Options Bindings

Lists all available option bind methods. More...

reme_error_t	reme_context_bind_compile_options (reme_context_t c, reme_options_t o)
	Access the compile time options.
reme_error_t	reme_context_bind_opencl_info (reme_context_t c, reme_options_t o)
	Access platform OpenCL information.
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.
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.
reme_error_t	reme_sensor_bind_track_options (reme_context_t c, reme_sensor_t s, reme_options_t o)
	Access the sensor track 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.
reme_error_t	reme_calibrator_bind_options (reme_context_t c, reme_calibrator_t cb, reme_options_t o)
	Access the calibration options.
reme_error_t	reme_calibrator_bind_intrinsics (reme_context_t c, reme_calibrator_t cb, reme_options_t o)
	Access the calibration results.
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.
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.

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_error_t reme_context_bind_compile_options	(	reme_context_t	c,
		reme_options_t	o
	)

Access the compile time options.

Associated Protocol Buffers Specification

import "reconstructme/core/tracking_settings.proto";

package LibReconstructMe;

// Settings passed to compilation
message compile_settings {

  // Device id to carry out computations
  optional int32 device_id = 1 [default = -1];

  // Camera
  optional int32 camera_window_size_x = 2 [default = 7];
  optional int32 camera_window_size_y = 3 [default = 7];
  optional bool enable_distortion_correction = 4 [default = false];
  
  // Volume
  message min_3f {
    required float x = 1 [default = -500];
    required float y = 2 [default = -500];
    required float z = 3 [default = 400];
  }
  
  // Point3f for max-corner
  // Note, max_3f and min_3f are custom
  // messages to provide different defaults.
  message max_3f {
    required float x = 1 [default = 500];
    required float y = 2 [default = 500];
    required float z = 3 [default = 1400];
  }
  
  message res_3i {
    required int32 x = 1 [default = 256];
    required int32 y = 2 [default = 256];
    required int32 z = 3 [default = 256];
  }

  optional res_3i volume_size = 5;  
  optional min_3f volume_min = 6;
  optional max_3f volume_max = 7;
    
  // Integration    
  optional float integrate_truncation = 8 [default = 15];
  optional int32 integrate_max_weight = 9 [default = 32];
  
  // Extraction
  optional float extract_step_fact = 10 [default = 0.5];
  optional float gradient_step_fact = 11 [default = 0.25];
  
  // Alignment
  optional int32 icp_max_iter = 12 [default = 15];
  optional float icp_max_point_dist = 13 [default = 20];
  optional float icp_max_normal_angle = 14 [default = 30];
  optional float icp_truncate_dist = 15 [default = 1500];
  optional int32 icp_pyramid_levels = 16 [default = 3];
  optional bool enable_smooth_normals = 17 [default = false];

  // Optimization
  optional bool enable_optimizations = 18 [default = true];  
}

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_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 {
        optional string name = 1 [default = "Unknown device name"];
        optional string vendor = 2 [default = "Unknown device vendor"];
        optional device_type type = 3;
    }
    
    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_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_error_t reme_sensor_bind_camera_options	(	reme_context_t	c,
		reme_sensor_t	s,
		reme_options_t	o
	)

Access the sensor specific options.

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/intrinsics.proto";

package LibRGBDSensor;

// OpenNI sensor configuration
message openni_sensor_config {

  // Default driver model
  optional string driver = 1 [default = "openni"];
  // USB device id
  optional int32 usb_device_id = 2 [default = 0];
  // Camera intrinsics
  optional LibRGBDSensor.intrinsics depth_intrinsics = 3;
  // Enable IR mode
  optional bool enable_ir = 4 [default = false];
  // Enable RGB mode
  optional bool enable_rgb = 5 [default = true];
  // Infrared raw intensity multiplier
  optional int32 ir_alpha = 6 [default = 1];  
}

For mskinect sensors

import "rgbdsensor/intrinsics.proto";

package LibRGBDSensor;

// Kinect sensor configuration based on MSKinect driver
message mskinect_sensor_config {

