise removal might remove some sharp object features. The more intense the "
        "noise removal, the more object features might be removed. If this function removes the "
        "needed object features, please reduce the intensity. However, more noise will be "
        "retained.";
 
    static constexpr Parameter::Type type = Parameter::Type::_Enum;
 
    enum struct Value {
        Off,
        Weak,
        Normal,
        Strong,
    };
};
 
// Depth Smooth
class DepthSmooth
{
public:
    static constexpr const char* name = "DepthSmooth";
 
    static constexpr const char* description =
        "Reduces depth fluctuations in the point cloud and improves its resemblance to the actual "
        "object surface.";
 
    static constexpr Parameter::Type type = Parameter::Type::_Enum;
 
    enum struct Value {
        Off,
        Weak,
        Normal,
        Strong,
    };
};
 
// Depth Hole Filling
class DepthHoleFilling
{
public:
    static constexpr const char* name = "DepthHoleFilling";
 
    static constexpr const char* description =
        "Fills gaps in the point cloud to make the object surface features more complete.";
 
    static constexpr Parameter::Type type = Parameter::Type::_Enum;
 
    enum struct Value {
        Off,
        Weak,
        Normal,
        Strong,
    };
};
 
// Depth Surface Noise Removal
class DepthSurfaceNoiseRemoval
{
public:
    static constexpr const char* name = "DepthSurfaceNoiseRemoval";
 
    static constexpr const char* description =
        "Removes noise in the point cloud. Noise refers to scattered points located near the "
        "object surface.";
 
    static constexpr Parameter::Type type = Parameter::Type::_Enum;
 
    enum struct Value {
        Off,
        Weak,
        Normal,
        Strong,
    };
};
 
// Phase Cluster Outlier Removal
class PhaseClusterOutlierRemoval
{
public:
    static constexpr const char* name = "PhaseClusterOutlierRemoval";
 
    static constexpr const char* description =
        "Removes outliers in the point cloud. Outliers are clusters of points that are detached "
        "from the main object point cloud.";
 
    static constexpr Parameter::Type type = Parameter::Type::_Enum;
 
    enum struct Value {
        L0,
        L1,
        L2,
        L3,
        L4,
        L5,
        L6,
        L7,
        L8,
        L9,
        L10,
    };
};
 
// Spurious Phase Removal
class SpuriousPhaseRemoval
{
public:
    static constexpr const char* name = "SpuriousPhaseRemoval";
 
    static constexpr const char* description =
        "Removes false points caused by occlusions and other factors in the point cloud.";
 
    static constexpr Parameter::Type type = Parameter::Type::_Enum;
 
    enum struct Value {
        Off,
        Weak,
        Normal,
        Strong,
    };
};
 
// Large Gradient Noise Removal
class LargeGradNoiseRemoval
{
public:
    static constexpr const char* name = "LargeGradNoiseRemoval";
 
    static constexpr const char* description =
        "Removes abnormal points caused by depth discontinuities, such as large clusters of "
        "outliers near the side walls of a bin.";
 
    static constexpr Parameter::Type type = Parameter::Type::_Enum;
 
    enum struct Value {
        Off,
        Weak,
        Normal,
        Strong,
    };
};
 
// Point Cloud Outlier Removal
class OutlierRemoval
{
public:
    static constexpr const char* name = "PointCloudOutlierRemoval";
 
    static constexpr const char* description =
        "Removes the outliers in the point cloud. Outliers are clustered points away from the "
        "object point cloud. If the object point cloud contains clustered points that have depth "
        "difference from other parts of the object, high intensities of outlier removal might "
        "remove these points.";
 
    static constexpr Parameter::Type type = Parameter::Type::_Enum;
 
    enum struct Value {
        Off,
        Weak,
        Normal,
        Strong,
    };
};
 
// Point Cloud Gap Filling
class GapFilling
{
public:
    static constexpr const char* name = "PointCloudGapFilling";
 
    static constexpr const char* description =
        "Fill in the gaps in the point cloud so that the object's surface features are more "
        "complete.\n\nNote:\n* This parameter is only available when \"FringeCodingMode\" in the "
        "\"mmind::eye::projector_setting\" namespace is set to \"Translucent\".\n* More intense "
        "gap filling "
        "fills more missing points but may also distort object edges.";
 
    static constexpr Parameter::Type type = Parameter::Type::_Enum;
 
    enum struct Value {
        Off,
        Weak,
        Normal,
        Strong,
    };
};
 
