<!DOCTYPE FilterScript>

<FilterScript>

<filter name="Merge Close Vertices">

<Param min="0" max="0.106888" description="Merging distance" name="Threshold" tooltip="All the vertices that closer than this threshold are merged together. Use very small values, default values is 1/10000 of bounding box diagonal. " value="0.0010689" type="RichAbsPerc"/>

</filter>

<filter name="Remove Duplicate Faces"/>

<filter name="Remove Isolated pieces (wrt Face Num.)">

<Param description="Enter minimum conn. comp size:" name="MinComponentSize" tooltip="Delete all the connected components (floating pieces) composed by a number of triangles smaller than the specified one" value="7500" type="RichInt"/>

</filter>

<filter name="Remove Unreferenced Vertex"/>

</FilterScript>

<!DOCTYPE FilterScript>

<FilterScript>

<filter name="Merge Close Vertices">

<Param min="0" max="0.106888" description="Merging distance" name="Threshold" tooltip="All the vertices that closer than this threshold are merged together. Use very small values, default values is 1/10000 of bounding box diagonal. " value="0.0010689" type="RichAbsPerc"/>

</filter>

<filter name="Remove Duplicate Faces"/>

<filter name="Remove Isolated pieces (wrt Face Num.)">

<Param description="Enter minimum conn. comp size:" name="MinComponentSize" tooltip="Delete all the connected components (floating pieces) composed by a number of triangles smaller than the specified one" value="1000" type="RichInt"/>

</filter>

<filter name="Remove Unreferenced Vertex"/>

</FilterScript>

<!DOCTYPE FilterScript>

<FilterScript>

<filter name="Quadric Edge Collapse Decimation">

<Param value="0" tooltip="The desired final number of faces." type="RichInt" name="TargetFaceNum" description="Target number of faces"/>

<Param value="0.2" tooltip="If non zero, this parameter specifies the desired final size of the mesh as a percentage of the initial size." type="RichFloat" name="TargetPerc" description="Percentage reduction (0..1)"/>

<Param value="0.3" tooltip="Quality threshold for penalizing bad shaped faces.&lt;br>The value is in the range [0..1]&#xa; 0 accept any kind of face (no penalties),&#xa; 0.5 penalize faces with quality &lt; 0.5, proportionally to their shape&#xa;" type="RichFloat" name="QualityThr" description="Quality threshold"/>

<Param value="false" tooltip="The simplification process tries to do not affect mesh boundaries during simplification" type="RichBool" name="PreserveBoundary" description="Preserve Boundary of the mesh"/>

<Param value="1" tooltip="The importance of the boundary during simplification. Default (1.0) means that the boundary has the same importance of the rest. Values greater than 1.0 raise boundary importance and has the effect of removing less vertices on the border. Admitted range of values (0,+inf). " type="RichFloat" name="BoundaryWeight" description="Boundary Preserving Weight"/>

<Param value="false" tooltip="Try to avoid face flipping effects and try to preserve the original orientation of the surface" type="RichBool" name="PreserveNormal" description="Preserve Normal"/>

<Param value="false" tooltip="Avoid all the collapses that should cause a topology change in the mesh (like closing holes, squeezing handles, etc). If checked the genus of the mesh should stay unchanged." type="RichBool" name="PreserveTopology" description="Preserve Topology"/>

<Param value="true" tooltip="Each collapsed vertex is placed in the position minimizing the quadric error.&#xa; It can fail (creating bad spikes) in case of very flat areas. &#xa;If disabled edges are collapsed onto one of the two original vertices and the final mesh is composed by a subset of the original vertices. " type="RichBool" name="OptimalPlacement" description="Optimal position of simplified vertices"/>

<Param value="false" tooltip="Add additional simplification constraints that improves the quality of the simplification of the planar portion of the mesh." type="RichBool" name="PlanarQuadric" description="Planar Simplification"/>

<Param value="false" tooltip="Use the Per-Vertex quality as a weighting factor for the simplification. The weight is used as a error amplification value, so a vertex with a high quality value will not be simplified and a portion of the mesh with low quality values will be aggressively simplified." type="RichBool" name="QualityWeight" description="Weighted Simplification"/>

