Lists all available option bind methods. More...

reme_error_t	reme_context_bind_reconstruction_options (reme_context_t c, reme_options_t o)
	Access the reconstruction options. More...

reme_error_t	reme_context_bind_opencl_info (reme_context_t c, reme_options_t o)
	Access platform OpenCL information. More...

reme_error_t	reme_context_bind_error_info (reme_context_t c, reme_options_t o)
	Access current error state. More...

reme_error_t	reme_license_bind_hardware_hashes (reme_context_t c, reme_license_t l, reme_options_t o)
	Access hardware hashes for generating single user licenses bound to specific hardware. More...

reme_error_t	reme_sensor_bind_camera_options (reme_context_t c, reme_sensor_t s, reme_options_t o)
	Access the sensor specific options that affect how the camera is opened. More...

reme_error_t	reme_sensor_bind_capture_options (reme_context_t c, reme_sensor_t s, reme_options_t o)
	Access the sensor specific capture options with their current values. More...

reme_error_t	reme_sensor_bind_render_options (reme_context_t c, reme_sensor_t s, reme_options_t o)
	Access the sensor specific render options. More...

reme_error_t	reme_recorder_bind_file_options (reme_context_t c, reme_recorder_t r, reme_options_t o)
	Access the recorder specific file options. More...

reme_error_t	reme_calibrator_bind_options (reme_context_t c, reme_calibrator_t cb, reme_options_t o)
	Access the calibration options. More...

reme_error_t	reme_calibrator_bind_intrinsics (reme_context_t c, reme_calibrator_t cb, reme_options_t o)
	Access the calibration results. More...

reme_error_t	reme_surface_bind_generation_options (reme_context_t c, reme_surface_t s, reme_options_t o)
	Access the surface generation options. More...

reme_error_t	reme_surface_bind_poisson_options (reme_context_t c, reme_surface_t s, reme_options_t o)
	Access the poisson reconstruction options. More...

reme_error_t	reme_surface_bind_decimation_options (reme_context_t c, reme_surface_t s, reme_options_t o)
	Access the surface decimation options. More...

reme_error_t	reme_surface_bind_remesh_options (reme_context_t c, reme_surface_t s, reme_options_t o)
	Access the surface remeshing options. More...

reme_error_t	reme_surface_bind_cleanup_options (reme_context_t c, reme_surface_t s, reme_options_t o)
	Access the surface cleanup options. More...

reme_error_t	reme_marker_detector_bind_options (reme_context_t c, reme_marker_detector_t md, reme_options_t o)
	Access the marker detection options. More...

Detailed Description

Lists all available option bind methods.

This page lists all known methods that bind reme_options_t to specific option sets.

Function Documentation

◆ reme_context_bind_reconstruction_options()

reme_error_t reme_context_bind_reconstruction_options	(	reme_context_t	c,
		reme_options_t	o
	)

Access the reconstruction options.

The reconstruction options define the behaviour of the reconstruction process. Note that some options can be set during run-time and others require re-compilation by invoking reme_context_compile. The protocol buffer specification documents when a re-compilation is necessary.

Associated Protocol Buffers Specification: package LibReconstructMe;
// Collection of settings that define the behaviour of the reconstruction.
message reconstruction_settings {
// Device number to carry out computations.
// Use -1 to signal auto-choose.
optional int32 device_id = 1 [default = -1];
// -------------------------------------------------------------------------
// Reconstruction volume settings type
message volume_settings {
// Minimum corner point type
message min_3f {
required float x = 1 [default = -500];
required float y = 2 [default = -500];
required float z = 3 [default = -500];
}
// Maximum corner point type
message max_3f {
required float x = 1 [default = 500];
required float y = 2 [default = 500];
required float z = 3 [default = 500];
}
// Volume resolution type
message res_3i {
required int32 x = 1 [default = 256];
required int32 y = 2 [default = 256];
required int32 z = 3 [default = 256];
}