  // Default driver model
  optional string driver = 1 [default = "mskinect"];
  // USB device id
  optional int32 usb_device_id = 2 [default = 0];
  // Camera intrinsics
  optional LibRGBDSensor.intrinsics depth_intrinsics = 3;
  // Enable or disable 'Near Mode'
  optional bool enable_near_mode = 4 [default = true];
  // Enable RGB mode
  optional bool enable_rgb = 5 [default = true];
  // Enable IR stream mode
  optional bool enable_ir = 6 [default = false];
  // Enable IR projector
  optional bool enable_ir_projector = 7 [default = true];
  // Infrared raw intensity multiplier
  optional int32 ir_alpha = 8 [default = 1];  
}

For file sensors

import "rgbdsensor/intrinsics.proto";

package LibRGBDSensor;

// OpenNI sensor configuration
message file_sensor_config {

  message frame_size {
    optional int32 width = 1 [default = 640];
    optional int32 height = 2 [default = 480];
  };

  // Default driver model
  optional string driver = 1 [default = "file"];
  // Path to file containing depth information
  optional string depth_file = 2 [default = "reconstructme.depths.gz"];
  // Path to file containing color information
  optional string color_file = 3 [default = "reconstructme.avi"];
  // Frame size of depth file
  optional frame_size depth_size = 4;
  // Frame size of color file
  optional frame_size color_size = 5;

  // Camera depth intrinsics
  optional LibRGBDSensor.intrinsics depth_intrinsics = 6;
  
}

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

package LibRGBDSensor;

// Camera intrinsics
message intrinsics {

  // Camera matrix
  optional double fx = 1 [default = 571.26];
  optional double fy = 2 [default = 571.26];
  optional double cx = 3 [default = 320];
  optional double cy = 4 [default = 240];
  
  // Radial distortion coefficients
  // Set to zero to disable certain calculations
  optional double k1 = 5 [default = 0];
  optional double k2 = 6 [default = 0];
  optional double k3 = 7 [default = 0];
  
  // Tangential distortion coefficients
  // Set to zero to disable certain calculations
  optional double p1 = 8 [default = 0];
  optional double p2 = 9 [default = 0];
  
}

Note

Support for radial and tangential distortion parameters needs to be enabled using the reme_context_bind_compile_options.

Changing camera options without a call to reme_sensor_open 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_calibration.cpp, example_reconstructmesdk_recorder.cpp, and example_reconstructmesdk_sensor_multi_independent.cpp.

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

Access the sensor track options.

Associated Protocol Buffers Specification

package LibReconstructMe;

// Settings that drive the update volume step
message tracking_settings {
  // Maximum allowed average SDF change of voxels when
  // tracking is established
  optional float sdf_change_on_track = 1 [default = 0.08];
  // Maximum allowed average SDF change of voxels when
  // no tracking is present
  optional float sdf_change_no_track = 2 [default = 0.05];
}

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

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.

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 = false];
  // Set k3 to zero. This is recommended except for fisheye lenses
  optional bool zero_k3 = 7 [default = true];
}

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_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 {

  // Camera matrix
  optional double fx = 1 [default = 571.26];
  optional double fy = 2 [default = 571.26];
  optional double cx = 3 [default = 320];
  optional double cy = 4 [default = 240];
  
  // Radial distortion coefficients
  // Set to zero to disable certain calculations
  optional double k1 = 5 [default = 0];
  optional double k2 = 6 [default = 0];
  optional double k3 = 7 [default = 0];
  
  // Tangential distortion coefficients
  // Set to zero to disable certain calculations
  optional double p1 = 8 [default = 0];
  optional double p2 = 9 [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_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 {
  optional int32 depth = 1 [default = 8];
  optional int32 solver_divide = 2 [default = 8];
  optional int32 iso_divide = 3 [default = 8];
  optional int32 minimum_samples_per_node = 4 [default = 1];
  optional float scale = 5 [default = 1];
  optional bool enable_clipping = 6 [default = false];
}

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_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 decimantion options
message decimation_options {
  optional int32 maximum_faces = 1 [default = 100000];
  optional int32 maximum_vertices = 2 [default = 0];
  optional float maximum_error = 3 [default = 100000];
}

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.