zParametersManolisScan.txt

// 0=Kinect; 1=PrimeSense; 2=KinectOne; 3=BinaryDumpReader; 4=NetworkSensor; 5=IntelSensor; 6=RealSense; 7=StructureSensor; 8=SensorDataReader
s_sensorIdx = 0;

//s_windowWidth = 1280;		//render window width
//s_windowHeight = 960;		//render window height
s_windowWidth = 640;		//render window width
s_windowHeight = 480;		//render window height

s_adapterWidth = 320;		//input depth gets re-sampled to this width
s_adapterHeight = 240;		//input depth gets re-sampled to this height

s_sensorDepthMax = 4.0f;	//maximum sensor depth in meter
s_sensorDepthMin = 0.4f;	//minimum sensor depth in meter

// cropping options for PrimeSense & Asus Xtion Pro
s_enableColorCropping = false;
s_colorCropX = 320;
s_colorCropY = 272;
s_colorCropWidth = 640;
s_colorCropHeight = 480;

// sdf and hash settings
s_SDFVoxelSize = 0.010f;				//voxel size in meter
s_SDFMarchingCubeThreshFactor = 10.0f;	//marching cube thresh: s_SDFMarchingCubeThresh = s_SDFMarchingCubeThreshFactor*s_SDFVoxelSize
s_SDFTruncation = 0.06f;				//truncation in meter (5.0f*s_SDFVoxelSize )
s_SDFTruncationScale = 0.02f;			//truncation scale in meter per meter (2.5f*s_SDFVoxelSize )
s_SDFMaxIntegrationDistance = 3.0f;		//maximum integration in meter
s_SDFIntegrationWeightSample = 3;		//weight for an integrated depth value
s_SDFIntegrationWeightMax = 255;		//maximum integration weight for a voxel
// s_SDFBlockSize is pound defined (SDF_BLOCK_SIZE)
// s_hashBucketSize is pound defined (HASH_BUCKET_SIZE)
s_hashNumBuckets = 400000;				//smaller voxels require more space
s_hashNumSDFBlocks = 400000;			//smaller voxels require more space
s_hashMaxCollisionLinkedListSize = 7;

// raycast
s_SDFRayIncrementFactor = 0.8f;			//(don't touch) s_SDFRayIncrement = s_SDFRayIncrementFactor*s_SDFTrunaction;
s_SDFRayThresSampleDistFactor = 50.5f;	//(don't touch) s_SDFRayThresSampleDist = s_SDFRayThresSampleDistFactor*s_rayIncrement;
s_SDFRayThresDistFactor = 50.0f;		//(don't touch) s_SDFRayThresDist = s_SDFRayThresSampleDistFactor*s_rayIncrement;
s_SDFUseGradients 		= false;		//analytic gradients for rendering

// .sens file input for offline processing (need to set s_sensorIdx accordingly)
//s_binaryDumpSensorFile[0] = "./DumpOutput/8194nk5LbLH_0.sens";
//s_binaryDumpSensorFile[1] = "./DumpOutput/8194nk5LbLH_1.sens";
//s_binaryDumpSensorFile[2] = "./DumpOutput/8194nk5LbLH_2.sens";
s_binaryDumpSensorFile[0] = "Dump/test.sens";

s_binaryDumpSensorUseTrajectory = true;
s_binaryDumpSensorUseTrajectoryOnlyInit = false;	//only valid if prev is true; precomputed traj for ICP, which is run

// filtering
s_depthSigmaD = 2.0f;	//bilateral filter sigma domain
s_depthSigmaR = 0.1f;	//bilateral filter sigma range
s_depthFilter = false;	//bilateral filter enabled depth

s_colorSigmaD = 1.0f;	//bilateral filter sigma domain
s_colorSigmaR = 0.08f;	//bilateral filter sigma range
s_colorFilter = false;	//bilateral filter enabled depth

s_integrationEnabled		= true;
s_trackingEnabled			= true;
s_timingsDetailledEnabled   = false;	//enable timing output
s_timingsTotalEnabled		= false;	//enable timing output
s_garbageCollectionEnabled	= false;
s_garbageCollectionStarve	= 15;		//decrement the voxel weight every n'th frame

// rendering
s_materialShininess 	= 16.0f;
s_materialAmbient   	= 0.75f 0.65f 0.5f 1.0f;
s_materialDiffuse 		= 1.0f 0.9f 0.7f 1.0f;
s_materialSpecular 		= 1.0f 1.0f 1.0f 1.0f;
s_lightAmbient 			= 0.4f 0.4f 0.4f 1.0f;
s_lightDiffuse 			= 0.6f 0.52944f 0.4566f 0.6f;
s_lightSpecular 		= 0.3f 0.3f 0.3f 1.0f;
s_lightDirection 		= 0.0f -1.0f 2.0f;

s_RenderMode = 1;

s_useColorForRendering = false;
s_playData = true;

s_renderingDepthDiscontinuityThresOffset = 0.012f;	// discontinuity offset in meter
s_renderingDepthDiscontinuityThresLin	 = 0.001f;	// additional discontinuity threshold per meter
s_remappingDepthDiscontinuityThresOffset = 0.012f;	// discontinuity offset in meter
s_remappingDepthDiscontinuityThresLin	 = 0.016f;	// additional discontinuity threshold per meter

s_bUseCameraCalibration = false;
							    
s_marchingCubesMaxNumTriangles = 2500000; // max buffer size for marching cube

//streaming parameters
s_streamingEnabled = true;
s_streamingVoxelExtents = 2.0f 2.0f 2.0f;
s_streamingGridDimensions = 513 513 513; // dimensions have to be odd (number of samples)
s_streamingMinGridPos = -256 -256 -256;
s_streamingInitialChunkListSize = 2000;
s_streamingRadius = 4.0f; // Depends on DepthMin and DepthMax			WARNING: PARAMETER NOT USED; ARE COMPUTED AUTOMATICALLY
s_streamingPos = 0.0f 0.0f 3.0f; // Depends on DepthMin and DepthMax	WARNING: PARAMETER NOT USED; ARE COMPUTED AUTOMATICALLY
s_streamingOutParts = 80;	// number of frames required to sweep through the entire hash

//recording of the input data
s_recordData = false;			// master flag for data recording: enables or disables data recording
s_recordCompression = true;		//if recoding is enabled; then compression is used (.sens instead of .sensor)
s_recordDataFile = "Dump/test.sens";
s_reconstructionEnabled = true;
s_renderToFile = false;				//for making paper videos: renders all input/raycasts etc. to images
s_renderToFileDir = "./output/";

s_offlineProcessing = false;			//slower, but makes sure that all voxels are alllocated and streaming all blocks is enforced