// Minimum extension point of the volume in world space.
// A re-compilation the OpenCL code is required for changes to take effect.
optional min_3f minimum_corner = 1;
// Maximum extension point of the volume in world space.
// A re-compilation the OpenCL code is required for changes to take effect.
optional max_3f maximum_corner = 2;
// The volume is divided into small cuboids called voxels.
// The number of voxels per dimension can differ, but must be divisable by
// 128. 128 is the minimum resolution per dimension.
// A re-compilation the OpenCL code is required for changes to take effect.
optional res_3i resolution = 3;
// This option enables the volume to move when a boundary was crossed
// The boundary is defined by a factor from 1 .. 0.
//
// 1: 0.5: 1:
// +-------------------+ +-------------------+ +-------------------+
// | | | | | |
// | | | +--------+ | | |
// | | | | | | | |
// | | | | | | | |
// | + | | | | | | |
// | | | | | | | |
// | | | +--------+ | | |
// | | | | | |
// +-------------------+ +-------------------+ +-------------------+
optional float trigger_boundary_scaling = 4 [default = 0.5];
}
// Volume setup
optional volume_settings volume = 2;
// -------------------------------------------------------------------------
// Point normals settings type
message normal_settings {
// Instead of calculation point normals through pixel neighbors,
// fit a parametric plane through the neighborhood.
// A re-compilation the OpenCL code is required for changes to take effect.
optional bool pca_normals = 1 [default = false];
// When pca_normals is enabled, this defines the neighborhood size.
// A re-compilation the OpenCL code is required for changes to take effect.
optional int32 half_kernel_size = 2 [default = 3];
};
// Point normals setup
optional normal_settings point_normals = 3;
// -------------------------------------------------------------------------
// Depthmap upsampling filter.
// Closes holes in depthmaps using a color image.
message depth_upsampling_settings {
// Enables or disables eroding of depthmaps.
optional bool enabled = 1 [default = false];
// The half size of depth contour erosion kernel size in pixel.
optional int32 half_kernel_size = 2 [default = 2];
// The half size of the Gaussian bilateral filter window in pixel space
optional float sigma_pixel = 3 [default = 5.0];
// The half size of the Gaussian bilateral filter window in color space
optional float sigma_color = 4 [default = 15.0];
};
// Depthmap upsampling settings.
optional depth_upsampling_settings depthmap_upsampling = 4;
// Depthmap erode settings type.
// Inaccuracies of depthmaps can occur at sharp depth steps. Through erosion
// sharp edges are eliminated.
message depth_erode_settings {
// Enables or disables eroding of depthmaps.
optional bool enabled = 1 [default = false];
// The half size of depth contour erosion kernel size in pixel.
optional int32 half_kernel_size = 2 [default = 2];
// The threshold for detecting sharp edges in the depth map.
optional int32 minimum_depth_step = 3 [default = 30];
};
// Depthmap erosion setup
optional depth_erode_settings depthmap_erosion = 5;
// Color-map erosion settings type.
// Inaccuracies of colorization can occur at sharp depth steps. Through colors are
// invalidated at such sharp edges.
message color_erode_settings {
// Enables or disables eroding of color-maps.
optional bool enabled = 1 [default = false];
// The half size of color contour erosion kernel size in pixel.
optional int32 half_kernel_size = 4 [default = 2];
// The threshold for detecting sharp edges in the depth map.
optional int32 minimum_depth_step = 3 [default = 30];
};
// Color-map erosion setup
optional color_erode_settings colormap_erosion = 6;
// -------------------------------------------------------------------------
// Depthmap bilateral filter settings type.
// Smoothes the depthmap while preserving sharp depthmap edges.
message bilateral_filter_settings {
// Enables or disables smoothing of depthmaps
optional bool enabled = 1 [default = true];
// The half size of bilateral filter kernel size in pixel.
optional int32 half_kernel_size = 2 [default = 3];
// The half size of the Gaussian bilateral filter window in pixel space
optional float sigma_pixel = 3 [default = 9.0];
// The half size of the Gaussian bilateral filter window in depth space
optional float sigma_depth = 4 [default = 30.0];
};
// Depthmap smoothing setup
optional bilateral_filter_settings depthmap_smoothing = 7;
// -------------------------------------------------------------------------

// Data integration settings type.
// Defines how adding data to the volume is carried out
message integration_settings {
// Defines the minimum thickness of objects in the volume.
// Lower values allow you to scan thinner objects. Settings this value
// too low results in reconstruction holes and incorrect tracking.
// A re-compilation the OpenCL code is required for changes to take effect.
optional float truncation = 1 [default = 20];
// Each volume voxel smoothes data from the last integrations.
// The maximum weight can be thought of as an moving average threshold.
// Once reached the voxel starts to forget older values.
// A re-compilation the OpenCL code is required for changes to take effect.
optional int32 maximum_weight = 2 [default = 32];
/// Maximum depth of points to integrate into the volume
optional float maximum_depth = 3 [default = 1500];
// Only points facing the camera in an angle no more than the given one
// will be considered in integration. Value is in degrees.
optional float maximum_angle = 4 [default = 70];
// Enable support for colors in volume.
optional bool use_colors = 5 [default = false];
// Depth values beyond maximum_depth won't be integrated, but can be used for
// object change detection. If the distance difference at a specific pixel between
// the measured sensor depth and the old object depth is greater than minimum_deletion_distance,
// the object will be erased from the global model.
optional float minimum_deletion_distance = 6 [default = 40.0, deprecated=true];
}
// Integration setup
optional integration_settings data_integration = 8;

// -------------------------------------------------------------------------
// Data extraction settings type.
// Defines how the volume is raytraced to generate synthetic sensor data,
// which is used to align the current raw sensor data with the last camera
// position.
message extraction_settings {
// Step factor of the ray marching algorithm. Specified in terms of
// percent of data_integration.truncation
// A re-compilation the OpenCL code is required for changes to take effect.
optional float step_factor = 1 [default = 0.7];
// Numerical step length of gradient calculation
// Estimating point normals in the volume is carried out using
// numerical differentation. This value value defines the
// the +/- distance of samples around the value to be differentiated.
// Higher values will lead to smoother but maybe inaccurate normals.
// A re-compilation the OpenCL code is required for changes to take effect.
optional float gradient_step_length = 2 [default = 0.1];
// Minimum refinement steps of raytracing in the vicinity of the surface.
// The higher the better is the approximation of the real surface intersection.
optional int32 surface_vicinity_steps = 3 [default = 4];
}
// Raytracing setup
optional extraction_settings data_extraction = 9;

// -------------------------------------------------------------------------
// Camera tracking alignment settings type.
// Defines how tracking the camera position between frames behaves.
message alignment_settings {
// Local search parameters. Local search is fast and succeeds when
// the camera movement between two subsequent frames is small.
message local_search_settings {
// Maximum number of iterations to perform
// A re-compilation the OpenCL code is required for changes to take effect.
optional int32 maximum_iterations = 1 [default = 30];
// Number of data pyramid levels to generate
// A re-compilation the OpenCL code is required for changes to take effect.
optional int32 pyramid_levels = 2 [default = 3];
// Maximum point distance between two points to establish correspondences
// A re-compilation the OpenCL code is required for changes to take effect.
optional float maximum_point_distance = 3 [default = 20];
// Maximum normal angle deviation two points to establish correspondences
// A re-compilation the OpenCL code is required for changes to take effect.
optional float maximum_normal_angle = 4 [default = 30];
// How much weight to apply to the color tracking term. Setting this value to zero will
// disable color tracking. Higher values will give increasingly more weight to the color tracking
// term. Try 0.5 for a start.
optional float color_weight = 5 [default = 0];
// Wether or not to skip the finest pyramid level in matching. This is an performance
// optimization.
optional bool skip_finest_pyramid_level = 6 [default = false];
}
// Global search parameters. Global search is slower than local search but
// succeeds in cases where the camera movement between two subsequent frames large.
message global_search_settings {
// Maximum number of seconds to search for tracking
// A re-compilation the OpenCL code is required for changes to take effect.
optional float maximum_seconds = 1 [default = 0.7];
// Minimum inlier percentage to become a valid hypothesis.
// A re-compilation the OpenCL code is required for changes to take effect.
optional float minimum_inlier_percentage = 3 [default = 0.4];
// When using color tracking this value declares the minimum number of
// feature matches between two images
optional int32 minimum_feature_matches = 4 [default = 25];
}
// Verification of transform estimation.
message verification_settings {
// Maximum allowed average SDF change of voxels when tracking is established
optional float maximum_sdf_change_on_track = 1 [default = 0.08];

