zParametersDefault.txt

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

s_numSolveFramesBeforeExit = 30;//-1 //#frames to run after solve done, then saves and exits; -1 to stop after no more reintegration ops

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 = 1280;		//render window width
//s_windowHeight = 960;		//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 = 10;		//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 = 5.0f;	//maximum sensor depth in meter
s_sensorDepthMin = 0.1f;	//minimum sensor depth in meter
s_renderDepthMax = 5.0f;	//maximum render depth in meter
s_renderDepthMin = 0.1f;	//minimum render depth in meter

// sdf and hash settings
s_SDFVoxelSize = 0.01f;//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 = 3.0f;		//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 = 100000;//50000;//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 = "../data/sequence.sens";
s_binaryDumpSensorUseTrajectory = false;

// filtering (unused here, see params in zParametersBundlingDefault.txt)
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   = false;	//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 = 4000000; // max buffer size for marching cube

//streaming parameters (streaming disabled for BundleFusion)
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_streamingGridDimensions = 513 513 513; // dimensions have to be odd (number of samples)
//s_streamingMinGridPos = -256 -256 -256;
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;
s_cameraIntrinsicFx = 583;
s_cameraIntrinsicFy = 583;
s_cameraIntrinsicCx = 320;
s_cameraIntrinsicCy = 240;
s_generateMeshDir = "./"