<Param value="true" tooltip="After the simplification an additional set of steps is performed to clean the mesh (unreferenced vertices, bad faces, etc)" type="RichBool" name="AutoClean" description="Post-simplification cleaning"/>

<Param value="false" tooltip="The simplification is applied only to the selected set of faces.&#xa; Take care of the target number of faces!" type="RichBool" name="Selected" description="Simplify only selected faces"/>

</filter>

<filter name="Merge Close Vertices">

<Param min="0" max="0.106888" description="Merging distance" name="Threshold" tooltip="All the vertices that closer than this threshold are merged together. Use very small values, default values is 1/10000 of bounding box diagonal. " value="0.0010689" type="RichAbsPerc"/>

</filter>

<filter name="Remove Duplicate Faces"/>

<filter name="Remove Isolated pieces (wrt Face Num.)">

<Param description="Enter minimum conn. comp size:" name="MinComponentSize" tooltip="Delete all the connected components (floating pieces) composed by a number of triangles smaller than the specified one" value="1000" type="RichInt"/>

</filter>

<filter name="Remove Unreferenced Vertex"/>

</FilterScript>

s_verbose = true; // output debug statements (invalid frames etc)

s_erodeSIFTdepth = true;

s_sendUplinkFeedbackImage = true;

s_recordSolverConvergence = false;

s_enablePerFrameTimings = true;

s_enableGlobalTimings = false;

s_widthSIFT = 640;

s_heightSIFT = 480;

s_minKeyScale = 3.0f;//5.0f;

s_siftMatchThresh = 0.7f;//0.5f;

s_siftMatchRatioMaxLocal = 0.8f;

s_siftMatchRatioMaxGlobal = 0.8f;

s_optMaxResThresh = 0.12f;//not squared (per axis component)

s_denseDistThresh = 0.15f;

s_denseNormalThresh = 0.95f;

s_denseColorThresh = 0.1f;

s_denseColorGradientMin = 0.005f;

s_denseDepthMin = 0.5f;

s_denseDepthMax = 4.0f;//4.5f;

s_denseOverlapCheckSubsampleFactor = 4;

s_maxNumImages = 2000;

s_submapSize = 10;

s_maxNumKeysPerImage = 512;

s_maxNumCorrPerImage = 2000; // over-conservative

s_maxNumResidualsRemoved = 10;

s_useLocalDense = true;

s_numOptPerResidualRemoval = 1;

s_numLocalNonLinIterations = 2;

s_numLocalLinIterations = 100;

s_numGlobalNonLinIterations = 3;

s_numGlobalLinIterations = 150;

s_downsampledWidth = 80;

s_downsampledHeight = 60;

//dense term filtering

s_colorDownSigma = 2.5f;

s_depthDownSigmaD = 1.0f;

s_depthDownSigmaR = 0.05f;

s_maxKabschResidual2 = 0.0006f;

s_projCorrDistThres = 0.15f;

s_projCorrNormalThres = 0.95f;

s_projCorrColorThresh = 0.1f;

s_verifySiftErrThresh = 0.12f;

s_verifySiftCorrThresh = 0.02f;

s_useLocalVerify = true;

s_verifyOptErrThresh = 0.05f;

s_verifyOptCorrThresh = 0.001f;

s_surfAreaPcaThresh = 0.032f;

s_minNumMatchesLocal = 4;

s_minNumMatchesGlobal = 4;

// filtering

s_depthSigmaD = 2.0f;//bilateral filter sigma domain

s_depthSigmaR = 0.05f;//bilateral filter sigma range

s_depthFilter = true;//bilateral filter enabled depth

s_useComprehensiveFrameInvalidation = true;