// Maximum allowed average SDF change of voxels when no tracking is present
optional float maximum_sdf_change_no_track = 2 [default = 0.08];
};
// Local search parameters
optional local_search_settings local_search = 1;
// Global search parameters
optional global_search_settings global_search = 2;
// Verification settings
optional verification_settings verification = 3;
// Pad missing volume data with sensor data to increase tracking robustness when only portions
// of the volume are visible. Enabling this feature assumes a moving camera and a static scene.
optional bool use_sensor_data_padding = 4 [default = false];
// Anticipates the next position by trying to forecast. Useful to reduce the number of
// local search iterations. Enabling this feature assumes that the camera movement is kinda
// smooth.
optional bool use_position_forecast = 5 [default = true];
}
// Alignment setup
optional alignment_settings camera_tracking = 10;
}

Parameters

c	A valid context object
o	A valid options binding

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:: example_reconstructmesdk_bust.cpp, example_reconstructmesdk_color_tracking.cpp, example_reconstructmesdk_colorize.cpp, example_reconstructmesdk_csg.cpp, example_reconstructmesdk_marker.cpp, example_reconstructmesdk_options.cpp, example_reconstructmesdk_point_and_shoot_with_colors.cpp, example_reconstructmesdk_remote_reconstruction.cpp, example_reconstructmesdk_scan_tilt.cpp, example_reconstructmesdk_sensor_printing.cpp, and example_reconstructmesdk_volume.cpp.

◆ reme_context_bind_opencl_info()

reme_error_t reme_context_bind_opencl_info	(	reme_context_t	c,
		reme_options_t	o
	)

Access platform OpenCL information.

Associated Protocol Buffers Specification: package LibOpenCLBridge;
message opencl_info {
// Defines the type of the device
enum device_type {
CPU = 0;
GPU = 1;
}

// Defines a device
message device {
// Product string
optional string name = 1 [default = "Unknown device name"];

// Vendor string
optional string vendor = 2 [default = "Unknown device vendor"];

// Type of device
optional device_type type = 3;
// Global memory size in bytes.
optional int64 global_memory_size = 4;
// Internal ranking of device based on flops.
// Lower numbers are better ranks.
optional int32 rank = 5;
// Platform string. Devices might be found in multiple platforms (i.e using different drivers)
optional string platform_name = 6 [default = "Unknown platform name"];
}

// List of devices.
repeated device devices = 1;
}

Parameters

c	A valid context object
o	A valid options binding

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:: example_reconstructmesdk_options.cpp.

◆ reme_context_bind_error_info()

reme_error_t reme_context_bind_error_info	(	reme_context_t	c,
		reme_options_t	o
	)

Access current error state.

Associated Protocol Buffers Specification: // Current error state
message error_info {
// List of error messages in order of arrival.
repeated string messages = 1;
}

Parameters

c	A valid context object
o	A valid options binding

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:: example_reconstructmesdk_error_handling.cpp.

◆ reme_license_bind_hardware_hashes()

reme_error_t reme_license_bind_hardware_hashes	(	reme_context_t	c,
		reme_license_t	l,
		reme_options_t	o
	)

Access hardware hashes for generating single user licenses bound to specific hardware.

Associated Protocol Buffers Specification: // Hardware hashes
message hardware {
repeated string hashes = 1;
}

Parameters

c	A valid context object
l	A valid license object
o	A valid options binding

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

◆ reme_sensor_bind_camera_options()

reme_error_t reme_sensor_bind_camera_options	(	reme_context_t	c,
		reme_sensor_t	s,
		reme_options_t	o
	)

Access the sensor specific options that affect how the camera is opened.

Associated Protocol Buffers Specification: Depending on the sensor chosen on create, different specs are needed, since each sensor supports a different set of parameters.

For openni sensors (OpenNI 2.x)

import "rgbdsensor/videostream.proto";
package LibRGBDSensor;
// OpenNI v2.0 sensor configuration
message openni2_sensor_config {
  // Default driver model
  optional string driver = 1 [default = "openni"];
  
  // Device ID
  optional int32 device_id = 2 [default = 0];
  // Device URI. Please make sure to have backslashes escaped. A valid URI prototype:
  //   \\\\?\\usb#vid_1d27&pid_0601&mi_00#7&78d4066&0&0000#{c3b5f022-5a42-1980-1909-ea72095601b1}  
  optional string device_uri = 6 [default = ""];
  optional LibRGBDSensor.videostream depth_stream = 3;
  optional LibRGBDSensor.videostream aux_stream = 4;
  
  // Map depth viewpoint to aux viewpoints.
  optional bool enable_align_viewpoints = 5 [default = true];
  // Sync depth and aux viewpoints in time.
  optional bool enable_sync_viewpoints = 7 [default = false];
}

For mskinect sensors

import "rgbdsensor/videostream.proto";
package LibRGBDSensor;
// Kinect sensor configuration based on MSKinect driver
message mskinect_sensor_config {
  // Default driver model
  optional string driver = 1 [default = "mskinect"];
  