// Point Cloud Edge Preservation
class EdgePreservation
{
public:
    static constexpr const char* name = "PointCloudEdgePreservation";
 
    static constexpr const char* description =
        "Preserves the sharpness of object edges during surface smoothing. 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.\n\nNote: For PRO S and PRO M models, "
        "\"EdgePreservation\" is unavailable when "
        "\"FringeCodingMode\" in the \"mmind::eye::projector_setting\" namespace is set to "
        "\"Translucent\".";
 
    static constexpr Parameter::Type type = Parameter::Type::_Enum;
 
    enum struct Value {
        Sharp,
        Normal,
        Smooth,
    };
};
 
class EnableDistortionCorrection
{
public:
    static constexpr const char* name = "EnableDistortionCorrection";
 
    static constexpr const char* description =
        "Set this parameter to true to enable distortion correction.\n\nNote:\n* Enabling "
        "distortion correction lowers the "
        "acquisition speed.\n* \"EnableDistortionCorrection\" is unavailable when "
        "\"FringeCodingMode\" is set to \"Translucent\" or \"Reflective\".";
 
    static constexpr Parameter::Type type = Parameter::Type::_Bool;
};
 
class DistortionCorrection
{
public:
    static constexpr const char* name = "DistortionCorrection";
 
    static constexpr const char* description =
        "Adjust the intensity of distortion correction.\n\nNote:\n* A \"DistortionCorrection\" too "
        "large may result in adverse effects. Please acquire data again after adjusting the "
        "parameter to check its influence on the depth map and point cloud.\n* "
        "\"DistortionCorrection\" is unavailable when \"FringeCodingMode\" is set to "
        "\"Translucent\" or \"Reflective\".";
 
    static constexpr Parameter::Type type = Parameter::Type::_Int;
 
    static constexpr Range<int> range() { return {1, 10}; }
 
    static constexpr const char* unit = "";
};
 
// Stripe Contrast Threshold
class FringeContrastThreshold
{
public:
    static constexpr const char* name = "FringeContrastThreshold";
 
    static constexpr const char* description =
        "If the level of noise is still high after adjusting Outlier Removal and Noise Removal, "
        "please increase the value of this parameter. However, the points of dark objects might be "
        "lost.";
 
    static constexpr Parameter::Type type = Parameter::Type::_Int;
 
    static constexpr Range<int> range() { return {1, 100}; }
 
    static constexpr const char* unit = "";
};
 
// Minimum Fringe Intensity Threshold
class FringeMinThreshold
{
public:
    static constexpr const char* name = "FringeMinThreshold";
 
    static constexpr const char* description =
        "Set 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.\n\nNote: "
        "\"FringeMinThreshold\" is unavailable when \"FringeCodingMode\" is set to \"Reflective\".";
 
    static constexpr Parameter::Type type = Parameter::Type::_Int;
 
    static constexpr Range<int> range() { return {1, 100}; }
 
    static constexpr const char* unit = "";
};
 
class EdgeArtifactRemoval
{
public:
    static constexpr const char* name = "EdgeArtifactRemoval";
 
    static constexpr const char* description = "";
 
    static constexpr Parameter::Type type = Parameter::Type::_Bool;
};
 
class EnableGapFilling
{
public:
    static constexpr const char* name = "EnableGapFilling";
 
    static constexpr const char* description =
        "Enable this parameter to fill the gaps in the point cloud.";
 
    static constexpr Parameter::Type type = Parameter::Type::_Bool;
};
 
class GapSize
{
public:
    static constexpr const char* name = "GapSize";
 
    static constexpr const char* description =
        "Sets the size of the gaps to be filled. Gaps with missing pixels fewer than the specified."
        "value will be filled";
 
    static constexpr Parameter::Type type = Parameter::Type::_Int;
 
    static constexpr Range<int> range() { return {10, 100}; }
 
    static constexpr const char* unit = "pixel";
};
 
} // namespace pointcloud_processing_setting
} // namespace eye
} // namespace mmind