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

s_sensorIdx = 8;

s_numSolveFramesBeforeExit = 60; //#frames to run after scan is done before saving ply and exiting; -1 to keep running

s_overwriteOrigSensTrajectory = true;

s_generateVideo = false;

s_generateVideoDir = "output/";

s_printTimingsDirectory = "";

s_printConvergenceFile = "";

s_topVideoTransformWorld = 1.0f 0.0f 0.0f 0.0f 0.0f 1.0f 0.0f 0.0f 0.0f 0.0f 1.0f 0.0f 0.0f 0.0f 0.0f 1.0f;

s_topVideoCameraPose = 0.0f 0.0f 0.0f 0.0f; //rotation (deg around z axis), translation (m)

s_topVideoMinMax = 0.0f 0.0f;

s_windowWidth = 640;//render window width

s_windowHeight = 480;//render window height

//s_windowWidth = 1600;//render window width

//s_windowHeight = 1200;//render window height

s_integrationWidth = 320;//input depth gets re-sampled to this width (decrease to improve perf.)

s_integrationHeight = 240;//input depth gets re-sampled to this height (decrease to improve perf.)

s_rayCastWidth = 320;//should be same as integration except if rendering video

s_rayCastHeight = 240;

//trajectory manager/reintegration

s_maxFrameFixes = 30;//max number of frames reintegrated per frame

s_topNActive = 30;//max number of active elements to be reintegrated (sorted list)

s_minPoseDistSqrt = 0.0f;//reintegrate everything above that pose distance (squared dist)

////////////////////////////////////

// **** DEPTH SENSING BELOW ***** //

////////////////////////////////////

s_sensorDepthMax = 6.0f;//maximum sensor depth in meter

s_sensorDepthMin = 0.1f;//minimum sensor depth in meter

s_renderDepthMax = 6.0f;//maximum render depth in meter

s_renderDepthMin = 0.1f;//minimum render 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 (IMPORTANT: reduces to improve perf.)

s_SDFMarchingCubeThreshFactor = 10.0f;//marching cube thresh: s_SDFMarchingCubeThresh = s_SDFMarchingCubeThreshFactor*s_SDFVoxelSize

s_SDFTruncation = 0.06f;//truncation in meter

s_SDFTruncationScale = 0.02f;//truncation scale in meter per meter

s_SDFMaxIntegrationDistance = 4.0f;//maximum integration in meter

s_SDFIntegrationWeightSample = 1;//weight for an integrated depth value

s_SDFIntegrationWeightMax = 99999999;//maximum integration weight for a voxel

// s_SDFBlockSize is pound defined (SDF_BLOCK_SIZE)

// s_hashBucketSize is pound defined (HASH_BUCKET_SIZE)

s_hashNumBuckets = 800000;//smaller voxels require more space

s_hashNumSDFBlocks = 600000;//100000;//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

s_binaryDumpSensorFile = "";

s_binaryDumpSensorUseTrajectory = false;

// filtering (unused in FriedLiver)

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 = 2.0f;//bilateral filter sigma domain

s_colorSigmaR = 0.1f;//bilateral filter sigma range

s_colorFilter = false;//bilateral filter enabled depth

s_integrationEnabled= true;

s_trackingEnabled= true;

s_timingsDetailledEnabled = true;//enable timing output

s_timingsTotalEnabled= false;//enable timing output

s_garbageCollectionEnabled= true;

s_garbageCollectionStarve= 0;//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_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 = 0.01f;

s_bUseCameraCalibration = false;

s_marchingCubesMaxNumTriangles = 5000000; // max buffer size for marching cube

//streaming parameters

s_streamingEnabled = false;

s_streamingVoxelExtents = 1.0f 1.0f 1.0f;

s_streamingGridDimensions = 257 257 257; // dimensions have to be odd (number of samples)

s_streamingMinGridPos = -128 -128 -128;

s_streamingInitialChunkListSize = 2000;

s_streamingRadius = 5.0f; // Depends on DepthMin and DepthMax

s_streamingPos = 0.0f 0.0f 3.0f 1.0f; // Depends on DepthMin and DepthMax

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_recordDataWidth = 640;//only applies to the non compressed version (see RGBDSensor.cpp)

s_recordDataHeight = 480;//only applies to the non compressed version (see RGBDSensor.cpp)

s_recordDataFile = "dump/recording.sens";

s_reconstructionEnabled = true;