  // Device ID
  optional int32 device_id = 2 [default = 0];
  optional LibRGBDSensor.videostream depth_stream = 3;
  optional LibRGBDSensor.videostream aux_stream = 4;
  
  // Map depth viewpoint to aux viewpoints.
  optional bool enable_align_viewpoints = 5 [default = true];
  // Enable near mode
  optional bool enable_near_mode = 6 [default = true];
}

For librealsense sensors

import "rgbdsensor/videostream.proto";
import "rgbdsensor/librealsense_opts.proto";
package LibRGBDSensor;
// Intel Realsense sensor configuration.
//
// Currently the intrinsics for both, color and depth streams,
// are directly read from the camera itself and therefore changing
// the instrinsic fields in depth_stream and aux_stream does not
// have any effects.
message librealsense_sensor_config {
    // Default driver model
    optional string driver = 1 [default = "librealsense"];
    // Device ID
    optional int32 device_id = 2 [default = 0];
    // Device URI. Please make sure to have backslashes escaped. A valid URI prototype:
    //   \\\\?\\usb#vid_1d27&pid_0601&mi_00#7&78d4066&0&0000#{c3b5f022-5a42-1980-1909-ea72095601b1}  
    optional string device_uri = 6 [default = ""];
    optional LibRGBDSensor.videostream depth_stream = 3;
    optional LibRGBDSensor.videostream aux_stream = 4;
    // Map depth viewpoint to aux viewpoints.
    optional bool enable_align_viewpoints = 5 [default = true];
    // Sync depth and aux viewpoints in time.
    optional bool enable_sync_viewpoints = 7 [default = false];
    
    optional LibRealsenseOpts opts = 8;
    // the first 1-2 pixels seem to have random data, ignore these
    optional uint32 ignore_first_num_depth_pixels = 9 [default = 2];
}

Where LibRealsenseOpts is explained in the docs of reme_sensor_bind_capture_options

For file sensors

import "rgbdsensor/videostream.proto";
package LibRGBDSensor;
// File sensor configuration. Streams data from files.
message file_sensor_config {
  // Default driver model
  optional string driver = 1 [default = "file"];
  
  optional LibRGBDSensor.videostream depth_stream = 3;
  optional LibRGBDSensor.videostream aux_stream = 4;
  
  optional bool enable_align_viewpoints = 5 [default = false];
  optional int32 playback_loops = 6 [default = 1];
  optional bool playback_reverse_direction = 7 [default = true];
  
  optional string depth_regex = 8 [default="(\\d+)-depth\\.png"];
  optional string aux_regex = 9 [default="(\\d+)-color\\.png"];
}

For external sensors

import "rgbdsensor/videostream.proto";
package LibRGBDSensor;
// External sensor configuration. This sensor mimics a sensor producing empty images of
// the below specified size. Best used, when you want to feed sensor data from a sensor
// that is otherwise not supported.
message external_sensor_config {
  // Default driver model
  optional string driver = 1 [default = "external"];
  
  optional LibRGBDSensor.videostream depth_stream = 2;
  optional LibRGBDSensor.videostream aux_stream = 3;
}

For network sensors

package LibRGBDSensor;
// Network sensor configuration. Captures data from network sensor sources.
message network_sensor_config {
    
  // Default driver name
  optional string driver = 1 [default = "network"];
  
  // Device id to capture from. Beginning of streaming service id should 
  // match this string. If left empty, captures from any streaming service.
  optional string device_id = 2 [default = ""];
  
  // Default UDP broadcasting port.
  optional int32 discovery_port = 3 [default = 37424];
  
  // Time-out to discover streaming service in milliseconds.
  optional int32 timeout_ms = 4 [default = 30000];
  
}

Common to almost all configurations (exception: network sensor - here the configuration is transmitted by the streaming service) above is the usage of the LibRGBDSensor.videostream

import "rgbdsensor/intrinsics.proto";
package LibRGBDSensor;
// Defines properties of a video stream
message videostream {
  // Video stream type
  enum stream_type {
    STREAM_DEPTH = 1;
    STREAM_COLOR = 2;
    STREAM_IR = 3;
  }
  // Type of stream
  optional stream_type type = 1 [default = STREAM_DEPTH];
  // Enable or disable this stream
  optional bool enabled = 2 [default = true];
  
  // Defines the where the stream is c
  optional string source = 3 [default = ""];
  // Image size description
  message image_size_type {
    optional int32 width = 1 [default = 640];
    optional int32 height = 2 [default = 480];
  };
  // Defines the initial image size
  optional image_size_type image_size = 4; 
  // Unit description
  enum units_type {
    // No units
    UNIT_UNKNOWN = 0;
    // Unit is milli-meter
    UNIT_1MM = 1;
    // Unit is 0.1 milli-meter
    UNIT_100UM = 2;    
    // Unit is 0.01 milli-meter
    UNIT_10UM = 3;    
  }
  // Depth dimension
  optional units_type units = 5 [default = UNIT_UNKNOWN];
  
  // scale factor for depth data
  optional float scale_depth_to_mm = 9 [default = 1];
  // Mirror image
  optional bool mirror_enabled = 6 [default = false];
  // Target FPS
  optional int32 fps = 7 [default = 30];
  // Stream intrinsics
  optional LibRGBDSensor.intrinsics intrinsics = 8;
}

The referenced LibRGBDSensor.intrinsics has the following layout

package LibRGBDSensor;
// Camera intrinsics
message intrinsics {
  // Image size this intrinsics applies to.
  optional int32 width = 1 [default = 640];
  optional int32 height = 2 [default = 480];
  // Camera matrix
  optional double fx = 3 [default = 571.26];
  optional double fy = 4 [default = 571.26];
  optional double cx = 5 [default = 320];
  optional double cy = 6 [default = 240];
  
  // Radial distortion coefficients
  // Set to zero to disable certain calculations
  optional double k1 = 7 [default = 0];
  optional double k2 = 8 [default = 0];
  optional double k3 = 9 [default = 0];
  
  // Tangential distortion coefficients
  // Set to zero to disable certain calculations
  optional double p1 = 10 [default = 0];
  optional double p2 = 11 [default = 0];
  
}

Note: When radial or tangential distortion parameters are not equal zero a distortion correction will be performed.; Changing camera options take effect on the next call to reme_sensor_open.

Parameters

c	A valid context object
s	A valid sensor object
o	A valid options binding object

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:: example_reconstructmesdk_calibration.cpp, example_reconstructmesdk_color_tracking.cpp, example_reconstructmesdk_colorize.cpp, example_reconstructmesdk_csg.cpp, example_reconstructmesdk_point_and_shoot_with_colors.cpp, example_reconstructmesdk_recorder.cpp, example_reconstructmesdk_sensor.cpp, and example_reconstructmesdk_sensor_external.cpp.

◆ reme_sensor_bind_capture_options()

reme_error_t reme_sensor_bind_capture_options	(	reme_context_t	c,
		reme_sensor_t	s,
		reme_options_t	o
	)

Access the sensor specific capture options with their current values.

Associated Protocol Buffers Specification

Depending on the sensor chosen on create, different specs are needed, since each sensor supports a different set of parameters.

For openni sensors

import "rgbdsensor/basic_frame_support.proto";
package LibRGBDSensor;
// OpenNI sensor capture parameter description
message openni2_sensor_capture_parameter {
  // Frame specific information. Read-only.
  optional LibRGBDSensor.basic_frame_support frame_info = 1;
  // Infrared raw intensity multiplier. Read-Write.
  optional int32 ir_alpha = 2 [default = 4];  
  // Enable or disable auto-exposure
  optional bool auto_exposure = 3 [default = true];
  // Enable or Auto-white balabnce
  optional bool auto_white_balance = 4 [default = true];
  // Set exposure time
  optional float exposure_time = 5 [default = 0];
  // Enable IR projector. Read-Write. Only supported for devices compatible with Carmine 1.08 / 1.09
  optional bool enable_ir_projector = 6 [default = true];
  
}

For mskinect sensors

import "rgbdsensor/basic_frame_support.proto";
package LibRGBDSensor;
// Microsoft Kinect for Windows capture parameter description
message mskinect_sensor_capture_parameter {
  // Frame specific information. Read-only.
  optional LibRGBDSensor.basic_frame_support frame_info = 1;
  // Enable IR projector. Read-Write.
  optional bool enable_ir_projector = 2 [default = true];
  // Infrared raw intensity multiplier. Read-Write.
  optional int32 ir_alpha = 3 [default = 10];  
  // Elevation or tilt angle. Read-Write.
  // Extends the view range to to +/- 27 degrees. A value of 0 means perpendicular to gravity.
  // The movement of the motor is performed asynchronously. Only one asnychronous tilt movement
  // it allowed at any time. Too frequent changes to the tilt angle can cause damage to the motor.
  // Note that the IR projector is turned off while tilting, essentially making ReconstructMe blind
  // while the sensor moves.
  optional int32 tilt_angle = 4 [default = 0];
  // Sets/Gets a boolean that determines if automatic exposure is enabled.
  optional bool auto_exposure = 5 [default = true];
  // Sets/Gets boolean that determines if automatic white balance is enabled.
  optional bool auto_white_balance = 6 [default = true];
  // Sets/Gets the exposure time in increments of 1/10,000 of a second. 
  // The range is [0.0, infinity]; 
  optional float exposure_time = 7 [default = 300];
  // Sets/Gets the white balance, which is a color temperature in degrees Kelvin. 
  // The range is [2700, 6500];
  optional float white_balance = 8 [default = 4500];
  
}

For librealsense sensors

import "rgbdsensor/basic_frame_support.proto";
import "rgbdsensor/librealsense_opts.proto";
package LibRGBDSensor;
// Intel Realsense capture parameter description
message librealsense_sensor_capture_parameter {
    // Frame specific information. Read-only.
    optional LibRGBDSensor.basic_frame_support frame_info = 1;
    
    optional LibRealsenseOpts opts = 2;
}

where LibRealsenseOpts is

package LibRGBDSensor;
message LibRealsenseOpts {
    // for ease of copy&paste, = 0 is replaced with 1000, all other numbers are the same as in rs.h
    optional double color_backlight_compensation                    = 1000;  
    optional double color_brightness                                = 1;  
    optional double color_contrast                                  = 2;  
    optional double color_exposure                                  = 3;  ///< Controls exposure time of color camera. Setting any value will disable auto exposure.
    optional double color_gain                                      = 4;  
    optional double color_gamma                                     = 5;  
    optional double color_hue                                       = 6;  
    optional double color_saturation                                = 7;  
    optional double color_sharpness                                 = 8;  
    optional double color_white_balance                             = 9;  ///< Controls white balance of color image. Setting any value will disable auto white balance.
    optional double color_enable_auto_exposure                      = 10; ///< Set to 1 to enable automatic exposure control; or 0 to return to manual control
    optional double color_enable_auto_white_balance                 = 11; ///< Set to 1 to enable automatic white balance control; or 0 to return to manual control
    optional double f200_laser_power                                = 12; ///< 0 - 15
    optional double f200_accuracy                                   = 13; ///< 0 - 3
    optional double f200_motion_range                               = 14; ///< 0 - 100
    optional double f200_filter_option                              = 15; ///< 0 - 7
    optional double f200_confidence_threshold                       = 16; ///< 0 - 15
    optional double sr300_dynamic_fps                               = 17; ///< {2; 5; 15; 30; 60}
    optional double sr300_auto_range_enable_motion_versus_range     = 18; 
    optional double sr300_auto_range_enable_laser                   = 19; 
    optional double sr300_auto_range_min_motion_versus_range        = 20; 
    optional double sr300_auto_range_max_motion_versus_range        = 21; 
    optional double sr300_auto_range_start_motion_versus_range      = 22; 
    optional double sr300_auto_range_min_laser                      = 23; 
    optional double sr300_auto_range_max_laser                      = 24; 
    optional double sr300_auto_range_start_laser                    = 25; 
    optional double sr300_auto_range_upper_threshold                = 26; 
    optional double sr300_auto_range_lower_threshold                = 27; 
    optional double sr300_wakeup_dev_phase1_period                  = 28; 
    optional double sr300_wakeup_dev_phase1_fps                     = 29; 
    optional double sr300_wakeup_dev_phase2_period                  = 30; 
    optional double sr300_wakeup_dev_phase2_fps                     = 31; 
    optional double sr300_wakeup_dev_reset                          = 32; 
    optional double sr300_wake_on_usb_reason                        = 33;
    optional double sr300_wake_on_usb_confidence                    = 34; 
    optional double r200_lr_auto_exposure_enabled                   = 35; ///< {0; 1}
    optional double r200_lr_gain                                    = 36; ///< 100 - 1600 (Units of 0.01)
    optional double r200_lr_exposure                                = 37; ///< > 0 (Units of 0.1 ms)
    optional double r200_emitter_enabled                            = 38; ///< {0; 1}
    optional double r200_depth_units                                = 39; ///< micrometers per increment in integer depth values; 1000 is default (mm scale)
    optional double r200_depth_clamp_min                            = 40; ///< {0 - USHORT_MAX}. Can only be set before streaming starts.
    optional double r200_depth_clamp_max                            = 41; ///< {0 - USHORT_MAX}. Can only be set before streaming starts.
    optional double r200_disparity_multiplier                       = 42; ///< {0 - 1000}. The increments in integer disparity values corresponding to one pixel of disparity. Can only be set before streaming starts.
    optional double r200_disparity_shift                            = 43; ///< {0 - 512}. Can only be set before streaming starts.
    optional double r200_auto_exposure_mean_intensity_set_point     = 44; 
    optional double r200_auto_exposure_bright_ratio_set_point       = 45; 
    optional double r200_auto_exposure_kp_gain                      = 46; 
    optional double r200_auto_exposure_kp_exposure                  = 47; 
    optional double r200_auto_exposure_kp_dark_threshold            = 48; 
    optional double r200_auto_exposure_top_edge                     = 49; 
    optional double r200_auto_exposure_bottom_edge                  = 50; 
    optional double r200_auto_exposure_left_edge                    = 51; 
    optional double r200_auto_exposure_right_edge                   = 52; 
    optional double r200_depth_control_estimate_median_decrement    = 53; 
    optional double r200_depth_control_estimate_median_increment    = 54; 
    optional double r200_depth_control_median_threshold             = 55; 
    optional double r200_depth_control_score_minimum_threshold      = 56; 
    optional double r200_depth_control_score_maximum_threshold      = 57; 
    optional double r200_depth_control_texture_count_threshold      = 58; 
    optional double r200_depth_control_texture_difference_threshold = 59; 
    optional double r200_depth_control_second_peak_threshold        = 60; 
    optional double r200_depth_control_neighbor_threshold           = 61; 
    optional double r200_depth_control_lr_threshold                 = 62;
}

For file sensors

import "rgbdsensor/basic_frame_support.proto";
package LibRGBDSensor;
// File sensor capture parameter description
message file_sensor_capture_parameter {
  // Frame specific information. Read-only.
  optional LibRGBDSensor.basic_frame_support frame_info = 1;
  
}

Common to all configurations above is the frame_info field. It is mendatory for reconstruction and has the following structure

package LibRGBDSensor;
// Contains information on basic sensor image support.
message basic_frame_support {
  // Image size type
  message image_size {
    optional int32 width = 1 [default = 640];
    optional int32 height = 2 [default = 480];
  };
  
  // True when sensor supports depth stream
  optional bool supports_depth = 1;
  // True when sensor supports an auxilary stream
  optional bool supports_aux = 2;
  // Frame size of depth image in pixels
  optional image_size depth_size = 3;
  // Frame size of auxilary image in pixels
  optional image_size aux_size = 4;
  
}

Note: The capture options are updated with current value when reme_sensor_bind_capture_options is called.; Changing capture options without a call to reme_sensor_apply_capture_options has no effect.

Parameters

c	A valid context object
s	A valid sensor object
o	A valid options binding object

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:: example_reconstructmesdk_color_tracking.cpp, example_reconstructmesdk_scan_tilt.cpp, and example_reconstructmesdk_sensor.cpp.

◆ reme_sensor_bind_render_options()

reme_error_t reme_sensor_bind_render_options	(	reme_context_t	c,
		reme_sensor_t	s,
		reme_options_t	o
	)

Access the sensor specific render options.

These options define how sensor images are rendered. Use reme_sensor_apply_render_options to apply value changes.

Associated Protocol Buffers Specification: // Render options
message render_options {
// Color type
message color4_type {
// Red channel [0..1]
required float r = 1;
// Green channel [0..1]
required float g = 2;
// Blue channel [0..1]
required float b = 3;
// Alpha channel [0..1]
required float a = 4;
}
// How shading of the volume image is performed.
enum shade_type {
// Shade points using Blinn-Phong modell
SHADE_PHONG = 0;
// Shade points according to normal direction.
SHADE_NORMALS = 1;
// Colorize pixels using input color. This is only
// a valid options if colors are supported.
SHADE_COLORS = 2;
}
// Clear color for volume images.
// By default this maps to a dark-gray color.
optional color4_type clear_color = 1;
// Diffuse color for volume images. Only used
// when SHADE_PHONG is enabled.
// By default this maps to a pastel-blue color.
optional color4_type diffuse_color = 2;
// Border color. Defines the color to apply to color borders,
// which are found in areas without complete texture/geometry
// information.
// This color only applies when using SHADE_COLORS.
optional color4_type border_color = 3;
// Shading mode.
optional shade_type shade_mode = 4 [default = SHADE_PHONG];
}

Parameters

c	A valid context object
s	A valid sensor object
o	A valid options binding object

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:: example_reconstructmesdk_bust.cpp, example_reconstructmesdk_color_tracking.cpp, example_reconstructmesdk_colorize.cpp, example_reconstructmesdk_marker.cpp, example_reconstructmesdk_point_and_shoot_with_colors.cpp, and example_reconstructmesdk_remote_reconstruction.cpp.

◆ reme_recorder_bind_file_options()

reme_error_t reme_recorder_bind_file_options	(	reme_context_t	c,
		reme_recorder_t	r,
		reme_options_t	o
	)

Access the recorder specific file options.

Associated Protocol Buffers Specification: // Recorder options
message recorder_options {
// Where to save the depth file
optional string depth_file = 1 [default = "reconstructme.depths.gz"];
// Where to save the color file if supported
optional string color_file = 2 [default = "reconstructme.avi"];
// Where to save the file_sensor configuration file
// Note that the recorder will copy the relevant sensor intrinsics
// from the real sensor
optional string file_sensor_config = 3 [default = "file_sensor.txt"];
}

Parameters

c	A valid context object
r	A valid recorder object
o	A valid options binding object

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:: example_reconstructmesdk_recorder.cpp, and example_reconstructmesdk_recorder_update_fileformat.cpp.

◆ reme_calibrator_bind_options()

reme_error_t reme_calibrator_bind_options	(	reme_context_t	c,
		reme_calibrator_t	cb,
		reme_options_t	o
	)

Access the calibration options.

Associated Protocol Buffers Specification: // Calibration options for chessboards
message calibration_options {
// Number of inner corners in the width direction
optional int32 inner_count_width = 1 [default = 10];
// Number of inner corners in the height direction
optional int32 inner_count_height = 2 [default = 7];
// Length of a single square side. Defaults are are in mm for default A3 checkerboard.
optional float length_square_side = 3 [default = 33.876];
// Number of pixels to use when refining corners in the width direction
optional int32 refine_width = 4 [default = 5];
// Number of pixels to use when refining corners in the height direction
optional int32 refine_height = 5 [default = 5];
// Assume no tangential distortions
optional bool zero_tangential = 6 [default = true];
// Assume no lower order radial distortions
optional bool zero_radial_k1k2 = 7 [default = true];
// Assume no higher order radial distortions
optional bool zero_radial_k3 = 8 [default = true];
}

The calibration options are applied when the first image is added (reme_calibrator_add_image).

Parameters

c	A valid context object
cb	A valid calibration object
o	A valid options binding object

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

◆ reme_calibrator_bind_intrinsics()

reme_error_t reme_calibrator_bind_intrinsics	(	reme_context_t	c,
		reme_calibrator_t	cb,
		reme_options_t	o
	)

Access the calibration results.

The results are provided as a new intrincis options set.

Associated Protocol Buffers Specification: package LibRGBDSensor;
// Camera intrinsics
message intrinsics {
// Image size this intrinsics applies to.
optional int32 width = 1 [default = 640];
optional int32 height = 2 [default = 480];
// Camera matrix
optional double fx = 3 [default = 571.26];
optional double fy = 4 [default = 571.26];
optional double cx = 5 [default = 320];
optional double cy = 6 [default = 240];

// Radial distortion coefficients
// Set to zero to disable certain calculations
optional double k1 = 7 [default = 0];
optional double k2 = 8 [default = 0];
optional double k3 = 9 [default = 0];

// Tangential distortion coefficients
// Set to zero to disable certain calculations
optional double p1 = 10 [default = 0];
optional double p2 = 11 [default = 0];

}

Parameters

c	A valid context object
cb	A valid calibration object
o	A valid options binding object

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:: example_reconstructmesdk_calibration.cpp.

◆ reme_surface_bind_generation_options()

reme_error_t reme_surface_bind_generation_options	(	reme_context_t	c,
		reme_surface_t	s,
		reme_options_t	o
	)

Access the surface generation options.

Associated Protocol Buffers Specification: // Surface generation from reconstruction volume
message generation_options {
// When enabled duplicate vertices within a certain radius are merged towards a single vertex.
optional bool merge_duplicate_vertices = 1 [default = true];
// Defines merge radius. Larger values will perform a simple decimation
optional float merge_radius = 2 [default = 0.00001];
}

Parameters

c	A valid context object
s	A valid surface object
o	A valid options binding object

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:: example_reconstructmesdk_surface.cpp.

◆ reme_surface_bind_poisson_options()

reme_error_t reme_surface_bind_poisson_options	(	reme_context_t	c,
		reme_surface_t	s,
		reme_options_t	o
	)

Access the poisson reconstruction options.

Associated Protocol Buffers Specification: // Poisson surface generation options
message poisson_options {
// This integer is the maximum depth of the tree that will be used for surface reconstruction.
// Running at depth d corresponds to solving on a voxel grid whose resolution is no larger than 2^d x 2^d x 2^d.
// Note that since the reconstructor adapts the octree to the sampling density, the specified reconstruction depth is only an upper bound.
// The default value for this parameter is 8.
optional int32 depth = 1 [default = 8];
// Solver subdivision depth. This integer argument specifies the depth at which a block Gauss-Seidel solver is used to solve
// the Laplacian equation. Using this parameter helps reduce the memory overhead at the cost of a small
// increase in reconstruction time. (In practice, we have found that for reconstructions of depth 9 or higher a subdivide
// depth of 7 or 8 can greatly reduce the memory usage.) The default value is 8.
optional int32 solver_divide = 2 [default = 8];
// Iso-surface extraction subdivision depth. This integer argument specifies the depth at which a block iso-surface extractor should be used
// to extract the iso-surface. Using this parameter helps reduce the memory overhead at the cost of a
// small increase in extraction time. (In practice, we have found that for reconstructions of depth 9 or
// higher a subdivide depth of 7 or 8 can greatly reduce the memory usage.) The default value is 8.
optional int32 iso_divide = 3 [default = 8];
// Minimum number of samples per octree node. This floating point value specifies the minimum number of sample points that should fall within an octree
// node as the octree construction is adapted to sampling density. For noise-free samples, small values in
// the range [1.0 - 5.0] can be used. For more noisy samples, larger values in the range [15.0 - 20.0] may be
// needed to provide a smoother, noise-reduced, reconstruction. The default value is 1.0.
optional int32 minimum_samples_per_node = 4 [default = 1];
// Currently unused
optional float scale = 5 [default = 2.0];
// When enabled the output is a manifold
optional bool enable_manifold = 6 [default = true];
// M inimum reconstruction depth. This integer specifies the depth beyond depth the octree will be adapted. At coarser depths,
// the octree will be complete, containing all 2^d x 2^d x 2^d nodes. The default value for this parameter is 5.
optional int32 minimum_depth = 7 [default = 5];
}

Parameters

c	A valid context object
s	A valid surface object
o	A valid options binding object

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:: example_reconstructmesdk_options_type_safe.cpp, and example_reconstructmesdk_surface.cpp.

◆ reme_surface_bind_decimation_options()

reme_error_t reme_surface_bind_decimation_options	(	reme_context_t	c,
		reme_surface_t	s,
		reme_options_t	o
	)

Access the surface decimation options.

Associated Protocol Buffers Specification: // Mesh decimation options
message decimation_options {
// Decimate to target complexity.
// Range: 0..inf
optional int32 maximum_faces = 1 [default = 100000];
// Maximum quadric error to accept per collapse. The quadric error is similar
// to the Hausdorff Distance.
// Range: 0..inf
optional float maximum_quadric_error = 2 [default = 100000];
// Minimum triangle roundness. Normalized triangle roundness with respect to
// equiliteral triangle shape.
// Range: 0..1
optional float minimum_triangle_roundness = 3 [default = 0];
// Maximum normal angle error in degrees.
// Range: 0..180
optional float maximum_angle_error = 4 [default = 90];
// Preserve the boundary of the mesh.
optional bool preserve_boundary = 5 [default = false];
// Preserve the boundary of the mesh.
optional float maximum_color_error = 6 [default = 765];
}

Parameters

c	A valid context object
s	A valid surface object
o	A valid options binding object

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:: example_reconstructmesdk_surface.cpp.

◆ reme_surface_bind_remesh_options()

reme_error_t reme_surface_bind_remesh_options	(	reme_context_t	c,
		reme_surface_t	s,
		reme_options_t	o
	)

Access the surface remeshing options.

Associated Protocol Buffers Specification: // Mesh remeshing options
message remeshing_options {
// Minimum target edge length in remeshing.
// Range: 0..inf and -1.
// Leave at -1 to auto-calculate from average mesh edge length
optional float minimum_edge_length = 1 [default = -1];
// Maximum target edge length in remeshing.
// Range: 0..inf and -1.
// Leave at -1 to auto-calculate from average mesh edge length
optional float maximum_edge_length = 2 [default = -1];
// Maximum color error to tolerate in remeshing.
// If the error in color change when collapsing an edge is above
// this threshold, the collapse is not tolerated. Note that this property
// is only taken into account if the input mesh has vertex colors.
// Range 0..255*3
optional float maximum_color_error = 3 [default = 20.0];
// Maximum curfvate error to tolerate in remeshing.
// If the error in geometric change when collapsing an edge is above
// this threshold, the collapse is not tolerated.
// Range 0..1
optional float maximum_curvate_error = 4 [default = 0.5];
// Instead of adaptive remeshing perform a uniform remeshing.
// Use the maximum_edge_length property to control the target resolution.
// Note that maximum_color_error and maximum_curvate_error would be respected
// in this mode.
optional bool uniform = 5 [default = false];
// Number of iterations to apply.
optional int32 iterations = 6 [default = 5];
}

Parameters

c	A valid context object
s	A valid surface object
o	A valid options binding object

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:: example_reconstructmesdk_colorize.cpp.

◆ reme_surface_bind_cleanup_options()

reme_error_t reme_surface_bind_cleanup_options	(	reme_context_t	c,
		reme_surface_t	s,
		reme_options_t	o
	)

Access the surface cleanup options.

Associated Protocol Buffers Specification: // Mesh cleanup options
message cleanup_options {
// Remove components with fewer faces than the given threshold.
// Range: 0..inf
optional int32 minimum_faces = 1 [default = 100];
// Remove components with a diameter less than the given threshold.
// The diameter is calculated based on the compoenents axis aligned
// bounding box.
// Range: 0..inf
optional float minimum_diameter = 2 [default = 0];
// Remove faces/vertices with no/invalid colorization.
optional bool delete_invalid_colorization = 3 [default = true];
}

Parameters

c	A valid context object
s	A valid surface object
o	A valid options binding object

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

◆ reme_marker_detector_bind_options()

reme_error_t reme_marker_detector_bind_options	(	reme_context_t	c,
		reme_marker_detector_t	md,
		reme_options_t	o
	)

Access the marker detection options.

Associated Protocol Buffers Specification: // Marker detection options
message marker_detection_options {
// Marker side length in world units
optional float marker_size = 1 [default = 90];

// If enabled the marker found in the AUX frame is mapped / corrected using depth information.
// Requires a AUX to depth mapping enabled at sensor level.
optional bool map_to_depth = 2 [default = true];
}

Use reme_marker_detector_apply_options to apply value changes.

Parameters

c	A valid context object
md	A valid marker detector object
o	A valid options binding object

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:: example_reconstructmesdk_marker.cpp.